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Merged
Parent: Ros2
merged 2 commits into from
Mar 21, 2023
Merged

Use object_msgs instead of openvino_people_msgs #265

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db7a200
use object_msgs instead of openvino_people_msgs.
LewisLiuPub Feb 15, 2023
64bbecd
update README by using object_msgs instead of openvino_people_msgs
LewisLiuPub Feb 15, 2023
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22 changes: 11 additions & 11 deletions README.md
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Expand Up @@ -173,15 +173,15 @@ Specific topic(s) can be generated and published according to the given inferenc
|Inference|Published Topic|
|---|---|
|People Detection|```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))|
|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([openvino_people_msgs:msg:EmotionsStamped](../../../openvino_people_msgs/msg/EmotionsStamped.msg))|
|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([openvino_people_msgs:msg:AgeGenderStamped](../../../openvino_people_msgs/msg/AgeGenderStamped.msg))|
|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([openvino_people_msgs:msg:HeadPoseStamped](../../../openvino_people_msgs/msg/HeadPoseStamped.msg))|
|Emotion Recognition|```/ros2_openvino_toolkit/emotions_recognition```([object_msgs:msg:EmotionsStamped](../../../object_msgs/msg/EmotionsStamped.msg))|
|Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([object_msgs:msg:AgeGenderStamped](../../../object_msgs/msg/AgeGenderStamped.msg))|
|Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([object_msgs:msg:HeadPoseStamped](../../../object_msgs/msg/HeadPoseStamped.msg))|
|Object Detection|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))|
|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))|
|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([openvino_people_msgs::msg::ObjectsInMasks](../../../openvino_people_msgs/msg/ObjectsInMasks.msg))|
|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([openvino_people_msgs::msg::ReidentificationStamped](../../../openvino_people_msgs/msg/ReidentificationStamped.msg))|
|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([openvino_people_msgs::msg::VehicleAttribsStamped](../../../openvino_people_msgs/msg/PersonAttributeStamped.msg))|
|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([openvino_people_msgs::msg::LicensePlateStamped](../../../openvino_people_msgs/msg/LicensePlateStamped.msg))|
|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))|
|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))|
|Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([object_msgs::msg::ReidentificationStamped](../../../object_msgs/msg/ReidentificationStamped.msg))|
|Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([object_msgs::msg::VehicleAttribsStamped](../../../object_msgs/msg/PersonAttributeStamped.msg))|
|Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([object_msgs::msg::LicensePlateStamped](../../../object_msgs/msg/LicensePlateStamped.msg))|
</details>
</p>

Expand All @@ -196,9 +196,9 @@ Several ROS2 Services are created, expecting to be used in client/server mode, e
|---|---|
|Object Detection Service|```/detect_object```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))|
|Face Detection Service|```/detect_face```([object_msgs::srv::DetectObject](https://github.com/intel/ros2_object_msgs/blob/master/srv/DetectObject.srv))|
|Age Gender Detection Service|```/detect_age_gender```([openvino_people_msgs::srv::AgeGender](./openvino_people_msgs/srv/AgeGenderSrv.srv))|
|Headpose Detection Service|```/detect_head_pose```([openvino_people_msgs::srv::HeadPose](./openvino_people_msgs/srv/HeadPoseSrv.srv))|
|Emotion Detection Service|```/detect_emotion```([openvino_people_msgs::srv::Emotion](./openvino_people_msgs/srv/EmotionSrv.srv))|
|Age Gender Detection Service|```/detect_age_gender```([object_msgs::srv::AgeGender](./object_msgs/srv/AgeGenderSrv.srv))|
|Headpose Detection Service|```/detect_head_pose```([object_msgs::srv::HeadPose](./object_msgs/srv/HeadPoseSrv.srv))|
|Emotion Detection Service|```/detect_emotion```([object_msgs::srv::Emotion](./object_msgs/srv/EmotionSrv.srv))|
</details>
</p>

