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>
28 lines
914 B
XML
28 lines
914 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_social_face</name>
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<version>0.1.0</version>
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<description>SCRFD face detection and ArcFace recognition for SaltyBot social interactions</description>
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<maintainer email="seb@vayrette.com">seb</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>cv_bridge</depend>
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<depend>image_transport</depend>
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<depend>saltybot_social_msgs</depend>
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<exec_depend>python3-numpy</exec_depend>
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<exec_depend>python3-opencv</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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