初始化ROS2工作空间

=1.11.0

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+Defaulting to user installation because normal site-packages is not writeable
+Looking in indexes: https://mirrors.aliyun.com/pypi/simple/
+Requirement already satisfied: scipy in /usr/lib/python3/dist-packages (1.8.0)

PulseAudio-AEC-Script

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+Subproject commit 1b3563f0b32e24163f7d38e49b9a77d122646cb7

build/.built_by

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+colcon

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+set(CMAKE_SYSTEM "Linux-5.15.148-2-engine-tegra")
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_VERSION "5.15.148-2-engine-tegra")
+set(CMAKE_SYSTEM_PROCESSOR "aarch64")
+
+set(CMAKE_CROSSCOMPILING "FALSE")
+
+set(CMAKE_SYSTEM_LOADED 1)

build/eye_ros/CMakeFiles/3.22.1/CompilerIdC/CMakeCCompilerId.c

@@ -0,0 +1,803 @@
+#ifdef __cplusplus
+# error "A C++ compiler has been selected for C."
+#endif
+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+#if defined(__CLASSIC_C__)
+/* cv-qualifiers did not exist in K&R C */
+# define const
+# define volatile
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

build/eye_ros/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,791 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local/fast
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/ubuntu/ws_eye/build/eye_ros/CMakeFiles /home/ubuntu/ws_eye/build/eye_ros//CMakeFiles/progress.marks
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/ubuntu/ws_eye/build/eye_ros/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named uninstall
+
+# Build rule for target.
+uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 uninstall
+.PHONY : uninstall
+
+# fast build rule for target.
+uninstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build
+.PHONY : uninstall/fast
+
+#=============================================================================
+# Target rules for targets named eye_ros_uninstall
+
+# Build rule for target.
+eye_ros_uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 eye_ros_uninstall
+.PHONY : eye_ros_uninstall
+
+# fast build rule for target.
+eye_ros_uninstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/eye_ros_uninstall.dir/build.make CMakeFiles/eye_ros_uninstall.dir/build
+.PHONY : eye_ros_uninstall/fast
+
+#=============================================================================
+# Target rules for targets named ament_cmake_python_copy_eye_ros
+
+# Build rule for target.
+ament_cmake_python_copy_eye_ros: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 ament_cmake_python_copy_eye_ros
+.PHONY : ament_cmake_python_copy_eye_ros
+
+# fast build rule for target.
+ament_cmake_python_copy_eye_ros/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ament_cmake_python_copy_eye_ros.dir/build.make CMakeFiles/ament_cmake_python_copy_eye_ros.dir/build
+.PHONY : ament_cmake_python_copy_eye_ros/fast
+
+#=============================================================================
+# Target rules for targets named ament_cmake_python_build_eye_ros_egg
+
+# Build rule for target.
+ament_cmake_python_build_eye_ros_egg: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 ament_cmake_python_build_eye_ros_egg
+.PHONY : ament_cmake_python_build_eye_ros_egg
+
+# fast build rule for target.
+ament_cmake_python_build_eye_ros_egg/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/ament_cmake_python_build_eye_ros_egg.dir/build.make CMakeFiles/ament_cmake_python_build_eye_ros_egg.dir/build
+.PHONY : ament_cmake_python_build_eye_ros_egg/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... test"
+	@echo "... ament_cmake_python_build_eye_ros_egg"
+	@echo "... ament_cmake_python_copy_eye_ros"
+	@echo "... eye_ros_uninstall"
+	@echo "... uninstall"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

build/eye_ros/ament_cmake_core/eye_rosConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.1")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

build/eye_ros/ament_cmake_core/eye_rosConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_eye_ros_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED eye_ros_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(eye_ros_FOUND FALSE)
+  elseif(NOT eye_ros_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(eye_ros_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_eye_ros_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT eye_ros_FIND_QUIETLY)
+  message(STATUS "Found eye_ros: 0.0.1 (${eye_ros_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'eye_ros' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${eye_ros_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(eye_ros_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${eye_ros_DIR}/${_extra}")
+endforeach()

build/eye_ros/ament_cmake_core/package.cmake

@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "eye_ros")
+set(eye_ros_VERSION "0.0.1")
+set(eye_ros_MAINTAINER "Jerry Liu <helloeath@163.com>")
+set(eye_ros_BUILD_DEPENDS "rclpy" "std_msgs" "sensor_msgs")
+set(eye_ros_BUILDTOOL_DEPENDS "ament_cmake" "ament_cmake_python")
+set(eye_ros_BUILD_EXPORT_DEPENDS "rclpy" "std_msgs" "sensor_msgs")
+set(eye_ros_BUILDTOOL_EXPORT_DEPENDS )
+set(eye_ros_EXEC_DEPENDS "rclpy" "std_msgs" "sensor_msgs")
+set(eye_ros_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(eye_ros_GROUP_DEPENDS )
+set(eye_ros_MEMBER_OF_GROUPS )
+set(eye_ros_DEPRECATED "")
+set(eye_ros_EXPORT_TAGS)
+list(APPEND eye_ros_EXPORT_TAGS "<build_type>ament_cmake</build_type>")

build/eye_ros/ament_cmake_core/stamps/ament_prefix_path.sh.stamp

@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

build/eye_ros/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

build/eye_ros/ament_cmake_core/stamps/nameConfig.cmake.in.stamp

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED @PROJECT_NAME@_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(@PROJECT_NAME@_FOUND FALSE)
+  elseif(NOT @PROJECT_NAME@_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(@PROJECT_NAME@_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+  message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+  set(_msg "Package '@PROJECT_NAME@' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+    set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+  include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()

build/eye_ros/ament_cmake_core/stamps/package.xml.stamp

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>eye_ros</name>
+  <version>0.0.1</version>
+  <description>这是一个ROS2包，用于眼睛识别和语音交互</description>
+  <maintainer email="helloeath@163.com">Jerry Liu</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

build/eye_ros/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp

@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+from collections import OrderedDict
+import os
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+
+    # Filter the dependencies, checking for any condition attributes
+    dependencies.append((key, ' '.join([
+        '"%s"' % str(d) for d in depends
+        if d.condition is None or d.evaluate_condition(os.environ)
+    ])))
+
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()

build/eye_ros/ament_cmake_core/stamps/path.sh.stamp

@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi

build/eye_ros/ament_cmake_core/stamps/pythonpath.sh.in.stamp

@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/@PYTHON_INSTALL_DIR@"

build/eye_ros/ament_cmake_core/stamps/templates_2_cmake.py.stamp

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()

build/eye_ros/ament_cmake_environment_hooks/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

build/eye_ros/ament_cmake_environment_hooks/local_setup.bash

@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

build/eye_ros/ament_cmake_environment_hooks/local_setup.dsv

@@ -0,0 +1,3 @@
+source;share/eye_ros/environment/ament_prefix_path.sh
+source;share/eye_ros/environment/path.sh
+source;share/eye_ros/environment/pythonpath.sh

build/eye_ros/ament_cmake_environment_hooks/local_setup.sh

@@ -0,0 +1,185 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/ubuntu/ws_eye/install/eye_ros"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/eye_ros/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/eye_ros/environment/path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/eye_ros/environment/pythonpath.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

build/eye_ros/ament_cmake_environment_hooks/local_setup.zsh

@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

build/eye_ros/ament_cmake_environment_hooks/package.dsv

@@ -0,0 +1,4 @@
+source;share/eye_ros/local_setup.bash
+source;share/eye_ros/local_setup.dsv
+source;share/eye_ros/local_setup.sh
+source;share/eye_ros/local_setup.zsh

build/eye_ros/ament_cmake_environment_hooks/path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin

build/eye_ros/ament_cmake_environment_hooks/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;local/lib/python3.10/dist-packages

build/eye_ros/ament_cmake_environment_hooks/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/local/lib/python3.10/dist-packages"

build/eye_ros/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/eye_ros

@@ -0,0 +1 @@
+rclpy;std_msgs;sensor_msgs;ament_lint_auto;ament_lint_common

build/eye_ros/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/eye_ros

@@ -0,0 +1 @@
+/home/ubuntu/cyj_code/pm01_deploy/install/interface_protocol:/home/ubuntu/realsense_driver_cyj/install/realsense2_rviz_plugin:/home/ubuntu/realsense_driver_cyj/install/realsense2_ros_mqtt_bridge:/home/ubuntu/realsense_driver_cyj/install/realsense2_description:/home/ubuntu/realsense_driver_cyj/install/realsense2_camera:/home/ubuntu/realsense_driver_cyj/install/realsense2_camera_msgs:/home/ubuntu/ws_eye/install/voice_lrj:/home/ubuntu/ws_eye/install/interface_protocol:/home/ubuntu/ws_eye/install/eye_ros:/home/ubuntu/cyj_code/voice_control/install/voice_assistant:/home/ubuntu/source/engineai_workspace/install/interface_example:/home/ubuntu/source/engineai_workspace/install/interface_protocol:/home/ubuntu/source/engineai_workspace/install/eye_ros:/opt/ros/humble

build/eye_ros/ament_cmake_package_templates/templates.cmake

@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")

build/eye_ros/ament_cmake_python/eye_ros/eye_ros.egg-info/PKG-INFO

@@ -0,0 +1,10 @@
+Metadata-Version: 2.1
+Name: eye-ros
+Version: 0.0.1
+Summary: UNKNOWN
+Home-page: UNKNOWN
+License: UNKNOWN
+Platform: UNKNOWN
+
+UNKNOWN
+