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Empty file added openvino_people_msgs/COLCON_IGNORE
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2 changes: 0 additions & 2 deletions openvino_wrapper_lib/CMakeLists.txt
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Expand Up @@ -62,7 +62,6 @@ find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(object_msgs REQUIRED)
find_package(openvino_people_msgs REQUIRED)
find_package(openvino_msgs REQUIRED)
find_package(class_loader REQUIRED)
find_package(cv_bridge REQUIRED)
Expand Down Expand Up @@ -233,7 +232,6 @@ ament_target_dependencies(${PROJECT_NAME}
"std_msgs"
"sensor_msgs"
"object_msgs"
"openvino_people_msgs"
"openvino_msgs"
"ament_index_cpp"
"class_loader"
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4 changes: 2 additions & 2 deletions openvino_wrapper_lib/include/openvino_wrapper_lib/inferences/age_gender_detection.hpp
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Expand Up @@ -19,8 +19,8 @@
#ifndef OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_
#define OPENVINO_WRAPPER_LIB__INFERENCES__AGE_GENDER_DETECTION_HPP_

#include <openvino_people_msgs/msg/age_gender.hpp>
#include <openvino_people_msgs/msg/age_gender_stamped.hpp>
#include <object_msgs/msg/age_gender.hpp>
#include <object_msgs/msg/age_gender_stamped.hpp>
#include <memory>
#include <string>
#include <vector>
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28 changes: 14 additions & 14 deletions openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/base_output.hpp
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Expand Up @@ -22,16 +22,16 @@

#include <object_msgs/msg/object_in_box.hpp>
#include <object_msgs/msg/objects_in_boxes.hpp>
#include <openvino_people_msgs/msg/emotion.hpp>
#include <openvino_people_msgs/msg/emotions_stamped.hpp>
#include <openvino_people_msgs/msg/age_gender.hpp>
#include <openvino_people_msgs/msg/age_gender_stamped.hpp>
#include <openvino_people_msgs/msg/head_pose.hpp>
#include <openvino_people_msgs/msg/head_pose_stamped.hpp>
#include <openvino_people_msgs/srv/age_gender_srv.hpp>
#include <openvino_people_msgs/srv/emotion_srv.hpp>
#include <openvino_people_msgs/srv/people.hpp>
#include <openvino_people_msgs/srv/head_pose_srv.hpp>
#include <object_msgs/msg/emotion.hpp>
#include <object_msgs/msg/emotions_stamped.hpp>
#include <object_msgs/msg/age_gender.hpp>
#include <object_msgs/msg/age_gender_stamped.hpp>
#include <object_msgs/msg/head_pose.hpp>
#include <object_msgs/msg/head_pose_stamped.hpp>
#include <object_msgs/srv/age_gender_srv.hpp>
#include <object_msgs/srv/emotion_srv.hpp>
#include <object_msgs/srv/people.hpp>
#include <object_msgs/srv/head_pose_srv.hpp>
#include <object_msgs/srv/detect_object.hpp>
#include <string>
#include <vector>
Expand Down Expand Up @@ -164,13 +164,13 @@ class BaseOutput
virtual void setServiceResponseForFace(
std::shared_ptr<object_msgs::srv::DetectObject::Response> response) {}
virtual void setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::AgeGenderSrv::Response> response) {}
std::shared_ptr<object_msgs::srv::AgeGenderSrv::Response> response) {}
virtual void setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::EmotionSrv::Response> response) {}
std::shared_ptr<object_msgs::srv::EmotionSrv::Response> response) {}
virtual void setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::HeadPoseSrv::Response> response) {}
std::shared_ptr<object_msgs::srv::HeadPoseSrv::Response> response) {}
virtual void setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::People::Response> response) {}
std::shared_ptr<object_msgs::srv::People::Response> response) {}
Pipeline * getPipeline() const;
cv::Mat getFrame() const;
virtual void clearData() {}
Expand Down
20 changes: 10 additions & 10 deletions openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_service_output.hpp
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Expand Up @@ -23,12 +23,12 @@
#include <object_msgs/msg/object.hpp>
#include <object_msgs/msg/object_in_box.hpp>
#include <object_msgs/msg/objects_in_boxes.hpp>
#include <openvino_people_msgs/msg/emotion.hpp>
#include <openvino_people_msgs/msg/emotions_stamped.hpp>
#include <openvino_people_msgs/msg/age_gender.hpp>
#include <openvino_people_msgs/msg/age_gender_stamped.hpp>
#include <openvino_people_msgs/msg/head_pose.hpp>
#include <openvino_people_msgs/msg/head_pose_stamped.hpp>
#include <object_msgs/msg/emotion.hpp>
#include <object_msgs/msg/emotions_stamped.hpp>
#include <object_msgs/msg/age_gender.hpp>
#include <object_msgs/msg/age_gender_stamped.hpp>
#include <object_msgs/msg/head_pose.hpp>
#include <object_msgs/msg/head_pose_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/header.hpp>

