Fix image size (#152)

I think we should merge this one over
#151

image_recognition_age_gender/scripts/face_properties_node

@@ -12,13 +12,13 @@ from image_recognition_util import image_writer
 
 
 class FacePropertiesNode:
-    def __init__(self, weights_file_path, img_size, depth, width, save_images_folder, use_gpu):
+    def __init__(self, weights_file_path, img_size, save_images_folder, use_gpu):
         """
         ROS node that wraps the PyTorch age gender estimator
         """
         self._bridge = CvBridge()
         self._properties_srv = rospy.Service('get_face_properties', GetFaceProperties, self._get_face_properties_srv)
-        self._estimator = AgeGenderEstimator(weights_file_path, img_size, depth, width, use_gpu)
+        self._estimator = AgeGenderEstimator(weights_file_path, img_size, use_gpu)
 
         if save_images_folder:
             self._save_images_folder = os.path.expanduser(save_images_folder)
@@ -30,8 +30,6 @@ class FacePropertiesNode:
         rospy.loginfo("PytorchFaceProperties node initialized:")
         rospy.loginfo(" - weights_file_path=%s", weights_file_path)
         rospy.loginfo(" - img_size=%s", img_size)
-        rospy.loginfo(" - depth=%s", depth)
-        rospy.loginfo(" - width=%s", width)
         rospy.loginfo(" - save_images_folder=%s", save_images_folder)
         rospy.loginfo(" - use_gpu=%s", use_gpu)
 
@@ -82,8 +80,6 @@ if __name__ == '__main__':
         default_weights_path = os.path.expanduser('~/data/pytorch_models/best-epoch47-0.9314.onnx')
         weights_file_path = rospy.get_param("~weights_file_path", default_weights_path)
         img_size = rospy.get_param("~image_size", 64)
-        depth = rospy.get_param("~depth", 16)
-        width = rospy.get_param("~width", 8)
         save_images = rospy.get_param("~save_images", True)
         use_gpu = rospy.get_param("~use_gpu", False)
 

image_recognition_age_gender/src/image_recognition_age_gender/age_gender_estimator.py

@@ -8,11 +8,13 @@
 
 
 class AgeGenderEstimator(object):
-    def __init__(self, weights_file_path, img_size=64, depth=16, width=8, use_gpu=False):
+    def __init__(self, weights_file_path, img_size=64, use_gpu=False):
         """
         Estimate the age and gender of the incoming image
 
         :param weights_file_path: path to a pre-trained network in onnx format
+        :param img_size: Images are resized to a square image of (img_size X img_size)
+        :param use_gpu: Use GPU or CPU
         """
         weights_file_path = os.path.expanduser(weights_file_path)
 
@@ -22,8 +24,6 @@ def __init__(self, weights_file_path, img_size=64, depth=16, width=8, use_gpu=Fa
         self._model = None
         self._weights_file_path = weights_file_path
         self._img_size = img_size
-        self._depth = depth
-        self._width = width
         self._use_gpu = use_gpu
 
     def estimate(self, np_images):
@@ -52,7 +52,7 @@ def estimate(self, np_images):
 
         results = []
         for np_image in np_images:
-            inputs = np.transpose(cv2.resize(np_image, (64, 64)), (2, 0, 1))
+            inputs = np.transpose(cv2.resize(np_image, (self._img_size, self._img_size)), (2, 0, 1))
             inputs = np.expand_dims(inputs, 0).astype(np.float32) / 255.
             predictions = self._model.run(['output'], input_feed={'input': inputs})[0][0]
             #           age              p(male)          p(female)

image_recognition_age_gender/test/test_face_properties.py

@@ -28,7 +28,7 @@ def age_is_female_from_asset_name(asset_name):
     images_gt = [(cv2.imread(os.path.join(assets_path, asset)), age_is_female_from_asset_name(asset))
                  for asset in os.listdir(assets_path)]
 
-    estimations = AgeGenderEstimator(local_path, 64, 16, 8).estimate([image for image, _ in images_gt])
+    estimations = AgeGenderEstimator(local_path, 64).estimate(image for image, _ in images_gt)
     for (_, (age_gt, is_female_gt)), (age, gender) in zip(images_gt, estimations):
         age = int(age)
         is_female = gender[0] > 0.5