wip: load of shit

LASR-at-Home · Jul 3, 2024 · 893efa5 · 893efa5
1 parent 175ad86
commit 893efa5
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Showing 6 changed files with 531 additions and 468 deletions.
diff --git a/common/vision/lasr_vision_deepface/src/lasr_vision_deepface/deepface.py b/common/vision/lasr_vision_deepface/src/lasr_vision_deepface/deepface.py
@@ -192,9 +192,11 @@ def detect_faces(
 
     try:
         faces = DeepFace.extract_faces(
-            cv_im, detector_backend="opencv", enforce_detection=True
+            cv_im, detector_backend="mtcnn", enforce_detection=True
         )
-    except ValueError:
+    except ValueError as e:
+        rospy.loginfo(f"Error: {e}")
+        debug_publisher.publish(cv2_img.cv2_img_to_msg(cv_im))
         return response
 
     for i, face in enumerate(faces):

diff --git a/tasks/receptionist/config/lab.yaml b/tasks/receptionist/config/lab.yaml
@@ -54,6 +54,32 @@ seat_pose:
     y: 0.0
     z: 0.816644293927375
     w: 0.577141314753899
+
+sweep_points:
+  - x : -0.9
+    y : 1.5
+    z: 0.5
+  - x : 0.5
+    y : 2.5
+    z: 0.5
+  - x: 0.17
+    y: 1.66
+    z: 0.5
+  - x: 1.26
+    y: 1.89
+    z: 0.5
+  - x : -0.9
+    y : 1.5
+    z: 1.0
+  - x: 0.17
+    y: 1.66
+    z: 1.0
+  - x: 1.26
+    y: 1.89
+    z: 1.0
+  - x : 0.5
+    y : 2.5
+    z: 1.0
 seat_area: [[-0.39, 0.87], [-0.74, 2.18], [1.26, 2.64], [1.54, 1.26]]
 
 max_people_on_sofa: 1