build/eye_ros/ament_cmake_python/eye_ros/eye_ros.egg-info/SOURCES.txt

@@ -0,0 +1,17 @@
+setup.py
+eye_ros/__init__.py
+eye_ros/asr_node.py
+eye_ros/asr_test.py
+eye_ros/detect_node.py
+eye_ros/distance_node.py
+eye_ros/face_recognition.py
+eye_ros/face_recognition_node.py
+eye_ros/llm_node.py
+eye_ros/open3d_node.py
+eye_ros/test_text.py
+eye_ros/tts_node.py
+eye_ros/wake_word_node.py
+eye_ros.egg-info/PKG-INFO
+eye_ros.egg-info/SOURCES.txt
+eye_ros.egg-info/dependency_links.txt
+eye_ros.egg-info/top_level.txt

build/eye_ros/ament_cmake_python/eye_ros/eye_ros.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

build/eye_ros/ament_cmake_python/eye_ros/eye_ros.egg-info/top_level.txt

@@ -0,0 +1 @@
+eye_ros

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/asr_node.py

@@ -0,0 +1,324 @@
+#!/usr/bin/env python3
+"""
+ASR语音转文字ROS2节点
+
+功能：
+1. 使用阿里云ASR API进行语音识别
+2. 接收麦克风音频输入并转换为文字
+3. 处理识别结果（检查退出词、休眠词等）
+4. 发布文字话题
+"""
+
+import os
+import time
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import sys
+import traceback
+import threading
+import dashscope
+from dashscope.audio.asr import Recognition, RecognitionCallback, RecognitionResult
+import pyaudio
+
+class WakeWordDetector:
+    """语音唤醒检测器"""
+    
+    def __init__(self):
+        self.wake_words = ["优宝同学","又把同学","有保同学","你好优宝"]
+        self.sleep_words = ["拜拜", "再见", "休息吧", "睡觉吧"]
+        self.exit_words = ["关闭程序", "退出程序", "彻底退出"]
+        
+        try:
+            from pypinyin import lazy_pinyin
+            self.wake_words_pinyin = {
+                word: ''.join(lazy_pinyin(word)) 
+                for word in self.wake_words
+            }
+        except ImportError:
+            self.wake_words_pinyin = None
+    
+    def check_wake_word(self, text):
+        """检查是否包含唤醒词（支持拼音模糊匹配）"""
+        if not text:
+            return False
+        
+        for wake_word in self.wake_words:
+            if wake_word in text:
+                return True
+        
+        if self.wake_words_pinyin:
+            try:
+                from pypinyin import lazy_pinyin
+                text_pinyin = ''.join(lazy_pinyin(text))
+                
+                for wake_word, wake_pinyin in self.wake_words_pinyin.items():
+                    if wake_pinyin in text_pinyin:
+                        return True
+                    
+                    similarity = self._calculate_similarity(wake_pinyin, text_pinyin)
+                    if similarity > 0.7:
+                        return True
+                        
+            except Exception:
+                pass
+        
+        return False
+    
+    def check_sleep_word(self, text):
+        """检查是否包含休眠词（支持拼音匹配）"""
+        if not text:
+            return False
+        
+        for sleep_word in self.sleep_words:
+            if sleep_word in text:
+                return True
+        
+        if self.wake_words_pinyin:
+            try:
+                from pypinyin import lazy_pinyin
+                text_pinyin = ''.join(lazy_pinyin(text))
+                for sleep_word in self.sleep_words:
+                    sleep_pinyin = ''.join(lazy_pinyin(sleep_word))
+                    if sleep_pinyin in text_pinyin:
+                        return True
+            except:
+                pass
+        
+        return False
+    
+    def check_exit_word(self, text):
+        """检查是否包含退出程序词（支持拼音匹配）"""
+        if not text:
+            return False
+        
+        for exit_word in self.exit_words:
+            if exit_word in text:
+                return True
+        
+        if self.wake_words_pinyin:
+            try:
+                from pypinyin import lazy_pinyin
+                text_pinyin = ''.join(lazy_pinyin(text))
+                for exit_word in self.exit_words:
+                    exit_pinyin = ''.join(lazy_pinyin(exit_word))
+                    if exit_pinyin in text_pinyin:
+                        return True
+            except:
+                pass
+        
+        return False
+    
+    def _calculate_similarity(self, s1, s2):
+        """计算两个拼音字符串的相似度（编辑距离）"""
+        if not s1 or not s2:
+            return 0.0
+        
+        len1, len2 = len(s1), len(s2)
+        dp = [[0] * (len2 + 1) for _ in range(len1 + 1)]
+        
+        for i in range(len1 + 1):
+            dp[i][0] = i
+        for j in range(len2 + 1):
+            dp[0][j] = j
+        
+        for i in range(1, len1 + 1):
+            for j in range(1, len2 + 1):
+                if s1[i-1] == s2[j-1]:
+                    dp[i][j] = dp[i-1][j-1]
+                else:
+                    dp[i][j] = min(dp[i-1][j], dp[i][j-1], dp[i-1][j-1]) + 1
+        
+        distance = dp[len1][len2]
+        max_len = max(len1, len2)
+        similarity = 1 - (distance / max_len) if max_len > 0 else 0
+        
+        return similarity
+
+class ASRRecognitionCallback(RecognitionCallback):
+    """阿里云ASR识别回调类"""
+    
+    def __init__(self, node):
+        super().__init__()
+        self.node = node
+        self.current_text = ""
+    
+    def on_open(self) -> None:
+        self.node.get_logger().info('ASR连接已建立')
+    
+    def on_close(self) -> None:
+        self.node.get_logger().info('ASR连接已关闭')
+    
+    def on_complete(self) -> None:
+        self.node.get_logger().info('ASR识别完成')
+    
+    def on_error(self, message) -> None:
+        self.node.get_logger().error(f'ASR识别错误: {message.message}')
+    
+    def on_event(self, result) -> None:
+        sentence = result.get_sentence()
+        if 'text' in sentence:
+            text = sentence['text']
+            if text:
+                self.node.get_logger().info(f'识别文本: {text}')
+                
+                if RecognitionResult.is_sentence_end(sentence):
+                    self.node._process_recognition_result(text)
+
+class ASRNode(Node):
+    """ASR语音转文字ROS2节点"""
+    
+    def __init__(self):
+        super().__init__('asr_node')
+        
+        self.declare_parameter('api_key', 'sk-c37ab757225d4891968c9e9963b61d69')
+        self.declare_parameter('sample_rate', 16000)
+        self.declare_parameter('channels', 1)
+        self.declare_parameter('chunk_size', 3200)
+        
+        self.api_key = self.get_parameter('api_key').value
+        self.sample_rate = self.get_parameter('sample_rate').value
+        self.channels = self.get_parameter('channels').value
+        self.chunk_size = self.get_parameter('chunk_size').value
+        
+        dashscope.api_key = self.api_key
+        
+        self.text_publisher = self.create_publisher(String, 'asr/text', 10)
+        self.command_publisher = self.create_publisher(String, 'asr/command', 10)
+        
+        self.wake_detector = WakeWordDetector()
+        
+        self.recognition = None
+        self.callback = None
+        self.pyaudio = None
+        self.stream = None
+        self.is_running = False
+        self.recognition_thread = None
+        
+        self._init_asr()
+        
+        self.get_logger().info('ASR语音转文字节点初始化完成')
+    
+    def _init_asr(self):
+        """初始化ASR识别"""
+        try:
+            self.callback = ASRRecognitionCallback(self)
+            
+            self.recognition = Recognition(
+                model='paraformer-realtime-v2',
+                format='pcm',
+                sample_rate=self.sample_rate,
+                language_hints=['zh', 'en'],
+                callback=self.callback
+            )
+            
+            self.recognition.start()
+            
+            self.pyaudio = pyaudio.PyAudio()
+            self.stream = self.pyaudio.open(
+                format=pyaudio.paInt16,
+                channels=self.channels,
+                rate=self.sample_rate,
+                input=True,
+                frames_per_buffer=self.chunk_size
+            )
+            
+            self.is_running = True
+            self.recognition_thread = threading.Thread(target=self._recognition_loop, daemon=True)
+            self.recognition_thread.start()
+            
+            self.get_logger().info('ASR识别服务已启动')
+        except Exception as e:
+            self.get_logger().error(f'初始化ASR失败: {e}')
+            traceback.print_exc()
+    
+    def _recognition_loop(self):
+        """识别循环，持续读取音频并发送给ASR服务"""
+        while self.is_running and self.stream and self.stream.is_active():
+            try:
+                data = self.stream.read(self.chunk_size, exception_on_overflow=False)
+                if self.recognition:
+                    self.recognition.send_audio_frame(data)
+            except Exception as e:
+                self.get_logger().error(f'读取音频数据失败: {e}')
+                break
+    
+    def _process_recognition_result(self, text):
+        """处理识别结果"""
+        if not text:
+            return
+        
+        if self.wake_detector.check_exit_word(text):
+            self.get_logger().info('检测到退出程序指令')
+            msg = String()
+            msg.data = 'exit'
+            self.command_publisher.publish(msg)
+            return
+        
+        if self.wake_detector.check_sleep_word(text):
+            self.get_logger().info('检测到休眠指令')
+            msg = String()
+            msg.data = 'sleep'
+            self.command_publisher.publish(msg)
+            return
+        
+        if self.wake_detector.check_wake_word(text):
+            self.get_logger().info('检测到唤醒词')
+            original_text = text
+            for wake_word in self.wake_detector.wake_words:
+                text = text.replace(wake_word, "").strip()
+            
+            text = text.strip('，。！？、；：,.!?;: ')
+            
+            self.get_logger().info(f'去除唤醒词后: {text}')
+        
+        if text:
+            msg = String()
+            msg.data = text
+            self.text_publisher.publish(msg)
+            self.get_logger().info(f'发布ASR识别结果: {text}')
+    
+    def destroy_node(self):
+        """销毁节点，释放资源"""
+        self.is_running = False
+        
+        if self.recognition_thread and self.recognition_thread.is_alive():
+            self.recognition_thread.join(timeout=2)
+        
+        if self.stream:
+            try:
+                self.stream.stop_stream()
+                self.stream.close()
+            except:
+                pass
+        
+        if self.pyaudio:
+            try:
+                self.pyaudio.terminate()
+            except:
+                pass
+        
+        if self.recognition:
+            try:
+                self.recognition.stop()
+            except:
+                pass
+        
+        super().destroy_node()
+
+def main(args=None):
+    """主函数"""
+    rclpy.init(args=args)
+    
+    node = ASRNode()
+    
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/asr_test.py

