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sl-perception f61a03b3c5 feat(social): face detection + recognition (SCRFD + ArcFace TRT FP16, Issue #80 )

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

.pio/build

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

chassis

feat: SIM7600X mount + LTE/GNSS antenna brackets

2026-03-01 00:59:47 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm

2026-03-01 17:49:17 -05:00

include

feat(safety): remote e-stop over 4G MQTT (Issue #63 )