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Add face_following package and demo (#60)
* Added audio and video mute control from robot GUI and frontend * Addition of volume control and microphone from toggle to slider * Remove whitespaces and unused include * Addition of battery statistics and indicators for network and battery * Addition of battery and network icons * remove useless files * Add network and system to statistics page * Changes statistics style and adds network speeds * Visual improvments and addition of upload and download speed to status * Remove local files * Change to static_cast for Axis types * Add face-following package * format face follower code * Add model download in cmake and gpu utilization * Add face-following demo * Add face_following readme, format code and remove unused import * Update opentera-webrtc submodule and clean code * Add cv_camera to README and pull request workflow * Rename "face_following" to "face_cropping" to prevent conflict in ttop * Face cropper code corrections * switch from opencv dnn face detection to haar or lbp * Change behaviour when no faces are detected, add parameters and known issues to readme and format code * Add test results to readme * Grammar error correction in readme * Add the option to disable face detection in the robot gui and bug correction * Clarify FaceCropper.cpp with comments * Remove reminder comment * Improve code readability and general corrections * Change c++ standard to c++17 and use std::gcd * General corrections and code cleanup * Use const for color scalar instead of constexpr * Move color scalar to cpp file and rename them * Renamed color scalars and models download script Co-authored-by: philippewarren <[email protected]>
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| models/ |
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| cmake_minimum_required(VERSION 3.16.3) | ||
| project(face_cropping) | ||
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| ## Compile as C++11, supported in ROS Kinetic and newer | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
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| ## Find catkin macros and libraries | ||
| ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) | ||
| ## is used, also find other catkin packages | ||
| find_package(catkin REQUIRED COMPONENTS | ||
| cv_bridge | ||
| opentera_webrtc_ros_msgs | ||
| roscpp | ||
| image_transport | ||
| sensor_msgs | ||
| ) | ||
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| ## System dependencies are found with CMake's conventions | ||
| # find_package(Boost REQUIRED COMPONENTS system) | ||
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| ## Uncomment this if the package has a setup.py. This macro ensures | ||
| ## modules and global scripts declared therein get installed | ||
| ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | ||
| # catkin_python_setup() | ||
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| ################################################ | ||
| ## Declare ROS messages, services and actions ## | ||
| ################################################ | ||
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| ## To declare and build messages, services or actions from within this | ||
| ## package, follow these steps: | ||
| ## * Let MSG_DEP_SET be the set of packages whose message types you use in | ||
| ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend tag for "message_generation" | ||
| ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET | ||
| ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in | ||
| ## but can be declared for certainty nonetheless: | ||
| ## * add a exec_depend tag for "message_runtime" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "message_generation" and every package in MSG_DEP_SET to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * add "message_runtime" and every package in MSG_DEP_SET to | ||
| ## catkin_package(CATKIN_DEPENDS ...) | ||
| ## * uncomment the add_*_files sections below as needed | ||
| ## and list every .msg/.srv/.action file to be processed | ||
| ## * uncomment the generate_messages entry below | ||
| ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) | ||
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| ## Generate messages in the 'msg' folder | ||
| # add_message_files( | ||
| # FILES | ||
| # Message1.msg | ||
| # Message2.msg | ||
| # ) | ||
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| ## Generate services in the 'srv' folder | ||
| # add_service_files( | ||
| # FILES | ||
| # Service1.srv | ||
| # Service2.srv | ||
| # ) | ||
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| ## Generate actions in the 'action' folder | ||
| # add_action_files( | ||
| # FILES | ||
| # Action1.action | ||
| # Action2.action | ||
| # ) | ||
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| ## Generate added messages and services with any dependencies listed here | ||
| # generate_messages( | ||
| # DEPENDENCIES | ||
| # opentera_webrtc_ros_msgs# sensor_msgs | ||
| # ) | ||
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| ################################################ | ||
| ## Declare ROS dynamic reconfigure parameters ## | ||
| ################################################ | ||
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||
| ## To declare and build dynamic reconfigure parameters within this | ||
| ## package, follow these steps: | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" | ||
| ## * In this file (CMakeLists.txt): | ||
| ## * add "dynamic_reconfigure" to | ||
| ## find_package(catkin REQUIRED COMPONENTS ...) | ||