@@ -0,0 +1,94 @@
+import pyaudio
+import wave
+import threading
+import time
+import numpy as np
+from xinference.client import Client
+
+class StreamingASR:
+    def __init__(self, server_url="http://124.93.18.180:9997", model_name="whisper-large-v3"):
+        self.client = Client(server_url)
+        self.model = self.client.get_model(model_name)
+        self.is_recording = False
+        self.audio_data = []
+        self.chunk_duration = 5
+        self.sample_rate = 16000
+        self.channels = 1
+        self.chunk_size = 1024
+        self.silence_threshold = 500
+        self.silence_duration = 1.0
+        self.silence_counter = 0
+        
+    def calculate_audio_energy(self, audio_chunk):
+        audio_array = np.frombuffer(audio_chunk, dtype=np.int16)
+        energy = np.sqrt(np.mean(audio_array.astype(np.float32) ** 2))
+        return energy
+    
+    def record_audio(self):
+        audio = pyaudio.PyAudio()
+        stream = audio.open(
+            format=pyaudio.paInt16,
+            channels=self.channels,
+            rate=self.sample_rate,
+            input=True,
+            frames_per_buffer=self.chunk_size
+        )
+        
+        print("开始录音... (检测到1秒静音自动结束)")
+        self.is_recording = True
+        self.silence_counter = 0
+        
+        try:
+            while self.is_recording:
+                data = stream.read(self.chunk_size)
+                self.audio_data.append(data)
+                
+                energy = self.calculate_audio_energy(data)
+                if energy < self.silence_threshold:
+                    self.silence_counter += self.chunk_size / self.sample_rate
+                else:
+                    self.silence_counter = 0
+                
+                if self.silence_counter >= self.silence_duration:
+                    print(f"检测到{self.silence_duration}秒静音，结束录音")
+                    self.is_recording = False
+                    break
+                
+                if len(self.audio_data) * self.chunk_size >= self.sample_rate * 2 * self.chunk_duration:
+                    self.process_audio_chunk()
+                    
+        except KeyboardInterrupt:
+            print("\n停止录音")
+        finally:
+            stream.stop_stream()
+            stream.close()
+            audio.terminate()
+            
+            if self.audio_data:
+                self.process_audio_chunk()
+    
+    def process_audio_chunk(self):
+        import io
+        audio_bytes = b''.join(self.audio_data)
+        
+        audio_file = io.BytesIO(audio_bytes)
+        audio_file.name = "audio.wav"
+        
+        try:
+            transcription = self.model.transcriptions(audio_file.read())
+            if transcription.text.strip():
+                print(f"识别结果: {transcription.text}")
+        except Exception as e:
+            print(f"识别错误: {e}")
+        
+        self.audio_data = []
+    
+    def start_streaming(self):
+        record_thread = threading.Thread(target=self.record_audio)
+        record_thread.start()
+        return record_thread
+
+if __name__ == "__main__":
+    asr = StreamingASR()
+    thread = asr.start_streaming()
+    thread.join()

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/build/.built_by

@@ -0,0 +1 @@
+colcon

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/detect_node.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import freetype
+import cv2
+
+class DetectSubscriber(Node):
+    def __init__(self):
+        super().__init__("detect_node")
+        
+        # 初始化CvBridge
+        self.bridge = CvBridge()
+        
+        # 订阅detect话题
+        self.subscription = self.create_subscription(
+            Image,
+            'detect',
+            self.image_callback,
+            10
+        )
+        
+        self.subscription
+        
+        self.get_logger().info('检测节点已启动，正在监听 detect 话题...')
+    
+    def image_callback(self, msg):
+        try:
+            # 将ROS图像消息转换为OpenCV格式
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+            
+            # 显示图像
+            cv2.imshow('Detect Image', cv_image)
+            cv2.waitKey(1)
+            
+            # 输出图像信息
+            self.get_logger().info(f'收到检测图像：{msg.width}x{msg.height}, 时间戳: {msg.header.stamp.sec}.{msg.header.stamp.nanosec}')
+            
+        except Exception as e:
+            self.get_logger().error(f'处理图像失败：{str(e)}')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = DetectSubscriber()
+    
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        cv2.destroyAllWindows()
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/distance_node.py

@@ -0,0 +1,235 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image, CameraInfo
+from cv_bridge import CvBridge
+import cv2
+import numpy as np
+from ultralytics import YOLO
+import open3d as o3d
+import message_filters
+from PIL import Image as PILImage, ImageDraw, ImageFont
+
+class YoloRealSenseFusionNode(Node):
+    def __init__(self):
+        super().__init__('yolo_realsense_fusion_node')
+        
+        # 1. 加载 YOLO 模型
+        try:
+            self.model = YOLO("yolo11n.pt") 
+        except Exception as e:
+            self.get_logger().error(f'Failed to load model: {e}')
+            raise e
+
+        self.bridge = CvBridge()
+
+        # 2. 订阅话题 (确保 realsense-ros 启动时设置了 align_depth:=true)
+        self.image_sub = message_filters.Subscriber(self, Image, '/camera/camera/color/image_raw')
+        self.depth_sub = message_filters.Subscriber(self, Image, '/camera/camera/depth/image_rect_raw')
+        # 订阅相机内参
+        self.info_sub = self.create_subscription(CameraInfo, '/camera/camera/depth/camera_info', self.info_callback, 10)
+
+        # 时间同步器：确保 RGB 和深度帧匹配
+        self.ts = message_filters.ApproximateTimeSynchronizer(
+            [self.image_sub, self.depth_sub], 
+            queue_size=10, 
+            slop=0.1
+        )
+        self.ts.registerCallback(self.callback)
+
+        # 发布话题
+        self.image_pub = self.create_publisher(Image, 'detect', 10)
+
+        self.intrinsics = None
+        self.get_logger().info('YOLO RealSense 融合节点已启动')
+        
+        # 初始化中文字体
+        try:
+            self.font = ImageFont.truetype("/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf", 20)
+        except:
+            try:
+                self.font = ImageFont.truetype("/usr/share/fonts/truetype/wqy/wqy-zenhei.ttc", 20)
+            except:
+                self.font = ImageFont.load_default()
+                self.get_logger().warn('无法加载中文字体，使用默认字体')
+
+    def calculate_object_dimensions(self, pcd):
+        """
+        计算点云的尺寸（长、宽、高）
+        使用轴对齐边界框（AABB）计算
+        """
+        if pcd.is_empty() or len(pcd.points) == 0:
+            return None, None, None
+        
+        try:
+            # 获取轴对齐边界框
+            bbox = pcd.get_axis_aligned_bounding_box()
+            
+            # 获取边界框的尺寸
+            size = bbox.get_extent()
+            
+            # size[0]: X方向宽度（左右）
+            # size[1]: Y方向高度（上下）
+            # size[2]: Z方向深度（前后）
+            width = size[0]
+            height = size[1]
+            depth = size[2]
+            
+            return width, height, depth
