int main(){
FaceRec fr;
fr.train("/home/kevin/workspace/opencv/csv.ext");
vector<int> labels, predictLabels;
predictLabels = fr.predict("/home/kevin/workspace/opencv/test.ext", labels);
for(int i = 0; i < labels.size(); i++){
cout << "Actual result: " << labels[i] << endl;
cout << "Predict result: " << predictLabels[i] << endl;
}
return 0;
}
void executeCB(const corobot_face_recognition::FaceRecognitionGoalConstPtr &goal)
{
if (_as.isPreemptRequested() || !ros::ok()) {
ROS_INFO("%s: Preempted", _action_name.c_str());
// set the action state to preempted
_as.setPreempted();
// success = false;
// break;
}
// helper variables
ros::Rate r(60);
bool success = true;
_goal_id = goal->order_id;
_goal_argument = goal->order_argument;
_feedback.order_id = _goal_id;
_feedback.names.clear();
_feedback.confidence.clear();
_result.order_id = _goal_id;
_result.names.clear();
_result.confidence.clear();
// publish info to the console for the user
ROS_INFO("%s: Executing. order_id: %i, order_argument: %s ", _action_name.c_str(), _goal_id, _goal_argument.c_str());
switch (_goal_id) {
// RECOGNIZE ONCE
case 0:
// cout << "case 0" << endl;
// _fr = new FaceRec(true);
_image_sub = _it.subscribe("/usb_cam/image_raw", 1, &FaceRecognition::recognizeCb, this);
while( _as.isActive() && !_as.isPreemptRequested() && !ros::isShuttingDown() )
r.sleep();
break;
// RECOGNIZE CONTINUOUSLY
case 1:
//cout << "case 1" << endl;
// _fr = new FaceRec(true);
_image_sub = _it.subscribe("/usb_cam/image_raw", 1, &FaceRecognition::recognizeCb, this);
while( _as.isActive() && !_as.isPreemptRequested() && !ros::isShuttingDown() )
r.sleep();
break;
// ADD TRAINING IMAGES
case 2:
// cout << "case 2" << endl;
_fc = new FaceImgCapturer(_goal_argument);
_image_sub = _it.subscribe("/usb_cam/image_raw", 1, &FaceRecognition::addTrainingImagesCb, this);
while( _as.isActive() && !_as.isPreemptRequested() && !ros::isShuttingDown() )
r.sleep();
break;
// TRAIN DATABASE
case 3:
// call training function and check if successful
// bool trainingSuccessful = true;
// cout << "case 3" << endl;
_fr->train(_preprocessing);
if (true)
_as.setSucceeded(_result);
else
_as.setAborted(_result);
break;
// STOP
case 4:
if (_as.isActive()) {
_as.setPreempted();
// _image_sub.shutdown();
}
break;
// EXIT
case 5:
// cout << "case 4" << endl;
ROS_INFO("%s: Exit request.", _action_name.c_str());
_as.setSucceeded(_result);
r.sleep();
ros::shutdown();
break;
}
}
