sl-perception
f61a03b3c5
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>
31 lines
1.0 KiB
Python
31 lines
1.0 KiB
Python
"""Setup for saltybot_social_face package."""
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from setuptools import find_packages, setup
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package_name = 'saltybot_social_face'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/launch', ['launch/face_recognition.launch.py']),
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('share/' + package_name + '/config', ['config/face_recognition_params.yaml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='seb',
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maintainer_email='seb@vayrette.com',
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description='SCRFD face detection and ArcFace recognition for SaltyBot social interactions',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'face_recognition = saltybot_social_face.face_recognition_node:main',
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'enrollment_cli = saltybot_social_face.enrollment_cli:main',
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],
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},
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)
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