+        except Exception as e:
+            self.get_logger().warn(f'计算尺寸失败: {e}')
+            return None, None, None
+
+    def info_callback(self, msg):
+        # 初始化 Open3D 相机内参
+        if self.intrinsics is None:
+            self.intrinsics = o3d.camera.PinholeCameraIntrinsic(
+                msg.width, msg.height, msg.k[0], msg.k[4], msg.k[2], msg.k[5]
+            )
+            self.get_logger().info('相机内参已初始化')
+
+    def callback(self, color_msg, depth_msg):
+        if self.intrinsics is None:
+            return
+
+        try:
+            # 转换 ROS 图像为 OpenCV 格式
+            color_image = self.bridge.imgmsg_to_cv2(color_msg, desired_encoding='bgr8')
+            depth_image = self.bridge.imgmsg_to_cv2(depth_msg, desired_encoding='16UC1')
+
+            # YOLO 推理
+            results = self.model(color_image, conf=0.5, verbose=False)
+            boxes = results[0].boxes.xyxy.cpu().numpy()
+            classes = results[0].boxes.cls.cpu().numpy()
+            names = results[0].names
+
+            annotated_image = color_image.copy()
+
+            for box, cls in zip(boxes, classes):
+                x1, y1, x2, y2 = map(int, box)
+                obj_name = names[int(cls)]
+
+                # 边界框有效性检查
+                img_height, img_width = color_image.shape[:2]
+                # 确保边界框在图像范围内
+                x1 = max(0, min(x1, img_width - 1))
+                y1 = max(0, min(y1, img_height - 1))
+                x2 = max(0, min(x2, img_width - 1))
+                y2 = max(0, min(y2, img_height - 1))
+                
+                # 确保边界框有有效尺寸
+                if x2 <= x1 or y2 <= y1:
+                    self.get_logger().warn(f"边界框尺寸无效：({x1},{y1}) -> ({x2},{y2})，跳过此目标")
+                    continue
+
+                # 提取目标区域的深度和彩色图
+                # 使用 np.ascontiguousarray 确保内存连续，解决 Open3D 初始化错误
+                roi_depth = np.ascontiguousarray(depth_image[y1:y2, x1:x2])
+                roi_color = np.ascontiguousarray(color_image[y1:y2, x1:x2])
+
+                # 检查并调整ROI尺寸不匹配问题
+                if roi_color.shape[:2] != roi_depth.shape[:2]:
+                    self.get_logger().debug(f"ROI尺寸不匹配：彩色{roi_color.shape[:2]}，深度{roi_depth.shape[:2]}")
+                    # 检查深度ROI的有效尺寸，避免resize错误
+                    if roi_depth.shape[0] > 0 and roi_depth.shape[1] > 0:
+                        # 将彩色ROI调整到深度ROI的尺寸
+                        roi_color = cv2.resize(roi_color, (roi_depth.shape[1], roi_depth.shape[0]), interpolation=cv2.INTER_LINEAR)
+                    else:
+                        self.get_logger().warn(f"深度ROI尺寸无效：{roi_depth.shape[:2]}，跳过此目标")
+                        continue
+
+                # 默认绘制框和名称
+                cv2.rectangle(annotated_image, (x1, y1), (x2, y2), (0, 165, 255), 2)
+                label_line1 = f"{obj_name}"
+                label_line2 = None
+
+                if np.sum(roi_depth > 0) >= 50:
+                    
+                    # 构造局部点云
+                    o3d_color = o3d.geometry.Image(cv2.cvtColor(roi_color, cv2.COLOR_BGR2RGB))
+                    o3d_depth = o3d.geometry.Image(roi_depth)
+
+                    # 调整内参的主点坐标以适应 ROI 切片
+                    local_intrinsics = o3d.camera.PinholeCameraIntrinsic(
+                        roi_depth.shape[1], roi_depth.shape[0],
+                        self.intrinsics.intrinsic_matrix[0, 0],
+                        self.intrinsics.intrinsic_matrix[1, 1],
+                        self.intrinsics.intrinsic_matrix[0, 2] - x1,
+                        self.intrinsics.intrinsic_matrix[1, 2] - y1
+                    )
+
+                    # 生成 RGBD 图像并转换为点云
+                    rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
+                        o3d_color, o3d_depth, depth_scale=1000.0, depth_trunc=3.0, convert_rgb_to_intensity=False
+                    )
+                    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd, local_intrinsics)
+
+                    if not pcd.is_empty():
+                        pcd, _ = pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0)
+                        if len(pcd.points) > 50:
+                            labels = np.array(pcd.cluster_dbscan(eps=0.02, min_points=10))
+                            if len(labels) > 0 and np.any(labels >= 0):
+                                target_label = np.argmax(np.bincount(labels[labels >= 0]))
+                                target_pcd = pcd.select_by_index(np.where(labels == target_label)[0])
+                                center = target_pcd.get_center()
+                                
+                                # 计算物体尺寸
+                                width, height, depth = self.calculate_object_dimensions(target_pcd)
+                                
+                                # 更新标签包含 XYZ 信息（第二行）
+                                if width is not None and height is not None and depth is not None:
+                                    label_line2 = f"X:{center[0]:.2f} Y:{center[1]:.2f} Z:{center[2]:.2f}"
+                                    label_line3 = f"宽:{width:.2f} 高:{height:.2f} 距离:{depth:.2f}"
+                                    self.get_logger().info(
+                                        f'物体: {obj_name} 中心位置: X={center[0]:.3f}m, Y={center[1]:.3f}m, Z={center[2]:.3f}m, '
+                                        f'尺寸: 宽={width:.3f}m, 高={height:.3f}m, 距离={depth:.3f}m'
+                                    )
+                                else:
+                                    label_line2 = f"X:{center[0]:.2f} Y:{center[1]:.2f} Z:{center[2]:.2f}"
+                                    label_line3 = None
+                                    self.get_logger().info(f'物体: {obj_name} 中心位置: X={center[0]:.3f}m, Y={center[1]:.3f}m, Z={center[2]:.3f}m')
+
+                # 在图像上绘制标签（使用PIL支持中文）
+                # 将OpenCV图像转换为PIL图像
+                pil_image = PILImage.fromarray(cv2.cvtColor(annotated_image, cv2.COLOR_BGR2RGB))
+                draw = ImageDraw.Draw(pil_image)
+                
+                # 计算文本位置
+                text_y = y1 - 40
+                
+                # 第一行：物体名称
+                draw.text((x1, text_y), label_line1, font=self.font, fill=(0, 165, 255))
+                text_y += 15
+                
+                # 第二行：位置信息
+                draw.text((x1, text_y), label_line2, font=self.font, fill=(0, 165, 255))
+                text_y += 15
+                
+                # 第三行：尺寸信息（如果有）
+                if label_line3:
+                    draw.text((x1, text_y), label_line3, font=self.font, fill=(0, 165, 255))
+                
+                # 将PIL图像转换回OpenCV格式
+                annotated_image = cv2.cvtColor(np.array(pil_image), cv2.COLOR_RGB2BGR)
+
+            # 发布处理后的图像到 detect 话题
+            out_msg = self.bridge.cv2_to_imgmsg(annotated_image, encoding='bgr8')
+            out_msg.header = color_msg.header
+            self.image_pub.publish(out_msg)
+
+        except Exception as e:
+            self.get_logger().error(f'处理失败: {e}')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = YoloRealSenseFusionNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/face_recognition.py

