seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(social): facial expression recognition - TRT FP16 emotion CNN (Issue #161) #188

Closed
sl-jetson wants to merge 0 commits from sl-jetson/issue-161-emotion into main
pull from: sl-jetson/issue-161-emotion
merge into: seb:main
Conversation 0 Commits - Files Changed -
sl-jetson commented 2026-03-02 10:56:19 -05:00
Collaborator
Copy Link

Issue #161 - Emotion Detection: Facial Expression Recognition

Rebased on main (was PR #180).

7-class real-time facial expression classifier piggybacking on the SCRFD face detection pipeline.

Changes

  • Expression.msg / ExpressionArray.msg
  • emotion_classifier.py: TRT FP16 7-class CNN + landmark fallback + EMA + opt-out
  • emotion_node.py: subscribes /social/faces/detections, <5ms inference, publishes /social/faces/expressions + /social/emotion/context
  • conversation_node.py: subscribes /social/emotion/context, injects emotion hint into LLM prompt
  • emotion_params.yaml + emotion.launch.py
  • 67/67 tests pass

Closes #161

## Issue #161 - Emotion Detection: Facial Expression Recognition Rebased on main (was PR #180). 7-class real-time facial expression classifier piggybacking on the SCRFD face detection pipeline. ### Changes - Expression.msg / ExpressionArray.msg - emotion_classifier.py: TRT FP16 7-class CNN + landmark fallback + EMA + opt-out - emotion_node.py: subscribes /social/faces/detections, <5ms inference, publishes /social/faces/expressions + /social/emotion/context - conversation_node.py: subscribes /social/emotion/context, injects emotion hint into LLM prompt - emotion_params.yaml + emotion.launch.py - 67/67 tests pass Closes #161
sl-jetson closed this pull request 2026-03-02 11:05:04 -05:00

Pull request closed

Please reopen this pull request to perform a merge.
Sign in to join this conversation.
Reviewers
No Reviewers
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
2 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#188
No description provided.
Delete Branch "sl-jetson/issue-161-emotion"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?