Apply suggestions from code review

LASR-at-Home · Feb 23, 2024 · 1a08b00 · 1a08b00
1 parent 34ecfb6
commit 1a08b00
Show file tree

Hide file tree

Showing 10 changed files with 10 additions and 42 deletions.
diff --git a/common/vector_databases/lasr_vector_databases_faiss/.gitignore b/common/vector_databases/lasr_vector_databases_faiss/.gitignore
@@ -1 +1,2 @@
-data/**
+data/**
+!data/.gitkeep
diff --git a/common/vector_databases/lasr_vector_databases_faiss/CMakeLists.txt b/common/vector_databases/lasr_vector_databases_faiss/CMakeLists.txt
@@ -7,7 +7,7 @@ project(lasr_vector_databases_faiss)
 ## 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 catkin_virtualenv message_generation genmsg actionlib_msgs actionlib geometry_msgs)
+find_package(catkin REQUIRED catkin_virtualenv)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)

diff --git a/common/vector_databases/lasr_vector_databases_faiss/package.xml b/common/vector_databases/lasr_vector_databases_faiss/package.xml
@@ -50,10 +50,6 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>catkin_virtualenv</build_depend>
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <build_depend>actionlib_msgs</build_depend>
-  <exec_depend>actionlib_msgs</exec_depend>
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

diff --git a/common/vision/lasr_vision_clip/.gitignore b/common/vision/lasr_vision_clip/.gitignore
@@ -1 +1,2 @@
-data/**
+data/**
+!data/.gitkeep
diff --git a/common/vision/lasr_vision_clip/CMakeLists.txt b/common/vision/lasr_vision_clip/CMakeLists.txt
@@ -7,7 +7,7 @@ project(lasr_vision_clip)
 ## 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 catkin_virtualenv message_generation genmsg actionlib_msgs actionlib geometry_msgs)
+find_package(catkin REQUIRED catkin_virtualenv)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)

diff --git a/common/vision/lasr_vision_clip/package.xml b/common/vision/lasr_vision_clip/package.xml
@@ -50,12 +50,6 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>catkin_virtualenv</build_depend>
-  <depend>lasr_vision_msgs</depend>
-  <depend>lasr_speech_recognition_msgs</depend>
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <build_depend>actionlib_msgs</build_depend>
-  <exec_depend>actionlib_msgs</exec_depend>
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

diff --git a/common/vision/lasr_vision_deepface/CMakeLists.txt b/common/vision/lasr_vision_deepface/CMakeLists.txt
@@ -163,11 +163,6 @@ catkin_install_python(PROGRAMS
   scripts/create_dataset
   examples/relay
   examples/greet
-  examples/greet_and_identify
-  nodes/actions/get_name
-  nodes/actions/greet
-  nodes/actions/identify
-  nodes/actions/learn_face
   nodes/service
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

diff --git a/common/vision/lasr_vision_deepface/examples/greet b/common/vision/lasr_vision_deepface/examples/greet
@@ -17,13 +17,6 @@ listen_topic = sys.argv[1]
 dataset = sys.argv[2]
 people_in_frame = []
 
-# store a dict of people and their last seen time
-# if a person hasn't been seen for a while, remove them from the dict
-# if a person is seen, update their last seen time
-# if a person is seen and they are not in the dict, add them to the dict
-# if the dict is empty, don't greet
-# if the dict is not empty, greet the people in the dict
-
 
 people_in_frame = {}
 
@@ -48,7 +41,6 @@ def greet():
     voice = Voice()
     voice.speak(f"Hello, {' '.join(people_in_frame)}")
 
-    # print(f"Hello, {' '.join(people_in_frame)}\033[0m")
 
 
 def image_callback(image):

diff --git a/common/vision/lasr_vision_deepface/launch/example.launch b/common/vision/lasr_vision_deepface/launch/example.launch
@@ -3,11 +3,9 @@
         <arg name="debug" value="true" />
     </include>
 
-    <node pkg="lasr_vision_deepface" type="get_name" name="get_name_action" output="screen"/>
-    <node pkg="lasr_vision_deepface" type="greet" name="greet_action" output="screen"/>
-    <node pkg="lasr_vision_deepface" type="identify" name="identify_action" output="screen"/>
-    <node pkg="lasr_vision_deepface" type="learn_face" name="learn_face_action" output="screen"/>
-    <node pkg="lasr_vision_deepface" type="greet_and_identify" name="greet_and_identify_node" output="screen"/>
+    <arg topic="/xtion/rgb/image_raw"/>
+    <arg dataset=""/>
+    <node pkg="lasr_vision_deepface" type="gree" name="greet" output="screen" args="$(arg topic) $(arg dataset)"/>
 
 
 </launch>
diff --git a/common/vision/lasr_vision_msgs/CMakeLists.txt b/common/vision/lasr_vision_msgs/CMakeLists.txt
@@ -7,7 +7,7 @@ project(lasr_vision_msgs)
 ## 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 message_generation actionlib_msgs actionlib message_runtime sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS message_generation message_runtime sensor_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -64,19 +64,10 @@ add_service_files(
 )
 
 # Generate actions in the 'action' folder
-add_action_files(
-  DIRECTORY action
-  FILES 
-  LearnFace.action
-  GetName.action
-  Identify.action
-  Greet.action
-)
 
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
-  actionlib_msgs
   sensor_msgs
 )