@@ -0,0 +1,891 @@
+#!/usr/bin/env python3
+"""
+实时人脸识别系统
+
+功能：
+1. 添加人脸到数据库并设定名字
+2. 保存和加载人脸数据库
+3. 摄像头实时人脸检测和识别
+4. 在检测到的人脸上显示对应名字
+"""
+
+import os
+import time
+import cv2
+import numpy as np
+import insightface
+from insightface.app import FaceAnalysis
+from insightface.data import get_image as ins_get_image
+import pickle
+# 导入FreeType库
+import freetype
+import sys
+import traceback
+
+
+class FaceRecognitionSystem:
+    """实时人脸识别系统类"""
+    
+    # 关键：创建 ONNX Runtime 配置，禁用融合卷积
+    session_options = ort.SessionOptions()
+    # 禁用融合卷积（解决 FusedConv 算子报错）
+    session_options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_BASIC
+    # 或更精细控制：只禁用融合卷积，保留其他优化
+    session_options.add_session_config_entry("ep.cuda.disable_fused_conv", "1")
+
+    def __init__(self, db_path="face_database.pkl",
+                model_name="buffalo_l",
+                force_cuda=True):
+        """
+        初始化人脸识别系统
+        
+        Args:
+            db_path: 人脸数据库保存路径
+            model_name: 使用的模型名称
+        """
+        self.db_path = db_path
+        self.model_name = model_name
+        
+        # 初始化人脸分析应用
+        print("初始化人脸识别模型...")
+        print("尝试使用TensorRT加速...")
+        
+        # TensorRT执行提供程序的配置选项
+        trt_options = {
+            'trt_engine_cache_enable': True,  # 启用引擎缓存
+            'trt_engine_cache_path': './trt_cache',  # 引擎缓存路径
+            'trt_fp16_enable': True,  # 启用FP16精度以提升性能
+            'trt_max_workspace_size': 2 * 1024 * 1024 * 1024,  # 最大工作空间2GB
+        }
+        
+        try:
+            # 优先使用TensorRT，然后是CUDA，最后是CPU
+            self.app = FaceAnalysis(
+                name=model_name,
+                modules=['detection', 'recognition'],
+                providers=[
+                    #('TensorrtExecutionProvider', trt_options),
+                    'CUDAExecutionProvider',
+                    'CPUExecutionProvider'
+                ] 
+            )
+            self.app.prepare(ctx_id=0, det_size=(640, 640))
+            print("成功使用TensorRT加速初始化")
+
+        except BaseException as e:
+            print(f"TensorRT启动失败: {e}", file=sys.stderr)
+            print("尝试使用CUDA执行...")
+            try:
+                # 回退到CUDA
+                self.app = FaceAnalysis(
+                    name=model_name,
+                    modules=['detection', 'recognition'],
+                    providers=['CUDAExecutionProvider', 'CPUExecutionProvider'] 
+                )
+                self.app.prepare(ctx_id=0, det_size=(640, 640))
+                print("成功使用CUDA执行")
+            except BaseException as e2:
+                print(f"CUDA启动失败: {e2}", file=sys.stderr)
+                # 确保self.app被正确初始化，使用CPU作为最后的备选方案
+                print("尝试使用纯CPU执行...")
+                try:
+                    self.app = FaceAnalysis(
+                        name=model_name,
+                        modules=['detection', 'recognition'],
+                        providers=['CPUExecutionProvider']  # 只使用CPU执行提供程序
+                    )
+                    self.app.prepare(ctx_id=-1, det_size=(640, 640))
+                    print("成功使用纯CPU执行")
+                except BaseException as e3:
+                    print(f"纯CPU执行也失败: {e3}", file=sys.stderr)
+                    raise RuntimeError(f"无法初始化FaceAnalysis: {e3}") from e2
+        # 初始化人脸数据库
+        self.face_database = {}
+        self.load_database()
+        
+        # 初始化FreeType字体
+        self.font = None
+        self._init_font()
+        
+        print(f"系统初始化完成。已加载 {len(self.face_database)} 张人脸。")
+    
+    def _reinit_app_with_fallback(self, use_tensorrt=True):
+        """
+        重新初始化FaceAnalysis应用，支持TensorRT/CUDA/CPU回退
+        
+        Args:
+            use_tensorrt: 是否尝试使用TensorRT
+        
+        Returns:
+            bool: 初始化成功返回True，失败返回False
+        """
+        # TensorRT执行提供程序的配置选项
+        trt_options = {
+            'trt_engine_cache_enable': True,
+            'trt_engine_cache_path': './trt_cache',
+            'trt_fp16_enable': True,
+            'trt_max_workspace_size': 2 * 1024 * 1024 * 1024,
+        }
+        
+        if use_tensorrt:
+            try:
+                self.app = FaceAnalysis(
+                    name=self.model_name,
+                    modules=['detection', 'recognition'],
+                    providers=[
+                        ('TensorRTExecutionProvider', trt_options),
+                        'CUDAExecutionProvider',
+                        'CPUExecutionProvider'
+                    ]
+                )
+                self.app.prepare(ctx_id=0, det_size=(640, 640))
+                print("成功使用TensorRT重新初始化")
+                return True
+            except Exception as e:
+                print(f"TensorRT重新初始化失败: {e}")
+                
+                traceback.print_exc()
+        
+        # 回退到CUDA
+        try:
+            self.app = FaceAnalysis(
+                name=self.model_name,
+                modules=['detection', 'recognition'],
+                providers=['CUDAExecutionProvider', 'CPUExecutionProvider']
+            )
+            self.app.prepare(ctx_id=0, det_size=(640, 640))
+            print("成功使用CUDA重新初始化")
+            return True
+        except Exception as e:
+            print(f"CUDA重新初始化失败: {e}")
+            
+            traceback.print_exc()
+        
+        # 最后回退到CPU
+        try:
+            self.app = FaceAnalysis(
+                name=self.model_name,
+                modules=['detection', 'recognition'],
+                providers=['CPUExecutionProvider']
+            )
+            self.app.prepare(ctx_id=-1, det_size=(640, 640))
+            print("成功使用CPU重新初始化")
+            return True
+        except Exception as e:
+            print(f"CPU重新初始化也失败: {e}")
+            return False
+    
+    def _init_font(self):
+        """
+        初始化FreeType字体
+        """
+        # Linux系统的中文字体路径
+        font_paths = [
+            "/usr/share/fonts/truetype/wqy/wqy-microhei.ttc",  # 文泉驿微米黑
+            "/usr/share/fonts/truetype/wqy/wqy-zenhei.ttc",     # 文泉驿正黑
+            "/usr/share/fonts/truetype/simhei.ttf",             # 黑体
+            "/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf",  # 备用字体
+        ]
+        
+        # 尝试加载字体
+        for font_path in font_paths:
+            if os.path.exists(font_path):
+                try:
+                    self.font = freetype.Face(font_path)
+                    print(f"成功加载字体: {font_path}")
+                    return
+                except Exception as e:
+                    print(f"加载字体 {font_path} 失败: {e}")
+        
+        print("警告：无法加载任何字体，将使用OpenCV默认字体")
+        self.font = None
+    
+    def _put_text_freetype(self, image, text, pos, font_size=18, color=(0, 255, 0)):
+        """
+        使用FreeType绘制文字（支持中文）
+        
+        Args:
+            image: 要绘制文字的图像
+            text: 要绘制的文字
+            pos: 文字位置 (x, y)
+            font_size: 字体大小
+            color: 文字颜色 (B, G, R)
+        
+        Returns:
+            image: 绘制了文字的图像
+        """
+        
+        try:
+            # 设置字体大小
+            self.font.set_char_size(font_size * 64)
+            
+            # 分离颜色通道
+            b, g, r = color
+            
+            # 获取文字位置
+            x, y = pos
+            
+            # 绘制文字
+            for char in text:
+                # 加载字符
+                self.font.load_char(char)
+                
+                # 获取字符的位图
+                bitmap = self.font.glyph.bitmap
+                width = bitmap.width
+                height = bitmap.rows
+                
+                # 获取字符的偏移量
+                left = self.font.glyph.bitmap_left
+                top = self.font.glyph.bitmap_top
+                
+                # 计算字符在图像中的位置
+                char_x = x + left
+                char_y = y - top
+                
+                # 确保字符在图像范围内
+                if char_x < 0 or char_y < 0 or char_x + width > image.shape[1] or char_y + height > image.shape[0]:
+                    # 跳过超出图像范围的字符
+                    x += (self.font.glyph.advance.x >> 6)
+                    continue
+                
+                # 绘制字符的每个像素
+                for i in range(height):
+                    for j in range(width):
+                        if i < bitmap.rows and j < bitmap.width:
+                            pixel = bitmap.buffer[i * bitmap.pitch + j]
+                            if pixel > 0:
+                                # 设置像素颜色
+                                image[char_y + i, char_x + j] = (b, g, r)
+                
+                # 更新x坐标，准备绘制下一个字符
+                x += (self.font.glyph.advance.x >> 6)
+        except Exception as e:
+            print(f"绘制文字时出错: {e}")
+            # 回退到OpenCV默认字体
+            cv2.putText(image, text, pos, cv2.FONT_HERSHEY_SIMPLEX, font_size/25, color, 2)
+        
+        return image
+    
+    def add_face(self, image_path, name):
+        """
+        添加人脸到数据库
+        
+        Args:
+            image_path: 包含人脸的图像路径
+            name: 人脸对应的名字
+        
+        Returns:
+            bool: 添加成功返回True，失败返回False
+        """
+        print(f"正在添加人脸: {name}...")
+        
+        # 读取图像
+        img = cv2.imread(image_path)
+        if img is None:
+            print(f"错误：无法读取图像 {image_path}")
+            return False
+        
+        try:
+            # 检测人脸
+            faces = self.app.get(img)
+            print(f"DEBUG: 检测到 {len(faces)} 张人脸")
+            
+            if len(faces) == 0:
+                # 尝试调整图像大小后再次检测
+                print("尝试调整图像大小后再次检测...")
+                h, w = img.shape[:2]
+                max_size = 1280
+                if h > max_size or w > max_size:
+                    scale = max_size / max(h, w)
+                    new_h, new_w = int(h * scale), int(w * scale)
+                    img_resized = cv2.resize(img, (new_w, new_h))
+                    faces = self.app.get(img_resized)
+                    print(f"DEBUG: 调整大小后检测到 {len(faces)} 张人脸")
+            
+            if len(faces) == 0:
+                print("错误：图像中未检测到人脸")
+                return False
+            elif len(faces) > 1:
+                print("警告：图像中检测到多张人脸，仅使用第一张")
+            
+            # 获取人脸特征
+            face = faces[0]
+            print(f"DEBUG: 人脸信息: {face.keys()}")
+            if 'embedding' not in face:
+                print("错误：无法提取人脸特征")
+                print("DEBUG: 可用的人脸信息: {face.keys()}")
+                return False
+            
+            # 添加到数据库
+            self.face_database[name] = face['embedding']
+            print(f"成功添加人脸: {name}")
