feat/refactor: feature extraction. (LASR-at-Home#159)

* testtesttest

* Test

* Test

* Message Change

* fixed message writting and reading

* fixed image crop

* Updated the feature extraction node and changed the messages.

* fixed that torsal and head frames were inversed.

* Changed colour format from BGR to RGB within the detection process.

* keep the saved model

* keep the model file

* keep the saved model

* Cancel saving the images (but sitll cannot see use cv2.imshow)

* Runnable demo

* added the hair colour distribution matching method

* retrained model is very robust so changed the threshold

* Moving the head to meet the person.

* xyz axis readable.

* (Hopefully) Runnable with 3d input.

* Speak normally.

* Try to move the head.

* testtesttest

* Test

* Test

* Message Change

* fixed message writting and reading

* fixed image crop

* Updated the feature extraction node and changed the messages.

* fixed that torsal and head frames were inversed.

* Changed colour format from BGR to RGB within the detection process.

* keep the saved model

* keep the model file

* keep the saved model

* Cancel saving the images (but sitll cannot see use cv2.imshow)

* Runnable demo

* added the hair colour distribution matching method

* retrained model is very robust so changed the threshold

* Moving the head to meet the person.

* xyz axis readable.

* (Hopefully) Runnable with 3d input.

* ah

* At least the head moves, not looking at me though.

* Cleaned the file to have only one model appear.

* Replace the old model with the new one.

* correct the lost module.

* info update

* fixed issues in the service

* fixed a stupic typo

* runnable version for full demo

* Recover the state machine for demo.

* Added a simple loop to refresh the frame taken, should work fine.

* Cleaned some commented code.

* removed loading the pretrained parameters

* removed load pretrained parameter.

* renamed torch_module into feature_extractor (Recompile needed!!!)

* renamed torch_module into feature_extractor

* renamed lasr_vision_torch to lasr_vision_feature_extraction

* removed some unused code comments

* removed colour estimation module

* removed colour_estimation dependence

* cleaned usused comments

* cleaned comments

* renamed torch_module to feature_extractor

* removed unused import, launch file and functions.

* reset <arg name="whisper_device_param" default="9" />

* Remade to achieve easier bodipix model loading

* added a break in the loop

* I don't really understand why this is in my branch, please ignore this commit when merge.

* Replace string return with json string return.

* pcl functioned remoeved because appeared repetitively.

* replaced the model and predictor initialization, put "__main__"

* Merged model classes file into predictor's file

* Merged helper functions into perdictor's file.

* Deleted feature extractor module

* Cleaned load model method, restart to use downloaded model.

* Removed unused files and cleaned the files.

* Cleaned usless comments and refilled package description.

* Removed useless colour messages.

* Brought aruco service package back.

* Removed useless keys from state machine.

* changed log messages.

* Fixed a stupid naming issue of feature extractor.

* Update common/helpers/numpy2message/package.xml

Co-authored-by: Jared Swift <[email protected]>

* Update common/helpers/numpy2message/package.xml

Co-authored-by: Jared Swift <[email protected]>

* Update common/vision/lasr_vision_feature_extraction/package.xml

Co-authored-by: Jared Swift <[email protected]>

* Canceled the default neck coordinates and leave it to be a failure.

* Canceled the loop of getting mixed images, and renamed the keys.

* renamed the function.

* Update skills/src/lasr_skills/vision/get_image.py

Co-authored-by: Jared Swift <[email protected]>

* Update skills/src/lasr_skills/vision/get_image.py

Co-authored-by: Jared Swift <[email protected]>

* Update skills/src/lasr_skills/vision/image_msg_to_cv2.py

Co-authored-by: Jared Swift <[email protected]>

* Update the new names in init.

* removed a print and rename the imports.

---------

Co-authored-by: Benteng Ma <[email protected]>
Co-authored-by: Jared Swift <[email protected]>