| ## * uncomment the "generate_dynamic_reconfigure_options" section below | ||
| ## and list every .cfg file to be processed | ||
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| ## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
| # generate_dynamic_reconfigure_options( | ||
| # cfg/DynReconf1.cfg | ||
| # cfg/DynReconf2.cfg | ||
| # ) | ||
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| ################################### | ||
| ## catkin specific configuration ## | ||
| ################################### | ||
| ## The catkin_package macro generates cmake config files for your package | ||
| ## Declare things to be passed to dependent projects | ||
| ## INCLUDE_DIRS: uncomment this if your package contains header files | ||
| ## LIBRARIES: libraries you create in this project that dependent projects also need | ||
| ## CATKIN_DEPENDS: catkin_packages dependent projects also need | ||
| ## DEPENDS: system dependencies of this project that dependent projects also need | ||
| catkin_package( | ||
| # INCLUDE_DIRS include | ||
| # LIBRARIES face_cropping | ||
| # CATKIN_DEPENDS cv_bridge opentera_webrtc_ros_msgs roscpp image_transport sensor_msgs | ||
| # DEPENDS system_lib | ||
| ) | ||
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| ########### | ||
| ## Build ## | ||
| ########### | ||
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| ## Specify additional locations of header files | ||
| ## Your package locations should be listed before other locations | ||
| include_directories( | ||
| include | ||
| ${catkin_INCLUDE_DIRS} | ||
| ) | ||
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| add_executable(face_cropping | ||
| include/face_cropping/FaceCropper.h | ||
| include/face_cropping/Parameters.h | ||
| src/main.cpp | ||
| src/FaceCropper.cpp | ||
| src/Parameters.cpp | ||
| ) | ||
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| target_link_libraries(face_cropping | ||
| ${catkin_LIBRARIES} | ||
| ${OpenCV_LIBRARIES} | ||
| ) | ||
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| ## Declare a C++ library | ||
| # add_library(${PROJECT_NAME} | ||
| # src/${PROJECT_NAME}/face_cropping.cpp | ||
| # ) | ||
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| ## Add cmake target dependencies of the library | ||
| ## as an example, code may need to be generated before libraries | ||
| ## either from message generation or dynamic reconfigure | ||
| # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| ## Declare a C++ executable | ||
| ## With catkin_make all packages are built within a single CMake context | ||
| ## The recommended prefix ensures that target names across packages don't collide | ||
| # add_executable(${PROJECT_NAME}_node src/face_cropping_node.cpp) | ||
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| ## Rename C++ executable without prefix | ||
| ## The above recommended prefix causes long target names, the following renames the | ||
| ## target back to the shorter version for ease of user use | ||
| ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | ||
| # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | ||
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| ## Add cmake target dependencies of the executable | ||
| ## same as for the library above | ||
| # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| ## Specify libraries to link a library or executable target against | ||
| # target_link_libraries(${PROJECT_NAME}_node | ||
| # ${catkin_LIBRARIES} | ||
| # ) | ||
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| ############# | ||
| ## Install ## | ||
| ############# | ||
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| # all install targets should use catkin DESTINATION variables | ||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| # catkin_install_python(PROGRAMS | ||
| # scripts/my_python_script | ||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark executables for installation | ||
| ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html | ||
| # install(TARGETS ${PROJECT_NAME}_node | ||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark libraries for installation | ||
| ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html | ||
| # install(TARGETS ${PROJECT_NAME} | ||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark cpp header files for installation | ||
| # install(DIRECTORY include/${PROJECT_NAME}/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # FILES_MATCHING PATTERN "*.h" | ||
| # PATTERN ".svn" EXCLUDE | ||
| # ) | ||
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| ## Mark other files for installation (e.g. launch and bag files, etc.) | ||
| # install(FILES | ||
| # # myfile1 | ||
| # # myfile2 | ||
| # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| # ) | ||
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| ############# | ||
| ## Testing ## | ||
| ############# | ||
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| ## Add gtest based cpp test target and link libraries | ||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_face_cropping.cpp) | ||
| # if(TARGET ${PROJECT_NAME}-test) | ||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
| # endif() | ||
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| ## Add folders to be run by python nosetests | ||
| # catkin_add_nosetests(test) | ||
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| #Download face detection dnn model | ||
| add_custom_target( | ||
| download_face_detection_models ALL | ||
| COMMAND scripts/download_models.bash | ||
| WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} | ||
| ) |
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