+            return True
+        except Exception as e:
+            error_msg = str(e)
+            print(f"添加人脸时出错: {error_msg}")
+            
+            # 检查是否是执行提供程序相关错误
+            is_provider_error = any(keyword in error_msg for keyword in 
+                                  ['CUDA', 'cuda', 'CUDNN', 'cudnn', 'GPU', 'gpu', 
+                                   'FusedConv', 'TensorRT', 'tensorrt', 'TRT', 'trt'])
+            
+            if is_provider_error:
+                print("检测到执行提供程序相关错误，尝试重新初始化...")
+                # 重新初始化应用（会尝试TensorRT -> CUDA -> CPU的回退）
+                if self._reinit_app_with_fallback(use_tensorrt=True):
+                    # 重新尝试添加人脸
+                    return self.add_face(image_path, name)
+                else:
+                    print("重新初始化失败")
+                    return False
+            return False
+    
+    def save_database(self):
+        """
+        保存人脸数据库到文件
+        """
+        try:
+            with open(self.db_path, 'wb') as f:
+                pickle.dump(self.face_database, f)
+            print(f"人脸数据库已保存到 {self.db_path}")
+            return True
+        except Exception as e:
+            print(f"保存数据库失败: {e}")
+            return False
+    
+    def load_database(self):
+        """
+        从文件加载人脸数据库
+        """
+        if os.path.exists(self.db_path):
+            try:
+                with open(self.db_path, 'rb') as f:
+                    self.face_database = pickle.load(f)
+                print(f"从 {self.db_path} 加载了 {len(self.face_database)} 张人脸")
+                return True
+            except Exception as e:
+                print(f"加载数据库失败: {e}")
+                self.face_database = {}
+        else:
+            print(f"未找到数据库文件 {self.db_path}，将创建新数据库")
+            self.face_database = {}
+        return False
+    
+    def recognize_face(self, face, threshold=0.70):
+        """
+        识别人脸，返回最匹配的名字和相似度分数
+        
+        Args:
+            face: 检测到的人脸对象
+            threshold: 识别阈值
+        
+        Returns:
+            tuple: (str, float) - 识别出的名字和相似度分数，未识别出返回("Unknown", 0.0)
+        """
+        if 'embedding' not in face:
+            return "Unknown", 0.0
+        
+        embedding = face['embedding']
+        best_name = "Unknown"
+        best_score = threshold
+        
+        # 检查数据库是否为空
+        if not self.face_database:
+            return "Unknown", 0.0
+        
+        # 遍历数据库，寻找最匹配的人脸
+        for name, db_embedding in self.face_database.items():
+            # 计算余弦相似度
+            similarity = np.dot(embedding, db_embedding)
+            
+            if similarity > best_score:
+                best_score = similarity
+                best_name = name
+        
+        # 确保返回的名字是有效的字符串
+        if not isinstance(best_name, str):
+            best_name = str(best_name)
+        # 移除可能的特殊字符
+        best_name = ''.join(c for c in best_name if c.isprintable())
+        if not best_name:
+            best_name = "Unknown"
+        return best_name, best_score
+    
+    def run_camera(self, camera_id, save_db_on_exit=True):
+        """
+        运行摄像头实时人脸识别
+        
+        Args:
+            camera_id: 摄像头ID，默认10
+            save_db_on_exit: 退出时是否保存数据库
+        """
+        print(f"打开摄像头 {camera_id}...")
+        
+        # 尝试不同的摄像头打开方式
+        cap = None
+        
+        # 方式1：直接使用摄像头ID
+        try:
+            cap = cv2.VideoCapture(camera_id)
+            if cap.isOpened():
+                print(f"成功打开摄像头 {camera_id}（直接方式）")
+            else:
+                print(f"直接方式打开摄像头 {camera_id}失败，尝试其他方式...")
+                cap.release()
+                cap = None
+        except Exception as e:
+            print(f"直接方式打开摄像头失败：{e}")
+            cap = None
+        
+        # 方式3：使用cv2.CAP_V4L2（Linux特有）
+        if cap is None and os.name == 'posix':
+            try:
+                cap = cv2.VideoCapture(camera_id, cv2.CAP_V4L2)
+                if cap.isOpened():
+                    print(f"成功打开摄像头 {camera_id}（CAP_V4L2方式）")
+                else:
+                    print(f"CAP_V4L2方式打开摄像头 {camera_id}失败，尝试其他方式...")
+                    cap.release()
+                    cap = None
+            except Exception as e:
+                print(f"CAP_V4L2方式打开摄像头失败：{e}")
+                cap = None
+        
+        if cap is None:
+            print(f"错误：无法打开摄像头 {camera_id}")
+            # 列出可用摄像头
+            print("尝试检测可用摄像头...")
+            for i in range(3):
+                test_cap = cv2.VideoCapture(i)
+                if test_cap.isOpened():
+                    print(f"摄像头 {i} 可用")
+                    test_cap.release()
+            return False
+        
+        # 设置摄像头参数
+        print("设置摄像头参数...")
+        
+        # 设置分辨率和帧率
+        cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+        cap.set(cv2.CAP_PROP_FPS, 30)
+        
+        # 尝试设置MJPG编码，提高兼容性（忽略可能的错误）
+        try:
+            cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
+            print("  使用MJPG编码")
+        except Exception as e:
+            print(f"  使用默认编码（MJPG设置失败：{e}")
+        
+        # 摄像头初始化后添加延迟，让摄像头稳定
+        print("摄像头初始化完成，等待1秒让摄像头稳定...")
+        time.sleep(1)
+        
+        # 预读取几帧，丢弃初始的不稳定帧
+        for _ in range(5):
+            ret, _ = cap.read()
+            if not ret:
+                # 短暂休眠后重试
+                time.sleep(0.1)
+        
+        print("开始实时人脸识别。按 'q' 键退出，按 's' 键保存数据库。")
+        
+        frame_count = 0
+        consecutive_failures = 0  # 连续失败计数器
+        
+        while True:
+            # 读取帧
+            ret, frame = cap.read()
+            
+            if not ret:
+                consecutive_failures += 1
+                print(f"警告：无法读取帧 {frame_count} (连续失败: {consecutive_failures})")
+                
+                # 仅等待后重试，不重新打开摄像头，确保摄像头持续开启
+                # 连续失败多次后才考虑重新初始化
+                if consecutive_failures >= 30:  # 连续失败30次后才重新初始化
+                    print("连续读取失败30次，尝试重置摄像头...")
+                    consecutive_failures = 0  # 重置失败计数器
+                    
+                    # 释放并重新打开摄像头
+                    cap.release()
+                    time.sleep(1)  # 等待1秒
+                    cap = cv2.VideoCapture(camera_id)
+                    if not cap.isOpened():
+                        print(f"错误：无法重新打开摄像头 {camera_id}")
+                        break
+                    # 重新设置参数
+                    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+                    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+                    cap.set(cv2.CAP_PROP_FPS, 30)
+                else:
+                    time.sleep(0.1)  # 短暂等待后重试
+                continue
+            
+            # 读取成功，重置失败计数器
+            consecutive_failures = 0
+            frame_count += 1
+            
+            # 检查帧是否有效
+            if frame is None or frame.size == 0:
+                print(f"警告：无效帧 {frame_count}")
+                continue
+            
+            # 创建空白结果帧，防止原帧有问题
+            result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+            
+            try:
+                # 检测人脸
+                faces = self.app.get(frame)
+                
+                # 绘制结果
+                result_frame = frame.copy()
+                
+                for face in faces:
+                    # 获取置信度
+                    confidence = face['det_score']
+                    
+                    # 识别人脸，获取名字和相似度
+                    name, similarity = self.recognize_face(face)
+                    
+                    # 只有当置信度大于0.7且相似度大于200时才显示对应名字，否则显示Unknown
+                    if confidence > 0.7 and similarity > 100:
+                        display_name = name
+                    else:
+                        display_name = "Unknown"
+                    
+                    # 获取边界框
+                    bbox = face['bbox']
+                    bbox = list(map(int, bbox))
+                    
+                    # 绘制边界框
+                    cv2.rectangle(result_frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (0, 255, 0), 2)
+                    
+                    # 绘制名字 - 确保文字在图像范围内
+                    name_y = max(20, bbox[1] - 10)  # 确保文字不会超出图像顶部
+                    name_y = min(name_y, result_frame.shape[0] - 20)  # 确保文字不会超出图像底部
+                    self._put_text_freetype(result_frame, display_name, (bbox[0], name_y), 
+                                          font_size=18, color=(0, 255, 0))
+                    
+                    # 绘制置信度和相似度
+                    conf_y = bbox[3] + 20
+                    conf_y = min(conf_y, result_frame.shape[0] - 10)  # 确保文字不会超出图像底部
+                    self._put_text_freetype(result_frame, f"置信度: {confidence:.2f}, 相似度: {similarity:.2f}", 
+                                          (bbox[0], conf_y), font_size=12, color=(0, 255, 0))
+            except Exception as e:
+                error_msg = str(e)
+                print(f"处理帧时出错: {error_msg}")
+                
+                # 检查是否是执行提供程序相关错误
+                is_provider_error = any(keyword in error_msg for keyword in 
+                                      ['CUDA', 'cuda', 'CUDNN', 'cudnn', 'GPU', 'gpu', 
+                                       'FusedConv', 'TensorRT', 'tensorrt', 'TRT', 'trt'])
+                
+                if is_provider_error:
+                    print("检测到执行提供程序相关错误，尝试重新初始化...")
+                    # 重新初始化应用（会尝试TensorRT -> CUDA -> CPU的回退）
+                    if self._reinit_app_with_fallback(use_tensorrt=True):
+                        try:
+                            # 尝试重新检测
+                            faces = self.app.get(frame)
+                            result_frame = frame.copy()
+                            for face in faces:
+                                confidence = face['det_score']
+                                name, similarity = self.recognize_face(face)
+                                if confidence > 0.7 and similarity > 100:
+                                    display_name = name
+                                else:
+                                    display_name = "Unknown"
+                                bbox = list(map(int, face['bbox']))
+                                cv2.rectangle(result_frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (0, 255, 0), 2)
+                                name_y = max(20, bbox[1] - 10)
+                                name_y = min(name_y, result_frame.shape[0] - 20)
+                                self._put_text_freetype(result_frame, display_name, (bbox[0], name_y), 
