ros2与深度学习教程-整合人脸检测

os2与深度学习教程-整合人脸检测

说明:

• 介绍如何使用ros2_openvino_toolkit例程face-detection
• 本例子可实现人脸检测，年龄检测，表情检测

步骤:

• StandardCamera指使用一般的USB相机测试
• 相关模型文件和label文件下载参考ros2与深度学习教程-整合ros2_openvino_toolkit
• pipeline_people.launch.py 人脸识别
• 检查配置文件pipeline_people.yaml的input , model, label是否都正确
• 内容如下：

Pipelines:
- name: people
  inputs: [StandardCamera]
  infers:
    - name: FaceDetection
      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
      engine: CPU
      label: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
      batch: 1
      confidence_threshold: 0.5
      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
    - name: AgeGenderRecognition
      model: /opt/openvino_toolkit/models/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
      engine: CPU
      label: to/be/set/xxx.labels
      batch: 16
    - name: EmotionRecognition
      model: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
      engine: CPU
      label: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels
      batch: 16
    - name: HeadPoseEstimation
      model: /opt/openvino_toolkit/models/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
      engine: CPU
      label: to/be/set/xxx.labels
      batch: 16
  outputs: [ImageWindow, RosTopic, RViz]
  connects:
    - left: StandardCamera
      right: [FaceDetection]
    - left: FaceDetection
      right: [AgeGenderRecognition, EmotionRecognition, HeadPoseEstimation, ImageWindow, RosTopic, RViz]
    - left: AgeGenderRecognition
      right: [ImageWindow, RosTopic, RViz]
    - left: EmotionRecognition
      right: [ImageWindow, RosTopic, RViz]
    - left: HeadPoseEstimation
      right: [ImageWindow, RosTopic, RViz]

Common:

测试：　

• 启动命令

ros2 launch dynamic_vino_sample pipeline_people.launch.py

　- 效果图

-　查看所有话题

$ ros2 topic list
/clicked_point
/initialpose
/move_base_simple/goal
/openvino_toolkit/people/detected_landmarks
/openvino_toolkit/people/detected_license_plates
/openvino_toolkit/people/detected_vehicles_attribs
/openvino_toolkit/people/faces
/openvino_toolkit/people/person_attributes
/openvino_toolkit/people/reidentified_faces
/openvino_toolkit/people/reidentified_persons
/openvino_toolkit/people/segmented_obejcts
/parameter_events
/ros2_openvino_toolkit/age_genders_Recognition
/ros2_openvino_toolkit/emotions_recognition
/ros2_openvino_toolkit/face_detection
/ros2_openvino_toolkit/headposes_estimation
/ros2_openvino_toolkit/image_rviz
/rosout
/tf
/tf_static

• 查看/ros2_openvino_toolkit/image_rviz

ros2 run rqt_image_view rqt_image_view

• 效果图