Add jsk visualisation

.github/testpr_environment.yml

@@ -5,9 +5,9 @@ channels:
 dependencies:
   - python 3.9.*
   - pip
-  - boa
   - rospkg
   - catkin_pkg >=0.4.16
   - ruamel.yaml >=0.16.6
   - rosdistro >=0.8.0
   - empy >=3.3.4
+  - mamba

.github/workflows/testpr.yml

@@ -59,12 +59,15 @@ jobs:
         conda config --show channels | grep defaults && conda config --remove channels defaults
         conda info
         conda config --show
-        mamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4" boa
-    - name: install vinca and boa master
+        mamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4"
+        mamba install -y boa --only-deps
+    - name: install vinca and boa main
       shell: bash -l {0}
       run: |
         # use no-deps for now, otherwise problems with ruamel.
         pip install git+https://github.com/RoboStack/vinca.git --no-deps
+        # for now we need boa main
+        pip install git+https://github.com/mamba-org/boa@main
     # For some reason, the Strawberry perl's pkg-config is found
     # instead of the conda's one, so let's delete the /c/Strawberry directory
     - name: Debug pkg-config problem

.scripts/build_linux.sh

@@ -36,7 +36,9 @@ conda config --remove channels defaults
 # conda config --set channel_priority strict
 
 mamba update conda --yes --quiet -c conda-forge
-mamba install --yes --quiet pip conda-build anaconda-client mamba boa
+mamba install --yes --quiet pip conda-build anaconda-client mamba
+mamba install --yes boa --only-deps
+pip install git+https://github.com/mamba-org/boa@main
 
 # setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
 # export PATH="$HOME/miniconda/bin:$PATH"

patch/dependencies.yaml

@@ -62,7 +62,7 @@ jsk_pcl_ros_utils:
 jsk_pcl_ros:
   add_host: ["REQUIRE_OPENGL"]
 jsk_recognition_utils:
-  add_host: ["glew"]
+  add_host: ["glew", "cython"]
   add_run: ["glew"]
 robot_self_filter:
   add_host: ["REQUIRE_OPENGL"]

patch/ros-noetic-face-detector.patch

@@ -28,3 +28,18 @@ index e865b87..94b2d79 100644
    ${catkin_LIBRARIES}
    ${Boost_LIBRARIES}
    ${OpenCV_LIBRARIES})
+diff --git a/src/face_detection.cpp b/src/face_detection.cpp
+index 7cf7f3c0..a2132a72 100644
+--- a/src/face_detection.cpp
++++ b/src/face_detection.cpp
+@@ -716,7 +716,9 @@ class FaceDetector
+           else
+           {
+             max_id_++;
+-            pos.object_id = static_cast<std::ostringstream*>(&(std::ostringstream() << max_id_))->str();
++            std::ostringstream oss;
++            oss << max_id_;
++            pos.object_id = oss.str();
+             ROS_INFO_STREAM_NAMED("face_detector", "Didn't find face to match, starting new ID " << pos.object_id);
+           }
+           result_.face_positions.push_back(pos);