Add ROS2 support to Face Mesh

.github/workflows/code_compiles.yml

@@ -0,0 +1,31 @@
+name: code_compiles
+
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+  workflow_dispatch: {}
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
+    # You can convert this to a matrix build if you need cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Install prerequired packages
+        # To compile and run the code we require cmake, ninja and opencv
+        run: sudo apt-get update && sudo apt-get install build-essential cmake ninja-build libopencv-dev
+
+      - name: Configure CMake
+        # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+        # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+        run: cmake -B ${{github.workspace}}/build -G Ninja
+
+      - name: Build
+        # Build your program with the given configuration
+        run: cmake --build ${{github.workspace}}/build

.github/workflows/ros2_code_compiles.yml

@@ -0,0 +1,38 @@
+name: ros_code_compiles
+
+on:
+  push:
+    branches: ["main"]
+  pull_request:
+    branches: ["main"]
+  workflow_dispatch: {}
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
+    # You can convert this to a matrix build if you need cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install prerequired packages
+        # To compile and run the code we require cmake, ninja and opencv
+        run: sudo apt-get update && sudo apt-get install build-essential cmake ninja-build libopencv-dev
+
+      - name: Install dependencies
+        working-directory: ${{ github.workspace }}
+        run: |
+          sudo rosdep init || true
+          rosdep update
+          rosdep install --from-paths src -y --ignore-src
+
+      - name: Colcon build
+        working-directory: ${{ github.workspace }}
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build --packages-select face_detector

CMakeLists.txt

@@ -48,24 +48,59 @@ else()
         SOURCE_SUBDIR tensorflow/lite
     )
     FetchContent_MakeAvailable(tensorflow_rel_package)
-  else()
+    else()
+    # Check if we can use any of the precompiled tensorflow lite packages
+    # https://github.com/CLFML/TensorFlow_Lite_Compiled
     include(FetchContent)
     if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "arm64")
       FetchContent_Declare(
-    tensorflow_compiled_rel_package
-    URL https://github.com/CLFML/TensorFlow_Lite_Compiled/releases/download/v2.16.1/tensorflow_linux_generic_aarch64.zip
-    SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/external/tensorflow
-)
+        tensorflow_compiled_rel_package
+        URL https://github.com/CLFML/TensorFlow_Lite_Compiled/releases/download/v2.16.1/tensorflow_linux_generic_aarch64.zip
+        SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/external/tensorflow
+      )
     else()
-      FetchContent_Declare(
-      tensorflow_compiled_rel_package
-      URL https://github.com/CLFML/TensorFlow_Lite_Compiled/releases/download/v2.16.1/tensorflow_linux_generic_x86_64.zip
-      SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/external/tensorflow
-  )
-    endif()
-    FetchContent_MakeAvailable(tensorflow_compiled_rel_package)
-    if(CLFML_ROS2_PACKAGE_BUILD)
-      install(FILES external/tensorflow/lib/libtensorflowlite.so DESTINATION lib/${PROJECT_NAME})
+      # Get the CPU compatible instructionset(s)
+      execute_process(
+        COMMAND lscpu
+        OUTPUT_VARIABLE CLFML_FACE_MESH_CPU_INFO
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+      )
+      if(CLFML_FACE_MESH_CPU_INFO MATCHES "avx2")
+        message(STATUS "CLFML Face_Mesh.Cpp: CPU supports AVX2")
+        # Download the AVX2 compatible precompiled tensorflow lite package
+        FetchContent_Declare(
+          tensorflow_compiled_rel_package
+          URL https://github.com/CLFML/TensorFlow_Lite_Compiled/releases/download/v2.16.1/tensorflow_linux_avx2_x86_64.zip
+          SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/external/tensorflow
+        )
+        FetchContent_MakeAvailable(tensorflow_compiled_rel_package)
+        if(CLFML_ROS2_PACKAGE_BUILD)
+          install(FILES external/tensorflow/lib/libtensorflowlite.so DESTINATION lib/${PROJECT_NAME})
+        endif()
+
+      elseif(CLFML_FACE_MESH_CPU_INFO MATCHES "avx")
+        message(STATUS "CLFML Face_Mesh.Cpp: CPU supports AVX")
+        # Download the AVX compatible precompiled tensorflow lite package
+        FetchContent_Declare(
+          tensorflow_compiled_rel_package
+          URL https://github.com/CLFML/TensorFlow_Lite_Compiled/releases/download/v2.16.1/tensorflow_linux_generic_x86_64.zip
+          SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/external/tensorflow
+        )
+        FetchContent_MakeAvailable(tensorflow_compiled_rel_package)
+        if(CLFML_ROS2_PACKAGE_BUILD)
+          install(FILES external/tensorflow/lib/libtensorflowlite.so DESTINATION lib/${PROJECT_NAME})
+        endif()
+      else()
+        message(STATUS "CLFML Face_Mesh.Cpp: CPU doesn't support AVX or AVX2; Compiling from source...")
+        # Download and build from source
+        FetchContent_Declare(
+        tensorflow_rel_package
+        URL https://github.com/tensorflow/tensorflow/archive/refs/tags/v2.16.1.zip
+        SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/external/tensorflow
+        SOURCE_SUBDIR tensorflow/lite
+       )
+        FetchContent_MakeAvailable(tensorflow_rel_package)
+      endif()
     endif()
   endif()
   target_link_libraries(${PROJECT_NAME} tensorflow-lite)
@@ -76,14 +111,61 @@ target_compile_definitions(${PROJECT_NAME} PUBLIC -DCLFML_FACE_MESH_CPU_MODEL_PA
 
 set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17)
 
