libhri

See the top-level README.md for more information.

Changelog for package hri

2.6.1 (2024-09-10)

• bring back dependencies on tf2 and cv_bridge as <depends> so that <build_export_depend> is implied
• Contributors: Séverin Lemaignan

2.6.0 (2024-09-09)

• add face expression
• change build to ament_cmake_auto
• Contributors: Luka Juricic

2.5.1 (2024-08-21)

2.5.0 (2024-08-02)

• readd deprecated function signatures
• add voice locale
• add tests for gaze transform
• Contributors: Luka Juricic

2.4.1 (2024-06-19)

• [doc] minor fixes
• Contributors: Séverin Lemaignan

2.4.0 (2024-05-13)

• adding doxygen documentation
• adding body description support for Body objects
• Contributors: lorenzoferrini

2.3.0 (2024-03-18)

2.2.0 (2024-01-18)

• add clear functions; lower missing tf log level
• add bitwise operators to FeatureType
• revert feature constness for getters
• add remaining interfaces to NodeInterfaces
• Contributors: Luka Juricic

2.1.0 (2024-01-18)

• add tf listener to the callback group
• add pyhri tests and align hri ones with the former
• add pybind11 based python bindings to pyhri
• add pyhri python bindings package
• Contributors: Luka Juricic

2.0.0 (2023-12-19)

Port the ROS 2.This release is not backward compatible with series libhri-0.x!

• fix version; use safer cmake variables
• add author; rename example node
• getters return pointers to const objects
• change example folder location
• add example instructions
• invalidate non-tracked/known features
• do not use const feature trackers they do not allow the registration of feature tracker callbacks (e.g. hri::Voice::onSpeech), while the members are already private and thus protected
• naming consistency
• review fixes
  • pass const objects to callbacks
  • emplace new tracked features
  • fix documentation
• review polish
  • add support for LifecycleNode
  • feature getters return const objects
  • avoid trivial typedefs
  • remove legacy docgen files
• fixez in cmake install, QoS, tests
• pass safer weak pointer of HRIListener to Person
• move FeatureTracker::init() to constructor avoid accidental re-initialization using public init() function
• bump version ahead of release 2.0.0
• remove unnecessary compile local files
• replace returned ROS messages with cpp types
• big cleanup
  • collect types in types.hpp
  • comply to coding guidelines (headers reordering, renaming, ...)
  • make all subscribed info optional
• cleanup tests
• group common functionalities into FeatureTracker
• simplify the execution architecture
  • HRIListener uses an external node for subscribing to topics
  • FeatureTracker collects additional common members
• do not use const pointers they are deceptive, actually the callbacks are modifying the 'const' objects
• switch license to apache 2.0
• use shared pointers instead of weak ones
• switch to std::optional
• building cleanup
  • target-based CMake
  • add back the copyright in the license
  • fix file naming
  • reorder depencencies alphabetically
• Merge main 0.6.4 into humble-devel 0.5.3 3ff30aa3263abe2c6e7d2500165889e3bf0a5c36 into f50816fa0f65cc71e8057c25a8edba1ccee676bc
• Merge pull request #2 from juandpenan/humble-devel Code migrated to ROS2 Humble
• all tests passed
• changed buffer to buffercore
• test added
• voice sub fixed
• body sub fixed
• change bodies from weak to shared
• face callbacks fixed
• face listener working
• tf_listener fashon added
• ros1 fashon
• using namespace removed
• header guards changed
• testing
• revert to weak
• test added
• ID error fixed
• Merge pull request #1 from Juancams/humble-devel Migrated to ROS2 Humble
• Migrated to ROS2 Humble
• first_commit
• first_commit
• Contributors: Francisco Martín Rico, Juan Diego, Juancams, Luka Juricic, Séverin Lemaignan

0.6.4 (2023-07-05)

• Fix Typo in voice.h re-apply patch from juandpenan https://github.com/ros4hri/libhri/pull/3 (patch removed by mistake)
• Contributors: juandpenan

0.6.3 (2023-07-05)

• change ROI message type to hri_msgs/NormalizedRegionOfInterest2D
• fix tests use of EXPECT_CALL and timeouts
• Contributors: Luka Juricic

