Fix imports, handling images without faces

python/armarx_face_recognition/armarx_face_recognition/face_detection.py

@@ -10,13 +10,16 @@ import cv2
 import numpy as np
 import face_recognition
 
-from armarx_core import cmake_helper
+from armarx_core import slice_loader
+
 from armarx import arviz as viz
 from armarx_memory import client as mem
 
 from armarx.pose_helper import convert_position_to_global
 from armarx import FramedPositionBase
 
+slice_loader.load_armarx_slice("VisionX", "core/ImageProcessorInterface.ice")
+slice_loader.load_armarx_slice("VisionX", "components/Calibration.ice")
 from armarx_vision.image_processor import ImageProcessor
 from visionx import StereoCalibrationInterfacePrx
 
@@ -80,11 +83,15 @@ class FaceDetection(ImageProcessor):
                 abs_path = face_image_path.get_system_path()
                 if os.path.isfile(abs_path):
                     name = profile.names.spoken[0] or id.entity_name
-                    if logger is not None:
-                        logger.info("Loading person '%s'.", name)
-                        logger.debug("Creating face encoding for person '%s'.", name)
                     image = face_recognition.load_image_file(abs_path)
-                    encoding = face_recognition.face_encodings(image)[0]
+                    encodings_of_faces = face_recognition.face_encodings(image)
+                    if len(encodings_of_faces) > 0:
+                        if logger:
+                            logger.info(f"Loaded image of person '{name}' from '{abs_path}.")
+                        encoding = encodings_of_faces[0]
+                    else:
+                        if logger:
+                            logger.info(f"Found no faces in image '{abs_path}' ...")
 
                     face_encodings.append(encoding)
 
@@ -193,7 +200,7 @@ class FaceDetection(ImageProcessor):
                 position_3d=position_3d,
                 position_2d=position_2d,
                 extents_2d=extents_2d,
-                profile_id=person.profile_id
+                profile_id=person.profile_id,
             )
             face_recognitions.append(recognition)