ubuntu 16.04下人脸识别库face_recognition的使用
(1)安装dlib
sudo pip install dlib
结果出现了问题:
ImportError: cannot import name main
解决方法:pip地址改变解决方法
(2)安装 face_recognition
参考链接:
人脸识别库face_recognition安装简单教程
sudo pip install face_recognition
安装完成输入以下代码检测:
$ python
>>> import face_recognition
(3)使用usb_cam实时获取usb摄像头的图像
(4) 建立ros包,接收图像并转化为人脸识别后的图像
参考链接:
译:ROS和Openv之间的图像转换(Python)
接收图像的订阅节点:usb_cam/image_raw
发布人脸识别的节点:face_recognition_image
将usb_cam的launch文件里面的image_view节点改为/face_recognition_image
catkin_create_pkg sub_image rospy cv_bridge std_msgs sensor_msgs
#!/usr/bin/env python
from __future__ import print_function
import roslib
#roslib.load_manifest('my_package')
import sys
import rospy
import cv2
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import numpy as np
import face_recognition
class image_converter:
def __init__(self):
self.image_pub = rospy.Publisher("face_recognition_image",Image)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("usb_cam/image_raw",Image,self.callback)
def callback(self,data):
try:
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
face_locations = face_recognition.face_locations(cv_image)
for (A,B,C,D) in face_locations:
cv2.rectangle(cv_image,(D,A),(B,C),(0,255,0),2)
#cv2.imshow('image',cv_image)
#cv2.waitKey(3)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
except CvBridgeError as e:
print(e)
def main(args):
ic = image_converter()
rospy.init_node('image_converter', anonymous=True)
try:
rospy.spin()
except KeyboardInterrupt:
print("Shutting down")
cv2.destroyAllWindows()
if __name__ == '__main__':
main(sys.argv)
(5) 运行结果
roscore
rosrun sub_image sub_image.py
roslaunch usb_cam usb_cam-test.launch
(6)顺序控制节点启动
经过测试,需要先运行sub_image,在运行usb_cam,否则会出现大段红色警告。
顺序控制节点启动的方法:建立bash文件,multi_launch.sh,写入以下代码
#!/bin/bash
rosrun sub_image sub_image.py &
sleep 1
echo "sub_image starting success!"
roslaunch usb_cam usb_cam-test.launch &
sleep 1
wait
exit 0
#!/bin/bash表示是bash程序,sleep是延时1s,echo打印输出
执行bash文件:
chmox 777 multi_launch.sh
roscore
./multi_launch.sh