Expand Down Expand Up @@ -60,10 +60,10 @@ class RosServiceOutput : public RosTopicOutput

void setServiceResponse(std::shared_ptr<object_msgs::srv::DetectObject::Response> response);
void setResponseForFace(std::shared_ptr<object_msgs::srv::DetectObject::Response> response);
void setServiceResponse(std::shared_ptr<openvino_people_msgs::srv::AgeGenderSrv::Response> response);
void setServiceResponse(std::shared_ptr<openvino_people_msgs::srv::EmotionSrv::Response> response);
void setServiceResponse(std::shared_ptr<openvino_people_msgs::srv::HeadPoseSrv::Response> response);
void setServiceResponse(std::shared_ptr<openvino_people_msgs::srv::People::Response> response);
void setServiceResponse(std::shared_ptr<object_msgs::srv::AgeGenderSrv::Response> response);
void setServiceResponse(std::shared_ptr<object_msgs::srv::EmotionSrv::Response> response);
void setServiceResponse(std::shared_ptr<object_msgs::srv::HeadPoseSrv::Response> response);
void setServiceResponse(std::shared_ptr<object_msgs::srv::People::Response> response);

private:
const std::string service_name_;
Expand Down
76 changes: 38 additions & 38 deletions openvino_wrapper_lib/include/openvino_wrapper_lib/outputs/ros_topic_output.hpp
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Expand Up @@ -23,24 +23,24 @@
#include <object_msgs/msg/object.hpp>
#include <object_msgs/msg/object_in_box.hpp>
#include <object_msgs/msg/objects_in_boxes.hpp>
#include <openvino_people_msgs/msg/emotion.hpp>
#include <openvino_people_msgs/msg/emotions_stamped.hpp>
#include <openvino_people_msgs/msg/age_gender.hpp>
#include <openvino_people_msgs/msg/age_gender_stamped.hpp>
#include <openvino_people_msgs/msg/head_pose.hpp>
#include <openvino_people_msgs/msg/head_pose_stamped.hpp>
#include <openvino_people_msgs/msg/object_in_mask.hpp>
#include <openvino_people_msgs/msg/objects_in_masks.hpp>
#include <openvino_people_msgs/msg/reidentification.hpp>
#include <openvino_people_msgs/msg/reidentification_stamped.hpp>
#include <openvino_people_msgs/msg/person_attribute.hpp>
#include <openvino_people_msgs/msg/person_attribute_stamped.hpp>
#include <openvino_people_msgs/msg/landmark.hpp>
#include <openvino_people_msgs/msg/landmark_stamped.hpp>
#include <openvino_people_msgs/msg/vehicle_attribs.hpp>
#include <openvino_people_msgs/msg/vehicle_attribs_stamped.hpp>
#include <openvino_people_msgs/msg/license_plate.hpp>
#include <openvino_people_msgs/msg/license_plate_stamped.hpp>
#include <object_msgs/msg/emotion.hpp>
#include <object_msgs/msg/emotions_stamped.hpp>
#include <object_msgs/msg/age_gender.hpp>
#include <object_msgs/msg/age_gender_stamped.hpp>
#include <object_msgs/msg/head_pose.hpp>
#include <object_msgs/msg/head_pose_stamped.hpp>
#include <object_msgs/msg/object_in_mask.hpp>
#include <object_msgs/msg/objects_in_masks.hpp>
#include <object_msgs/msg/reidentification.hpp>
#include <object_msgs/msg/reidentification_stamped.hpp>
#include <object_msgs/msg/person_attribute.hpp>
#include <object_msgs/msg/person_attribute_stamped.hpp>
#include <object_msgs/msg/landmark.hpp>
#include <object_msgs/msg/landmark_stamped.hpp>
#include <object_msgs/msg/vehicle_attribs.hpp>
#include <object_msgs/msg/vehicle_attribs_stamped.hpp>
#include <object_msgs/msg/license_plate.hpp>
#include <object_msgs/msg/license_plate_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/header.hpp>

