Welcome to DOFBOT-Ultra repository

Face Detection

Please ensure that the web control program backend process is not running in the background. To close it, refer to the [Get Started Quickly - 2. Access the Terminal] section in [Disable the Auto-Start Web Control Backend Process]. After closing, please restart DofbotUltra!!!

Use MediaPipe Face Detection to detect faces in the camera feed in real-time, drawing bounding boxes and corner markers around detected faces, and displaying confidence percentages.

1、Startup

1.1、Startup

• Enter the following command to start the program

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ros2 run dofbot_mediapipe 05_FaceDetection.py

Press the q key in the image window or Ctrl+C in the terminal to exit the program.

1.2、Source Code

Raspberry Pi source path:

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~/dofbot_ultra_ws/src/dofbot_mediapipe/scripts/05_FaceDetection.py

RDK X5 source path:

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~/dofbot_ultra_ws/src/2d/dofbot_mediapipe/scripts/05_FaceDetection.py

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#!/usr/bin/env python3
# encoding: utf-8
import mediapipe as mp
import cv2 as cv
from dofbot_utils.camera import create_camera
from dofbot_utils.fps import FPS


class FaceDetector:
    def __init__(self, minDetectionCon=0.5):
        self.mpFaceDetection = mp.solutions.face_detection
        self.mpDraw = mp.solutions.drawing_utils
        self.facedetection = self.mpFaceDetection.FaceDetection(
            min_detection_confidence=minDetectionCon)

    def findFaces(self, frame):
        img_RGB = cv.cvtColor(frame, cv.COLOR_BGR2RGB)
        results = self.facedetection.process(img_RGB)
        bboxs = []
        if results.detections:
            for id, detection in enumerate(results.detections):
                bboxC = detection.location_data.relative_bounding_box
                ih, iw, ic = frame.shape
                bbox = (int(bboxC.xmin * iw), int(bboxC.ymin * ih),
                        int(bboxC.width * iw), int(bboxC.height * ih))
                bboxs.append([id, bbox, detection.score])
                frame = self.fancyDraw(frame, bbox)
                cv.putText(frame, f'{int(detection.score[0] * 100)}%',
                           (bbox[0], bbox[1] - 20), cv.FONT_HERSHEY_PLAIN,
                           3, (255, 0, 255), 2)
        return frame, bboxs

    def fancyDraw(self, frame, bbox, l=30, t=10):
        x, y, w, h = bbox
        x1, y1 = x + w, y + h
        cv.rectangle(frame, (x, y), (x1, y1), (255, 0, 255), 2)
        cv.line(frame, (x, y), (x + l, y), (255, 0, 255), t)
        cv.line(frame, (x, y), (x, y + l), (255, 0, 255), t)
        cv.line(frame, (x1, y), (x1 - l, y), (255, 0, 255), t)
        cv.line(frame, (x1, y), (x1, y + l), (255, 0, 255), t)
        cv.line(frame, (x, y1), (x + l, y1), (255, 0, 255), t)
        cv.line(frame, (x, y1), (x, y1 - l), (255, 0, 255), t)
        cv.line(frame, (x1, y1), (x1 - l, y1), (255, 0, 255), t)
        cv.line(frame, (x1, y1), (x1, y1 - l), (255, 0, 255), t)
        return frame


def main():
    detector = FaceDetector()
    fps = FPS()

    cap = create_camera()
    if not cap.isOpened():
        raise RuntimeError("Failed to open camera")

    try:
        while cap.isOpened():
            ret, frame = cap.read()
            if not ret:
                continue

            frame, _ = detector.findFaces(frame)
            fps.update_fps()
            fps.show_fps(frame)
            cv.imshow('FaceDetection', frame)

            if cv.waitKey(1) & 0xFF == ord('q'):
                break
    finally:
        cap.release()
        cv.destroyAllWindows()


if __name__ == '__main__':
    main()