+if (CLFML_ROS2_PACKAGE_BUILD)
+  find_package(ament_cmake REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(sensor_msgs REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(std_srvs REQUIRED)
+  find_package(cv_bridge REQUIRED)
+  target_link_libraries(${PROJECT_NAME} ${cv_bridge_LIBRARIES})
+  add_executable(face_mesh_node ${CMAKE_CURRENT_LIST_DIR}/bindings/ros2/face_mesh_node.cpp)
+  ament_target_dependencies(face_mesh_node
+    rclcpp
+    sensor_msgs
+    cv_bridge
+    std_msgs
+    geometry_msgs
+    std_srvs
+    OpenCV
+  )
+  target_link_libraries(face_mesh_node face_mesh)
+  install(TARGETS
+    face_mesh_node
+    DESTINATION lib/${PROJECT_NAME})
+endif()
+
+
 if(CLFML_FACE_MESH_BUILD_EXAMPLE_PROJECTS)
-  FetchContent_Declare(
-        face_detector.cpp
-        GIT_REPOSITORY https://github.com/CLFML/Face_Detector.Cpp.git
-        GIT_TAG main
-    )
-  FetchContent_MakeAvailable(face_detector.cpp)
+FetchContent_Declare(
+  face_detector.cpp
+  GIT_REPOSITORY https://github.com/CLFML/Face_Detector.Cpp.git
+  GIT_TAG main
+)
+FetchContent_MakeAvailable(face_detector.cpp)
+if (CLFML_ROS2_PACKAGE_BUILD)
+    add_executable(face_mesh_viewer ${CMAKE_CURRENT_LIST_DIR}/example/ros2/face_mesh_viewer.cpp)
+    ament_target_dependencies(face_mesh_viewer
+        rclcpp
+        sensor_msgs
+        cv_bridge
+        std_msgs
+        geometry_msgs
+        std_srvs
+        OpenCV
+      )
+    install(TARGETS
+      face_mesh_viewer
+      DESTINATION lib/${PROJECT_NAME})
+  else ()
   add_executable(face_mesh_demo ${CMAKE_CURRENT_LIST_DIR}/example/face_mesh_demo/demo.cpp)
   target_link_libraries(face_mesh_demo PUBLIC CLFML::${PROJECT_NAME} CLFML::face_detector)
-
+  endif()
 endif()
+
+
+if (CLFML_ROS2_PACKAGE_BUILD)
+  install(FILES bindings/ros2/set_ld_path.sh DESTINATION lib/${PROJECT_NAME})
+  ament_package()
+endif()

README.md

@@ -77,14 +77,65 @@ add_subdirectory(Face_Mesh.Cpp)
 ...
 target_link_libraries(YOUR_EXECUTABLE CLFML::face_mesh)
 ```
+
+## Building a ROS2 package with Colcon
+Before using this library you will need the following packages installed:
+- OpenCV
+- ROS2
+- ROS CV bridge
+- Working C++ compiler (GCC or Clang)
+- CMake
+
+### Running the examples (Ubuntu, CPU)
+
+1. Clone this repo:
+```
+git clone https://github.com/CLFML/Face_Mesh.Cpp.git
+```
+
+2. Source your ROS2 installation:
+
+```bash
+source /opt/ros/jazzy/setup.bash
+```
+
+3. Install the dependencies:
+```bash
+rosdep install --from-paths src -y --ignore-src
+``` 
+
+4. Build the package:
+
+```bash
+colcon build --packages-select face_mesh
+```
+
+5. Set up the environment:
+
+```bash
+source install/setup.bash
+```
+
+6. Run the camera node:
+
+```bash
+ros2 run v4l2_camera v4l2_camera_node
+```
+
+7. In another terminal, run the nodes
+
+```bash
+ros2 launch example/ros2/launch.py
+```
+
+
 ## Aditional documentation
 See our [wiki](https://clfml.github.io/Face_Mesh.Cpp/)...
 
 ## Todo
 - Add language bindings for Python, C# and Java
 - Add support for MakeFiles and Bazel
 - Add Unit-tests 
-- Add ROS2 package support
 - Add support for the [Face Mesh V2 model](https://storage.googleapis.com/mediapipe-assets/Model%20Card%20MediaPipe%20Face%20Mesh%20V2.pdf)
 
 ## License