24340dea9b
feat(social): add 68-point Kalman landmark smoother (Issue #227 )
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social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 2s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
Adds per-person constant-velocity Kalman filter that smooths raw 68-point
facial landmarks and republishes on /social/faces/landmarks_smooth at input
rate. New FaceLandmarks / FaceLandmarksArray messages added to
saltybot_social_msgs. 21/21 pure-Python tests pass (no ROS2 required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 12:05:24 -05:00
f61a03b3c5
feat(social): face detection + recognition (SCRFD + ArcFace TRT FP16, Issue #80 )
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Add two new ROS2 packages for the social sprint:
saltybot_social_msgs (ament_cmake):
- FaceDetection, FaceDetectionArray, FaceEmbedding, FaceEmbeddingArray
- PersonState, PersonStateArray
- EnrollPerson, ListPersons, DeletePerson, UpdatePerson services
saltybot_social_face (ament_python):
- SCRFDDetector: SCRFD face detection with TRT FP16 + ONNX fallback
- 640x640 input, 3-stride anchor decoding, NMS
- ArcFaceRecognizer: 512-dim embedding extraction with gallery matching
- 5-point landmark alignment to 112x112, cosine similarity
- FaceGallery: thread-safe persistent gallery (npz + JSON sidecar)
- FaceRecognitionNode: ROS2 node subscribing /camera/color/image_raw,
publishing /social/faces/detections, /social/faces/embeddings
- Enrollment via /social/enroll service (N-sample face averaging)
- Launch file, config YAML, TRT engine builder script
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-01 23:31:48 -05:00