+                                                      font_size=18, color=(0, 255, 0))
+                                conf_y = bbox[3] + 20
+                                conf_y = min(conf_y, result_frame.shape[0] - 10)
+                                self._put_text_freetype(result_frame, f"置信度: {confidence:.2f}, 相似度: {similarity:.2f}", 
+                                                      (bbox[0], conf_y), font_size=12, color=(0, 255, 0))
+                        except Exception as retry_e:
+                            print(f"重新检测失败: {retry_e}")
+                            result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+                            self._put_text_freetype(result_frame, f"重新检测失败: {retry_e}", (10, 50), 
+                                                  font_size=14, color=(0, 0, 255))
+                    else:
+                        result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+                        self._put_text_freetype(result_frame, "执行提供程序重新初始化失败", (10, 50), 
+                                              font_size=14, color=(0, 0, 255))
+                else:
+                    # 使用空白帧，避免程序崩溃
+                    result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+                    self._put_text_freetype(result_frame, f"处理错误: {error_msg}", (10, 50), 
+                                          font_size=14, color=(0, 0, 255))
+            
+            # 显示 FPS
+            fps = 1.0 / (frame_count + 1e-6)  # 简单FPS计算
+            self._put_text_freetype(result_frame, f"FPS: {fps:.1f}", (10, 30), 
+                                  font_size=22, color=(0, 0, 255))
+            
+            # 确保窗口持续显示的关键逻辑
+            try:
+                # 确保窗口已创建并保持打开
+                if not hasattr(self, '_window_created') or not self._window_created:
+                    cv2.namedWindow('实时人脸识别', cv2.WINDOW_NORMAL)
+                    cv2.resizeWindow('实时人脸识别', 640, 480)
+                    self._window_created = True
+                    print("摄像头窗口已创建并持续显示")
+                
+                # 持续显示结果
+                cv2.imshow('实时人脸识别', result_frame)
+                
+                # 键盘控制 - 使用waitKey(1)确保窗口持续刷新
+                key = cv2.waitKey(1) & 0xFF
+                if key == ord('q'):
+                    # 退出
+                    print("收到退出命令，正在关闭...")
+                    break
+                elif key == ord('s'):
+                    # 保存数据库
+                    self.save_database()
+            except Exception as e:
+                print(f"窗口显示错误: {e}")
+                # 窗口显示错误时重新创建窗口
+                if hasattr(self, '_window_created'):
+                    delattr(self, '_window_created')
+                # 不退出，继续尝试显示
+                continue
+        
+        # 释放资源
+        print("释放摄像头资源...")
+        cap.release()
+        print("关闭所有窗口...")
+        cv2.destroyAllWindows()
+        
+        # 退出时保存数据库
+        if save_db_on_exit:
+            self.save_database()
+        
+        print("系统已退出")
+        return True
+    
+    def add_face_interactive(self, name, camera_id):
+        """
+        交互式添加人脸（从摄像头捕获）
+        
+        Args:
+            name: 人脸对应的名字
+            camera_id: 摄像头ID，默认10
+        
+        Returns:
+            bool: 添加成功返回True，失败返回False
+        """
+        print(f"准备添加人脸: {name}")
+        print("请面对摄像头，按 'c' 键捕获图像，按 'q' 键取消")
+        
+        # 尝试打开摄像头
+        cap = cv2.VideoCapture(camera_id)
+        if not cap.isOpened():
+            print(f"❌ 无法打开摄像头，索引: {camera_id}")
+            
+            # 列出可用摄像头
+            print("ℹ️  尝试检测可用摄像头...")
+            available_cameras = []
+            for i in range(5):  # 尝试检测前5个摄像头
+                test_cap = cv2.VideoCapture(i)
+                if test_cap.isOpened():
+                    available_cameras.append(i)
+                    test_cap.release()
+            
+            if available_cameras:
+                print(f"✅ 检测到以下可用摄像头: {available_cameras}")
+            else:
+                print("❌ 未检测到任何可用摄像头")
+            
+            return False
+        
+        # 重新设置参数
+        cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+        cap.set(cv2.CAP_PROP_FPS, 30)
+        
+        # 摄像头初始化后添加延迟，让摄像头稳定
+        print("摄像头初始化完成，等待1秒让摄像头稳定...")
+        time.sleep(1)
+        
+        # 预读取几帧，丢弃初始的不稳定帧
+        for _ in range(5):
+            ret, _ = cap.read()
+            if not ret:
+                # 短暂休眠后重试
+                time.sleep(0.1)
+        
+        # 创建空白帧，防止摄像头初始帧为黑
+        blank_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+        self._put_text_freetype(blank_frame, "初始化摄像头...", (10, 30), 
+                              font_size=18, color=(0, 0, 255))
+        
+        # 创建窗口
+        cv2.namedWindow('捕获人脸', cv2.WINDOW_NORMAL)
+        cv2.resizeWindow('捕获人脸', 640, 480)
+        
+        frame_count = 0
+        consecutive_failures = 0
+        
+        while True:
+            ret, frame = cap.read()
+            
+            if not ret or frame is None or frame.size == 0:
+                consecutive_failures += 1
+                print(f"⚠️  无法读取帧 ({frame_count}/{consecutive_failures})")
+                
+                # 使用空白帧
+                display_frame = blank_frame.copy()
+                self._put_text_freetype(display_frame, f"无法读取帧，尝试次数: {consecutive_failures}", (10, 60), 
+                                      font_size=14, color=(0, 0, 255))
+                
+                if consecutive_failures > 10:
+                    print("❌ 连续10次无法读取帧，退出")
+                    cap.release()
+                    cv2.destroyAllWindows()
+                    return False
+            else:
+                consecutive_failures = 0
+                frame_count += 1
+                
+                # 确保帧尺寸正确
+                if frame.shape[0] != 480 or frame.shape[1] != 640:
+                    display_frame = cv2.resize(frame, (640, 480))
+                else:
+                    display_frame = frame.copy()
+            
+            # 在图像上显示提示信息
+            self._put_text_freetype(display_frame, "按 'c' 键捕获，按 'q' 键取消", (10, 30), 
+                                  font_size=18, color=(0, 0, 255))
+            
+            # 显示当前帧计数
+            self._put_text_freetype(display_frame, f"帧计数: {frame_count}", (10, 450), 
+                                  font_size=14, color=(0, 255, 0))
+            
+            # 显示图像
+            cv2.imshow('捕获人脸', display_frame)
+            
+            # 等待键盘输入
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord('q'):
+                # 取消
+                cap.release()
+                cv2.destroyAllWindows()
+                print("已取消添加")
+                return False
+            elif key == ord('c'):
+                # 捕获图像
+                cap.release()
+                cv2.destroyAllWindows()
+                
+                # 确保捕获的是有效图像
+                if consecutive_failures == 0 and frame is not None and frame.size > 0:
+                    # 检测并添加人脸
+                    return self.add_face_from_frame(frame, name)
+                else:
+                    print("❌ 无法捕获有效图像")
+                    return False
+    
+    def add_face_from_frame(self, frame, name):
+        """
+        从图像帧添加人脸
+        
+        Args:
+            frame: 图像帧
+            name: 人脸对应的名字
+        
+        Returns:
+            bool: 添加成功返回True，失败返回False
+        """
+        try:
+            # 检测人脸
+            faces = self.app.get(frame)
+            if len(faces) == 0:
+                print("错误：图像中未检测到人脸")
+                return False
+            elif len(faces) > 1:
+                print("警告：图像中检测到多张人脸，仅使用第一张")
+            
+            # 获取人脸特征
+            face = faces[0]
+            if 'embedding' not in face:
+                print("错误：无法提取人脸特征")
+                return False
+            
+            # 添加到数据库
+            self.face_database[name] = face['embedding']
+            print(f"成功添加人脸: {name}")
+            return True
+        except Exception as e:
+            error_msg = str(e)
+            print(f"从帧添加人脸时出错: {error_msg}")
+            
+            # 检查是否是执行提供程序相关错误
+            is_provider_error = any(keyword in error_msg for keyword in 
+                                  ['CUDA', 'cuda', 'CUDNN', 'cudnn', 'GPU', 'gpu', 
+                                   'FusedConv', 'TensorRT', 'tensorrt', 'TRT', 'trt'])
+            
+            if is_provider_error:
+                print("检测到执行提供程序相关错误，尝试重新初始化...")
+                # 重新初始化应用（会尝试TensorRT -> CUDA -> CPU的回退）
+                if self._reinit_app_with_fallback(use_tensorrt=True):
+                    # 重新尝试添加人脸
+                    return self.add_face_from_frame(frame, name)
+                else:
+                    print("重新初始化失败")
+                    return False
+            return False
+
+
+def main():
+    """主函数"""
+    import argparse
+    
+    parser = argparse.ArgumentParser(description="实时人脸识别系统")
+    parser.add_argument("--add-face", nargs=2, metavar=("IMAGE_PATH", "NAME"), 
+                       help="添加人脸到数据库")
+    parser.add_argument("--add-webcam", metavar="NAME", 
+                       help="从摄像头添加人脸到数据库")
+    parser.add_argument("--db-path", default="face_database.pkl", 
+                       help="人脸数据库路径")
+    parser.add_argument("--camera-id", type=int, default=10, 
+                       help="摄像头ID")
+    parser.add_argument("--model", default="buffalo_l", 
+                       help="使用的模型名称")
+    parser.add_argument("--force-cuda", action="store_true", default=True, 
+                       help="是否强制使用CUDA，默认强制使用")
+    parser.add_argument("--allow-cpu-fallback", action="store_false", dest="force_cuda", 
+                       help="允许在CUDA不可用时回退到CPU")
+    
+    args = parser.parse_args()
+    
+    print(f"命令行参数: force_cuda={args.force_cuda}")
+    
+    # 初始化系统 - 强制使用CUDA
+    system = FaceRecognitionSystem(db_path=args.db_path, 
+                                  model_name=args.model, 
+                                  force_cuda=args.force_cuda)
+    
+    # 添加人脸
+    if args.add_face:
+        image_path, name = args.add_face
+        system.add_face(image_path, name)
+        system.save_database()
+    
+    # 从摄像头添加人脸
+    elif args.add_webcam:
+        system.add_face_interactive(args.add_webcam, args.camera_id)
+        system.save_database()
+    
+    # 运行摄像头
+    else:
+        system.run_camera(camera_id=args.camera_id)
+
+
+if __name__ == "__main__":
+    main()

