small visual updates of face_recognition_node and uncomment exception

image_recognition_openface/scripts/face_recognition_node

@@ -2,19 +2,18 @@
 
 import os
 import sys
-
 import diagnostic_updater
 import rospy
 from cv_bridge import CvBridge, CvBridgeError
-from image_recognition_openface.face_recognizer import FaceRecognizer
 from sensor_msgs.msg import RegionOfInterest, Image
 from std_srvs.srv import Empty
-
 from image_recognition_msgs.msg import Recognition, Recognitions, CategoryProbability, CategoricalDistribution
 from image_recognition_msgs.srv import Recognize, Annotate
 from image_recognition_util import image_writer
 sys.path.append('/home/iason/ros/noetic/repos/github.com/tue-robotics/image_recognition/image_recognition_openface/src/image_recognition_openface')
 from facenet_recognition import Facenet_recognition
+
+
 class OpenfaceROS:
     def __init__(self, align_path, net_path, save_images_folder, topic_save_images,
                  service_save_images, topic_publish_result_image, service_publish_result_image):
@@ -32,7 +31,7 @@ class OpenfaceROS:
 
         # Openface ROS
         self._face_recognizer = Facenet_recognition()
-        #self._face_recognizer = FaceRecognizer(align_path, net_path)
+        # self._face_recognizer = FaceRecognizer(align_path, net_path)
         self._save_images_folder = save_images_folder
         self._topic_save_images = topic_save_images
         self._service_save_images = service_save_images
@@ -118,18 +117,18 @@ class OpenfaceROS:
         # Write raw image
         if save_images:
             image_writer.write_raw(self._save_images_folder, bgr_image)
-        
+
         images = []
         labels = []
         # Call openface
         face_recognitions = self._face_recognizer.face_detection(bgr_image)
-        dist, face_labelling = self._face_recognizer.detection_recognition(bgr_image ,images, labels, self._save_images_folder,train = True)
+        dist, face_labelling = self._face_recognizer.detection_recognition(bgr_image, images, labels, self._save_images_folder, train = True)
         # Fill recognitions
         recognitions = []
-        
+
         rospy.loginfo("Face recognitions: %s", face_recognitions)
-        
-        i = 0 
+
+        i = 0
         for fr in face_recognitions:
             import math
             face_recognition = [math.floor(xi) for xi in fr]
@@ -146,20 +145,18 @@ class OpenfaceROS:
             recognitions.append(Recognition(
                 categorical_distribution=CategoricalDistribution(
                     unknown_probability=0.0,  # TODO: When is it unknown?
-                    probabilities=[CategoryProbability(label=label, probability=1.0 / (disti+0.001))
+                    probabilities=[CategoryProbability(label=label, probability=1.0 / (disti + 0.001))
                                    for l2 in face_recognition]
                 ),
                 roi=RegionOfInterest(
                     x_offset=face_recognition[0],
                     y_offset=face_recognition[1],
                     width=face_recognition[2] - face_recognition[0],
-                    height=face_recognition[3] - face_recognition[1] 
+                    height=face_recognition[3] - face_recognition[1]
                 )
             ))
-            i = i+1
-            # print(face_recognition)
-
-
+            i = i + 1
+
         annotated_original_image = image_writer.get_annotated_cv_image(bgr_image, recognitions)
         if save_images:
             image_writer.write_estimations(self._save_images_folder, images, labels, annotated_original_image,
@@ -172,13 +169,13 @@ class OpenfaceROS:
         return recognitions
 
     def _image_callback(self, image_msg):
-        #UNCOMMENT THOSE LINES NOW ITS COMMENTED FOR DEBUGGING
-        #try:
-        recognitions = self._get_recognitions(image_msg, save_images=self._topic_save_images,
-                                                  publish_images=self._topic_publish_result_image)
-        #except Exception as e:
-            #rospy.logerr(str(e))
-            #return
+        # UNCOMMENT THOSE LINES NOW ITS COMMENTED FOR DEBUGGING
+        try:
+            recognitions = self._get_recognitions(image_msg, save_images=self._topic_save_images,
+                                                publish_images=self._topic_publish_result_image)
+        except Exception as e:
+            rospy.logerr(str(e))
+            return
 
         self._recognitions_publisher.publish(Recognitions(
             header=image_msg.header,
@@ -219,7 +216,7 @@ if __name__ == '__main__':
     except KeyError as e:
         rospy.logerr("Parameter %s not found" % e)
         sys.exit(1)
-    
+
     image_recognition_openface = OpenfaceROS(dlib_shape_predictor_path, openface_neural_network_path,
                                              save_images_folder, topic_save_images, service_save_images,
                                              topic_publish_result_image,