Merge pull request #2766 from mqcmd196/PR/suppress_aws_log

[AWS] logdebug when detect face
jsk-ros-pkg · Nov 10, 2023 · 8db1019 · 8db1019
2 parents d20db07 + d5fbfbe
commit 8db1019
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Showing 2 changed files with 23 additions and 16 deletions.
diff --git a/jsk_perception/node_scripts/aws_auto_checkin_app.py b/jsk_perception/node_scripts/aws_auto_checkin_app.py
@@ -173,8 +173,10 @@ def findface(self, face_image):
                 CollectionId=self.COLLECTION_ID, Image={'Bytes': encoded_face_image.tobytes()},
                 FaceMatchThreshold=self.FACE_SIMILARITY_THRESHOLD, MaxFaces=self.MAX_FACES)
             return res
+        except self.rekognition.exceptions.InvalidParameterException as e:
+            rospy.logdebug("No faces detected")
         except Exception as e:
-            print(e)
+            rospy.logerr(e)
 
         return None
 
@@ -211,18 +213,23 @@ def callback(self, image, roi):
             ret = self.findface(img[image_roi_slice])
             if ret != None:
                 if ret['FaceMatches'] != []:
-                    item = self.dynamodb_table.get_item(
-                        Key={'RekognitionId':
-                             ret['FaceMatches'][0]['Face']['FaceId']})
-                    if not 'Item' in item:
-                        rospy.loginfo("Item does not have FaceId {}".format(item))
-                        continue
-                    face_id = item['Item']['Name']
-                    rospy.loginfo("FaceId: {}\n Similarity: {}".format(face_id, \
-                                                                       ret['FaceMatches'][0]['Similarity']))
-                    faces.faces.append(Face(face=Rect(cx - w // 2, cy - h // 2, w, h),
-                                            label=face_id,
-                                            confidence=ret['FaceMatches'][0]['Similarity'] / 100.0))
+                    try:
+                      item = self.dynamodb_table.get_item(
+                          Key={'RekognitionId':
+                               ret['FaceMatches'][0]['Face']['FaceId']})
+                      if not 'Item' in item:
+                          rospy.loginfo("Item does not have FaceId {}".format(item))
+                          continue
+                      face_id = item['Item']['Name']
+                      rospy.logdebug("FaceId: {}\n Similarity: {}".format(face_id, \
+                                                                          ret['FaceMatches'][0]['Similarity']))
+                      faces.faces.append(Face(face=Rect(cx - w // 2, cy - h // 2, w, h),
+                                              label=face_id,
+                                              confidence=ret['FaceMatches'][0]['Similarity'] / 100.0))
+                    except KeyError as e:
+                        rospy.logwarn(
+                            "{}: Dynamodb does not have FaceID: {}".format(
+                                e, ret['FaceMatches'][0]['Face']['FaceID']))
 
             if self.use_window: # copy colored face rectangle to img_gray
                 img_gray[image_roi_slice] = img[image_roi_slice]

diff --git a/jsk_perception/node_scripts/aws_detect_faces.py b/jsk_perception/node_scripts/aws_detect_faces.py
@@ -162,7 +162,7 @@ def reconfigure_callback(self, config, level):
         return config
 
     def process_attributes(self, text, img, bbox):
-        rospy.loginfo("    {}".format(text))
+        rospy.logdebug("    {}".format(text))
         if self.use_window:
             cv2.putText(img, text,
                         (bbox.x + bbox.height // 2 + 8, bbox.y - bbox.width // 2 + self.offset), cv2.FONT_HERSHEY_PLAIN,
@@ -213,7 +213,7 @@ def image_callback(self, image):
         landmarks_msgs.poses = []
 
         # See https://docs.aws.amazon.com/rekognition/latest/dg/API_DetectFaces.html for detail
-        rospy.loginfo("Found {} faces".format(len(faces['FaceDetails'])))
+        rospy.logdebug("Found {} faces".format(len(faces['FaceDetails'])))
         for face in faces['FaceDetails']:
 
             # Bounding box of the face
@@ -387,7 +387,7 @@ def image_callback(self, image):
         self.landmarks_pub.publish(landmarks_msgs)
 
         # debug info
-        rospy.loginfo("processing time {} on message taken at {} sec ago".format(
+        rospy.logdebug("processing time {} on message taken at {} sec ago".format(
             (rospy.Time.now() - start_time).to_sec(),
             (rospy.Time.now() - image.header.stamp).to_sec()))