-
Notifications
You must be signed in to change notification settings - Fork 0
/
face_detect_client.py
50 lines (47 loc) · 1.79 KB
/
face_detect_client.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
#!/usr/bin/env python3
#same as mentioned for the server node
import rospy
from my_robot_tutorial.srv import facedetect, facedetectResponse
import numpy as np
import os
import cv2
from cv_bridge import CvBridge
import sys
#function definition to request for the service and image display
def configurereq(image):
#waits till service is available
rospy.wait_for_service("facedetect")
try:
#calling a service
service_proxy = rospy.ServiceProxy("facedetect", facedetect)
#service response as an image msg
response_msg = service_proxy(image)
image_msg = response_msg.image
#converting image msg to an image with the same encoding as image msg
image = CvBridge().imgmsg_to_cv2(image_msg, desired_encoding = "passthrough")
print(" Face Detected ")
#displaying image
cv2.imshow("Face Detection Complete",image)
cv2.waitKey(0)
cv2.destroyAllWindows()
#if a service returns an error for the request
except rospy.ServiceException as e:
print("Service Failed")
print(e)
if __name__ == '__main__':
try:
#Initializtion of client node
rospy.init_node("face_detect_client_node")
userinput = input("\n Enter number between 1 to 6 to choose image for face detection: ")
#infinite loop until user types q for quit
while userinput != "q":
try:
#calling function with a user input as a parameter
configurereq(float(userinput))
userinput = input("\n Enter number between 1 to 6 to choose image for face detection: ")
#if any exception occurs
except Exception as e:
print ("Error running service")
print (e)
except rospy.ROSInterruptException:
pass