0.6.2 (2023-04-21)

• anonymous field as optional
• Contributors: lorenzoferrini

0.6.1 (2023-01-16)

• add callbacks for when speech is detected on a voice
• Contributors: Séverin Lemaignan

0.6.0 (2023-01-05)

• redefine hri::FeatureType enum to be used as bitmask
• Contributors: Séverin Lemaignan

0.5.3 (2022-10-26)

• bodies: expose the skeleton2d points
• package.xml: add libhri URL
• Contributors: Séverin Lemaignan, lorenzoferrini

0.5.2 (2022-10-10)

• expose the 3D transform of the voices
• expose face + gaze transform
• expose the 3D transform of the bodies
• minor refactor for safer access to engagement_status
• Contributors: Séverin Lemaignan

0.5.1 (2022-08-31)

• add comparision between 'feature trackers'
• update to new hri_msgs-0.8.0 names
• Contributors: Séverin Lemaignan

0.5.0 (2022-05-26)

• expose the current TF frame + transform of the person
• expose engagement status of people
• expose softbiometrics (age/gender) in faces
• add support for persons' aliases if a /humans/persons/<id>/alias points to another person id, libhri will use return the same pointer
• add callbacks when face/body/... are lost + support for known vs tracked persons
• add support for 'anonymous' persons Anonymous persons are persons that may disappear at any point. They are typically created because we know that a person is there (eg, we've detected a face), but that person is not yet permanently identified. API change: HriListener::getPersons() now returns weak pointers that need to be locked before being used.
• ensure the cropped and aligned face do not re-use the same underlying data
• add simple libhri example to display aligned faces
• remove spurious logging on cout
• Contributors: Séverin Lemaignan

0.4.3 (2022-04-28)

• fix gmock 'Call' syntax for older version of gmock (1.8). This was causing issues on ubuntu 18.04 (ROS melodic)
• Contributors: Séverin Lemaignan

0.4.2 (2022-04-27)

• add callback support for faces, bodies, voices, persons. Eg, call [onFace(cb)]{.title-ref} to register callback invoked everytime a face is detected
• expose the aligned face in the Face class
• Contributors: Séverin Lemaignan

0.4.1 (2022-03-07)

• Fixed wrong feature subscribers indexing
• Contributors: lorenzoferrini

0.4.0 (2022-02-21)

• Facial Landmarks implementation Implementation of methods and structures required to access the facial landmarks Face Landmarks object size correction
• add tests for the person.face_id attribute
• actually subscribe to the person's face/body/voice id updates
• Contributors: Séverin Lemaignan, lorenzoferrini

0.3.1 (2022-02-07)

• add/update BSD license
• Contributors: Séverin Lemaignan

0.3.0 (2022-02-07)

• expose enum with the 4 feature types person,face,body,voice
• add voices and persons + improve const semantics
• Contributors: Séverin Lemaignan

0.2.3 (2022-01-21)

• Body::{getRoI->roi} + RoI not optional + add Body::cropped
• Contributors: Séverin Lemaignan

0.2.2 (2022-01-21)

• Face::{getRoI->roi} + RoI not optional + add Face::cropped In the latest revision of the ROS4HRI spec, the region of interest is always expected to be available (as well as the cropped face). As such, no point in using a boost::optional there.
• Contributors: Séverin Lemaignan

0.2.1 (2022-01-14)

• replace hri_msgs::RegionOfInterestStamped by sensor_msgs::RegionOfInterest Follows changes in hri_msgs 0.2.0
• add skeleton of hri::Person class
• add empty Voice class
• expose the features' topic namespace + doc
• Contributors: Séverin Lemaignan

0.2.0 (2022-01-05)

• add basic support for bodies; only the RoIs for now
• Contributors: Séverin Lemaignan

0.1.0 (2022-01-05)

• use boost::optional for faces' features like RoI
• doc: setup rosdoc. Run [rosdoc_lite .]{.title-ref} to generate
• test: expand the test suite
• cmake: explicit SYSTEM headers to avoid ROS shadowing issues
• Contributors: Séverin Lemaignan

0.0.3 (2022-01-05)

• do not try to compile hri_demo (internal test)
• Contributors: Séverin Lemaignan