openface_node.py 文件源码

def __init__(self, align_path, net_path, storage_folder):
        self._bridge = CvBridge()
        self._learn_srv = rospy.Service('learn', LearnFace, self._learn_face_srv)
        self._detect_srv = rospy.Service('detect', DetectFace, self._detect_face_srv)
        self._clear_srv = rospy.Service('clear', Empty, self._clear_faces_srv)

        # Init align and net
        self._align = openface.AlignDlib(align_path)
        self._net = openface.TorchNeuralNet(net_path, imgDim=96, cuda=False)
        self._face_detector = dlib.get_frontal_face_detector()

        self._face_dict = {}  # Mapping from string to list of reps

        self._face_dict_filename = rospy.get_param( '~face_dict_filename', '' )
        if ( self._face_dict_filename != '' ):
          if ( not os.path.isfile( self._face_dict_filename ) ):
            print '_face_dict does not exist; will save to %s' % self._face_dict_filename
          else:
            with open( self._face_dict_filename, 'rb') as f:
              self._face_dict = pickle.load( f )
              print 'read _face_dict: %s' % self._face_dict_filename

        if not os.path.exists(storage_folder):
            os.makedirs(storage_folder)

        self._storage_folder = storage_folder