Expand Down Expand Up @@ -154,30 +154,30 @@ class RosTopicOutput : public BaseOutput
protected:
const std::string topic_name_;
std::shared_ptr<rclcpp::Node> node_;
rclcpp::Publisher<openvino_people_msgs::msg::LicensePlateStamped>::SharedPtr pub_license_plate_;
std::shared_ptr<openvino_people_msgs::msg::LicensePlateStamped> license_plate_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::VehicleAttribsStamped>::SharedPtr pub_vehicle_attribs_;
std::shared_ptr<openvino_people_msgs::msg::VehicleAttribsStamped> vehicle_attribs_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::LandmarkStamped>::SharedPtr pub_landmarks_;
std::shared_ptr<openvino_people_msgs::msg::LandmarkStamped> landmarks_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::ReidentificationStamped>::SharedPtr pub_face_reid_;
std::shared_ptr<openvino_people_msgs::msg::ReidentificationStamped> face_reid_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::PersonAttributeStamped>::SharedPtr pub_person_attribs_;
std::shared_ptr<openvino_people_msgs::msg::PersonAttributeStamped> person_attribs_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::ReidentificationStamped>::SharedPtr pub_person_reid_;
std::shared_ptr<openvino_people_msgs::msg::ReidentificationStamped> person_reid_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::ObjectsInMasks>::SharedPtr pub_segmented_object_;
std::shared_ptr<openvino_people_msgs::msg::ObjectsInMasks> segmented_objects_topic_;
rclcpp::Publisher<object_msgs::msg::LicensePlateStamped>::SharedPtr pub_license_plate_;
std::shared_ptr<object_msgs::msg::LicensePlateStamped> license_plate_topic_;
rclcpp::Publisher<object_msgs::msg::VehicleAttribsStamped>::SharedPtr pub_vehicle_attribs_;
std::shared_ptr<object_msgs::msg::VehicleAttribsStamped> vehicle_attribs_topic_;
rclcpp::Publisher<object_msgs::msg::LandmarkStamped>::SharedPtr pub_landmarks_;
std::shared_ptr<object_msgs::msg::LandmarkStamped> landmarks_topic_;
rclcpp::Publisher<object_msgs::msg::ReidentificationStamped>::SharedPtr pub_face_reid_;
std::shared_ptr<object_msgs::msg::ReidentificationStamped> face_reid_topic_;
rclcpp::Publisher<object_msgs::msg::PersonAttributeStamped>::SharedPtr pub_person_attribs_;
std::shared_ptr<object_msgs::msg::PersonAttributeStamped> person_attribs_topic_;
rclcpp::Publisher<object_msgs::msg::ReidentificationStamped>::SharedPtr pub_person_reid_;
std::shared_ptr<object_msgs::msg::ReidentificationStamped> person_reid_topic_;
rclcpp::Publisher<object_msgs::msg::ObjectsInMasks>::SharedPtr pub_segmented_object_;
std::shared_ptr<object_msgs::msg::ObjectsInMasks> segmented_objects_topic_;
rclcpp::Publisher<object_msgs::msg::ObjectsInBoxes>::SharedPtr pub_detected_object_;
std::shared_ptr<object_msgs::msg::ObjectsInBoxes> detected_objects_topic_;
rclcpp::Publisher<object_msgs::msg::ObjectsInBoxes>::SharedPtr pub_face_;
std::shared_ptr<object_msgs::msg::ObjectsInBoxes> faces_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::EmotionsStamped>::SharedPtr pub_emotion_;
std::shared_ptr<openvino_people_msgs::msg::EmotionsStamped> emotions_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::AgeGenderStamped>::SharedPtr pub_age_gender_;
std::shared_ptr<openvino_people_msgs::msg::AgeGenderStamped> age_gender_topic_;
rclcpp::Publisher<openvino_people_msgs::msg::HeadPoseStamped>::SharedPtr pub_headpose_;
std::shared_ptr<openvino_people_msgs::msg::HeadPoseStamped> headpose_topic_;
rclcpp::Publisher<object_msgs::msg::EmotionsStamped>::SharedPtr pub_emotion_;
std::shared_ptr<object_msgs::msg::EmotionsStamped> emotions_topic_;
rclcpp::Publisher<object_msgs::msg::AgeGenderStamped>::SharedPtr pub_age_gender_;
std::shared_ptr<object_msgs::msg::AgeGenderStamped> age_gender_topic_;
rclcpp::Publisher<object_msgs::msg::HeadPoseStamped>::SharedPtr pub_headpose_;
std::shared_ptr<object_msgs::msg::HeadPoseStamped> headpose_topic_;
};
} // namespace Outputs
#endif // OPENVINO_WRAPPER_LIB__OUTPUTS__ROS_TOPIC_OUTPUT_HPP_
18 changes: 9 additions & 9 deletions openvino_wrapper_lib/include/openvino_wrapper_lib/services/frame_processing_server.hpp
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Expand Up @@ -17,16 +17,16 @@
#include <object_msgs/msg/object.hpp>
#include <object_msgs/msg/object_in_box.hpp>
#include <object_msgs/msg/objects_in_boxes.hpp>
#include <openvino_people_msgs/msg/emotion.hpp>
#include <openvino_people_msgs/msg/emotions_stamped.hpp>
#include <openvino_people_msgs/msg/age_gender.hpp>
#include <openvino_people_msgs/msg/age_gender_stamped.hpp>
#include <openvino_people_msgs/msg/head_pose.hpp>
#include <openvino_people_msgs/msg/head_pose_stamped.hpp>
#include <object_msgs/msg/emotion.hpp>
#include <object_msgs/msg/emotions_stamped.hpp>
#include <object_msgs/msg/age_gender.hpp>
#include <object_msgs/msg/age_gender_stamped.hpp>
#include <object_msgs/msg/head_pose.hpp>
#include <object_msgs/msg/head_pose_stamped.hpp>

