以下代码是关于面部检测的，但是我没看到它在哪里加载模型文件：#!/usr/bin/env python3
# encoding: utf-8
#import ros lib
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Point
import mediapipe as mp
#import define msg
from yahboomcar_msgs.msg import PointArray
#import commom lib
import cv2 as cv
import numpy as np
import time
print("import done")
class FaceMesh(Node):
def __init__(self, name,staticMode=False, maxFaces=2, minDetectionCon=0.5, minTrackingCon=0.5):
super().__init__(name)
self.mpDraw = mp.solutions.drawing_utils
self.mpFaceMesh = mp.solutions.face_mesh
self.faceMesh = self.mpFaceMesh.FaceMesh(
static_image_mode=staticMode,
max_num_faces=maxFaces,
min_detection_confidence=minDetectionCon,
min_tracking_confidence=minTrackingCon )
self.pub_point = self.create_publisher(PointArray,'/mediapipe/points',1000)
self.lmDrawSpec = mp.solutions.drawing_utils.DrawingSpec(color=(0, 0, 255), thickness=-1, circle_radius=3)
self.drawSpec = self.mpDraw.DrawingSpec(color=(0, 255, 0), thickness=1, circle_radius=1)
def pubFaceMeshPoint(self, frame, draw=True):
pointArray = PointArray()
img = np.zeros(frame.shape, np.uint8)
imgRGB = cv.cvtColor(frame, cv.COLOR_BGR2RGB)
self.results = self.faceMesh.process(imgRGB)
if self.results.multi_face_landmarks:
for i in range(len(self.results.multi_face_landmarks)):
if draw: self.mpDraw.draw_landmarks(frame, self.results.multi_face_landmarks[i], self.mpFaceMesh.FACEMESH_CONTOURS, self.lmDrawSpec, self.drawSpec)
self.mpDraw.draw_landmarks(img, self.results.multi_face_landmarks[i], self.mpFaceMesh.FACEMESH_CONTOURS, self.lmDrawSpec, self.drawSpec)
for id, lm in enumerate(self.results.multi_face_landmarks[i].landmark):
point = Point()
point.x, point.y, point.z = lm.x, lm.y, lm.z
pointArray.points.append(point)
self.pub_point.publish(pointArray)
return frame, img
def frame_combine(slef,frame, src):
if len(frame.shape) == 3:
frameH, frameW = frame.shape[:2]
srcH, srcW = src.shape[:2]
dst = np.zeros((max(frameH, srcH), frameW + srcW, 3), np.uint8)
dst[:, :frameW] = frame[:, :]
dst[:, frameW:] = src[:, :]
else:
src = cv.cvtColor(src, cv.COLOR_BGR2GRAY)
frameH, frameW = frame.shape[:2]
imgH, imgW = src.shape[:2]
dst = np.zeros((frameH, frameW + imgW), np.uint8)
dst[:, :frameW] = frame[:, :]
dst[:, frameW:] = src[:, :]
return dst
def main():
print("start it")
rclpy.init()
capture = cv.VideoCapture(0)
capture.set(6, cv.VideoWriter.fourcc('M', 'J', 'P', 'G'))
capture.set(cv.CAP_PROP_FRAME_WIDTH, 640)
capture.set(cv.CAP_PROP_FRAME_HEIGHT, 480)
print("capture get FPS : ", capture.get(cv.CAP_PROP_FPS))
pTime, cTime = 0, 0
face_mesh = FaceMesh('face_mesh')
while capture.isOpened():
ret, frame = capture.read()
# frame = cv.flip(frame, 1)
frame, img = face_mesh.pubFaceMeshPoint(frame,draw=False)
if cv.waitKey(1) & 0xFF == ord('q'): break
cTime = time.time()
fps = 1 / (cTime - pTime)
pTime = cTime
text = "FPS : " + str(int(fps))
cv.putText(frame, text, (20, 30), cv.FONT_HERSHEY_SIMPLEX, 0.9, (0, 0, 255), 1)
dst = face_mesh.frame_combine(frame, img)
cv.imshow('dst', dst)
# cv.imshow('frame', frame)
# cv.imshow('img', img)
capture.release()
cv.destroyAllWindows()
扫一扫
1468
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