#include <openvino_people_msgs/srv/age_gender_srv.hpp>
#include <openvino_people_msgs/srv/emotion_srv.hpp>
#include <openvino_people_msgs/srv/head_pose_srv.hpp>
#include <object_msgs/srv/age_gender_srv.hpp>
#include <object_msgs/srv/emotion_srv.hpp>
#include <object_msgs/srv/head_pose_srv.hpp>
#include <object_msgs/srv/detect_object.hpp>

#include <rclcpp/rclcpp.hpp>
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2 changes: 0 additions & 2 deletions openvino_wrapper_lib/package.xml
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Expand Up @@ -37,7 +37,6 @@ limitations under the License.
<build_depend>class_loader</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>object_msgs</build_depend>
<build_depend>openvino_people_msgs</build_depend>
<build_depend>openvino_msgs</build_depend>
<build_depend>openvino_param_lib</build_depend>
<build_depend>realsense2</build_depend>
Expand All @@ -54,7 +53,6 @@ limitations under the License.
<exec_depend>class_loader</exec_depend>
<exec_depend>cv_bridge</exec_depend>
<exec_depend>object_msgs</exec_depend>
<exec_depend>openvino_people_msgs</exec_depend>
<exec_depend>openvino_msgs</exec_depend>
<exec_depend>openvino_param_lib</exec_depend>
<exec_depend>realsense2</exec_depend>
Expand Down
8 changes: 4 additions & 4 deletions openvino_wrapper_lib/src/outputs/ros_service_output.cpp
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Expand Up @@ -42,31 +42,31 @@ void Outputs::RosServiceOutput::setResponseForFace(
}

void Outputs::RosServiceOutput::setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::AgeGenderSrv::Response> response)
std::shared_ptr<object_msgs::srv::AgeGenderSrv::Response> response)
{
if (age_gender_topic_ != nullptr) {
response->age_gender.objects = age_gender_topic_->objects;
}
}

void Outputs::RosServiceOutput::setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::EmotionSrv::Response> response)
std::shared_ptr<object_msgs::srv::EmotionSrv::Response> response)
{
if (emotions_topic_ != nullptr) {
response->emotion.emotions = emotions_topic_->emotions;
}
}

void Outputs::RosServiceOutput::setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::HeadPoseSrv::Response> response)
std::shared_ptr<object_msgs::srv::HeadPoseSrv::Response> response)
{
if (headpose_topic_ != nullptr) {
response->headpose.headposes = headpose_topic_->headposes;
}
}

void Outputs::RosServiceOutput::setServiceResponse(
std::shared_ptr<openvino_people_msgs::srv::People::Response> response)
std::shared_ptr<object_msgs::srv::People::Response> response)
{
slog::info << "in People::Response ...";
if (faces_topic_ != nullptr) {
Expand Down
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