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/face_recognition_node.py

@@ -0,0 +1,1057 @@
+#!/usr/bin/env python3
+"""
+人脸检测识别ROS2节点
+
+功能：
+1. 订阅彩色相机消息
+2. 运行人脸检测和识别模型
+3. 发布识别到的人名话题
+"""
+
+import os
+import time
+import cv2
+import numpy as np
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import sys
+import traceback
+import insightface
+from insightface.app import FaceAnalysis
+import pickle
+import freetype
+import onnxruntime as ort
+
+# 添加当前目录到Python路径，以便导入face_recognition模块
+# sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+
+
+class FaceRecognitionSystem:
+    """实时人脸识别系统类"""
+    
+    # 关键：创建 ONNX Runtime 配置，禁用融合卷积
+    session_options = ort.SessionOptions()
+    # 禁用融合卷积（解决 FusedConv 算子报错）
+    session_options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_BASIC
+    # 或更精细控制：只禁用融合卷积，保留其他优化
+    session_options.add_session_config_entry("ep.cuda.disable_fused_conv", "1")
+
+    def __init__(self, db_path="face_database.pkl",
+                model_name="buffalo_l",
+                force_cuda=True):
+        """
+        初始化人脸识别系统
+        
+        Args:
+            db_path: 人脸数据库保存路径
+            model_name: 使用的模型名称
+        """
+        self.db_path = db_path
+        self.model_name = model_name
+        self.app = None
+        self.font = None
+        self.face_database = {}
+        self._window_created = False
+        
+        # 初始化人脸分析应用
+        print("初始化人脸识别模型...")
+        print("尝试使用TensorRT加速...")
+        
+        # TensorRT执行提供程序的配置选项
+        trt_options = {
+            'trt_engine_cache_enable': True,  # 启用引擎缓存
+            'trt_engine_cache_path': './trt_cache',  # 引擎缓存路径
+            'trt_fp16_enable': True,  # 启用FP16精度以提升性能
+            'trt_max_workspace_size': 2 * 1024 * 1024 * 1024,  # 最大工作空间2GB
+        }
+        
+        try:
+            # 优先使用TensorRT，然后是CUDA，最后是CPU
+            self.app = FaceAnalysis(
+                name=model_name,
+                modules=['detection', 'recognition'],
+                providers=[
+                    #('TensorrtExecutionProvider', trt_options),
+                    'CUDAExecutionProvider',
+                    'CPUExecutionProvider'
+                ] 
+            )
+            self.app.prepare(ctx_id=0, det_size=(640, 640))
+            print("成功使用TensorRT加速初始化")
+
+        except BaseException as e:
+            print(f"TensorRT启动失败: {e}", file=sys.stderr)
+            print("尝试使用CUDA执行...")
+            try:
+                # 回退到CUDA
+                self.app = FaceAnalysis(
+                    name=model_name,
+                    modules=['detection', 'recognition'],
+                    providers=['CUDAExecutionProvider', 'CPUExecutionProvider'] 
+                )
+                self.app.prepare(ctx_id=0, det_size=(640, 640))
+                print("成功使用CUDA执行")
+            except BaseException as e2:
+                print(f"CUDA启动失败: {e2}", file=sys.stderr)
+                # 确保self.app被正确初始化，使用CPU作为最后的备选方案
+                print("尝试使用纯CPU执行...")
+                try:
+                    self.app = FaceAnalysis(
+                        name=model_name,
+                        modules=['detection', 'recognition'],
+                        providers=['CPUExecutionProvider']  # 只使用CPU执行提供程序
+                    )
+                    self.app.prepare(ctx_id=-1, det_size=(640, 640))
+                    print("成功使用纯CPU执行")
+                except BaseException as e3:
+                    print(f"纯CPU执行也失败: {e3}", file=sys.stderr)
+                    raise RuntimeError(f"无法初始化FaceAnalysis: {e3}") from e2
+        # 初始化人脸数据库
+        self.face_database = {}
+        self.load_database()
+        
+        # 初始化FreeType字体
+        self.font = None
+        self._init_font()
+        
+        print(f"系统初始化完成。已加载 {len(self.face_database)} 张人脸。")
+    
+    def _reinit_app_with_fallback(self, use_tensorrt=True):
+        """
+        重新初始化FaceAnalysis应用，支持TensorRT/CUDA/CPU回退
+        
+        Args:
+            use_tensorrt: 是否尝试使用TensorRT
+        
+        Returns:
+            bool: 初始化成功返回True，失败返回False
+        """
+        # TensorRT执行提供程序的配置选项
+        trt_options = {
+            'trt_engine_cache_enable': True,
+            'trt_engine_cache_path': './trt_cache',
+            'trt_fp16_enable': True,
+            'trt_max_workspace_size': 2 * 1024 * 1024 * 1024,
+        }
+        
+        if use_tensorrt:
+            try:
+                self.app = FaceAnalysis(
+                    name=self.model_name,
+                    modules=['detection', 'recognition'],
+                    providers=[
+                        ('TensorRTExecutionProvider', trt_options),
+                        'CUDAExecutionProvider',
+                        'CPUExecutionProvider'
+                    ]
+                )
+                self.app.prepare(ctx_id=0, det_size=(640, 640))
+                print("成功使用TensorRT重新初始化")
+                return True
+            except Exception as e:
+                print(f"TensorRT重新初始化失败: {e}")
+                
+                traceback.print_exc()
+        
+        # 回退到CUDA
+        try:
+            self.app = FaceAnalysis(
+                name=self.model_name,
+                modules=['detection', 'recognition'],
+                providers=['CUDAExecutionProvider', 'CPUExecutionProvider']
+            )
+            self.app.prepare(ctx_id=0, det_size=(640, 640))
+            print("成功使用CUDA重新初始化")
+            return True
+        except Exception as e:
+            print(f"CUDA重新初始化失败: {e}")
+            
+            traceback.print_exc()
+        
+        # 最后回退到CPU
+        try:
+            self.app = FaceAnalysis(
+                name=self.model_name,
+                modules=['detection', 'recognition'],
+                providers=['CPUExecutionProvider']
+            )
+            self.app.prepare(ctx_id=-1, det_size=(640, 640))
+            print("成功使用CPU重新初始化")
+            return True
+        except Exception as e:
+            print(f"CPU重新初始化也失败: {e}")
+            return False
+    
+    def _init_font(self):
+        """
+        初始化FreeType字体
+        """
+        # Linux系统的中文字体路径
+        font_paths = [
+            "/usr/share/fonts/truetype/wqy/wqy-microhei.ttc",  # 文泉驿微米黑
+            "/usr/share/fonts/truetype/wqy/wqy-zenhei.ttc",     # 文泉驿正黑
+            "/usr/share/fonts/truetype/simhei.ttf",             # 黑体
+            "/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf",  # 备用字体
+        ]
+        
+        # 尝试加载字体
+        for font_path in font_paths:
+            if os.path.exists(font_path):
+                try:
+                    self.font = freetype.Face(font_path)
+                    print(f"成功加载字体: {font_path}")
+                    return
+                except Exception as e:
+                    print(f"加载字体 {font_path} 失败: {e}")
+        
+        print("警告：无法加载任何字体，将使用OpenCV默认字体")
+        self.font = None
+    
+    def _put_text_freetype(self, image, text, pos, font_size=18, color=(0, 255, 0)):
+        """
+        使用FreeType绘制文字（支持中文）
+        
+        Args:
+            image: 要绘制文字的图像
+            text: 要绘制的文字
+            pos: 文字位置 (x, y)
+            font_size: 字体大小
+            color: 文字颜色 (B, G, R)
+        
+        Returns:
+            image: 绘制了文字的图像
+        """
+        
+        try:
+            # 设置字体大小
+            self.font.set_char_size(font_size * 64)
+            
+            # 分离颜色通道
+            b, g, r = color
+            
+            # 获取文字位置
+            x, y = pos
+            
+            # 绘制文字
+            for char in text:
+                # 加载字符
+                self.font.load_char(char)
+                
+                # 获取字符的位图
+                bitmap = self.font.glyph.bitmap
+                width = bitmap.width
+                height = bitmap.rows
+                
+                # 获取字符的偏移量
+                left = self.font.glyph.bitmap_left
+                top = self.font.glyph.bitmap_top
+                
+                # 计算字符在图像中的位置
+                char_x = x + left
+                char_y = y - top
+                
+                # 确保字符在图像范围内
+                if char_x < 0 or char_y < 0 or char_x + width > image.shape[1] or char_y + height > image.shape[0]:
+                    # 跳过超出图像范围的字符
+                    x += (self.font.glyph.advance.x >> 6)
+                    continue
+                
+                # 绘制字符的每个像素
+                for i in range(height):
+                    for j in range(width):
+                        if i < bitmap.rows and j < bitmap.width:
+                            pixel = bitmap.buffer[i * bitmap.pitch + j]
+                            if pixel > 0:
+                                # 设置像素颜色
+                                image[char_y + i, char_x + j] = (b, g, r)
+                
+                # 更新x坐标，准备绘制下一个字符
+                x += (self.font.glyph.advance.x >> 6)
+        except Exception as e:
+            print(f"绘制文字时出错: {e}")
+            # 回退到OpenCV默认字体
+            cv2.putText(image, text, pos, cv2.FONT_HERSHEY_SIMPLEX, font_size/25, color, 2)
+        
+        return image
+    
+    def add_face(self, image_path, name):
+        """
+        添加人脸到数据库
+        
+        Args:
+            image_path: 包含人脸的图像路径
+            name: 人脸对应的名字
+        
+        Returns:
+            bool: 添加成功返回True，失败返回False
+        """
+        print(f"正在添加人脸: {name}...")
+        
+        # 读取图像
+        img = cv2.imread(image_path)
+        if img is None:
+            print(f"错误：无法读取图像 {image_path}")
+            return False
+        
+        try:
+            # 检测人脸
+            faces = self.app.get(img)
+            print(f"DEBUG: 检测到 {len(faces)} 张人脸")
+            
+            if len(faces) == 0:
+                # 尝试调整图像大小后再次检测
+                print("尝试调整图像大小后再次检测...")
+                h, w = img.shape[:2]
+                max_size = 1280
+                if h > max_size or w > max_size:
+                    scale = max_size / max(h, w)
+                    new_h, new_w = int(h * scale), int(w * scale)
+                    img_resized = cv2.resize(img, (new_w, new_h))
+                    faces = self.app.get(img_resized)
+                    print(f"DEBUG: 调整大小后检测到 {len(faces)} 张人脸")
+            
+            if len(faces) == 0:
+                print("错误：图像中未检测到人脸")
+                return False
+            elif len(faces) > 1:
+                print("警告：图像中检测到多张人脸，仅使用第一张")
+            
+            # 获取人脸特征
+            face = faces[0]
+            print(f"DEBUG: 人脸信息: {face.keys()}")
+            if 'embedding' not in face:
+                print("错误：无法提取人脸特征")
+                print("DEBUG: 可用的人脸信息: {face.keys()}")
+                return False
+            
+            # 添加到数据库
+            self.face_database[name] = face['embedding']
+            print(f"成功添加人脸: {name}")
+            return True
+        except Exception as e:
+            error_msg = str(e)
+            print(f"添加人脸时出错: {error_msg}")
+            
+            # 检查是否是执行提供程序相关错误
+            is_provider_error = any(keyword in error_msg for keyword in 
+                                  ['CUDA', 'cuda', 'CUDNN', 'cudnn', 'GPU', 'gpu', 
+                                   'FusedConv', 'TensorRT', 'tensorrt', 'TRT', 'trt'])
+            
+            if is_provider_error:
+                print("检测到执行提供程序相关错误，尝试重新初始化...")
+                # 重新初始化应用（会尝试TensorRT -> CUDA -> CPU的回退）
+                if self._reinit_app_with_fallback(use_tensorrt=True):
+                    # 重新尝试添加人脸
+                    return self.add_face(image_path, name)
+                else:
+                    print("重新初始化失败")
+                    return False
+            return False
+    
+    def save_database(self):
+        """
+        保存人脸数据库到文件
+        """
+        try:
+            with open(self.db_path, 'wb') as f:
+                pickle.dump(self.face_database, f)
+            print(f"人脸数据库已保存到 {self.db_path}")
+            return True
+        except Exception as e:
+            print(f"保存数据库失败: {e}")
+            return False
+    
+    def load_database(self):
+        """
+        从文件加载人脸数据库
+        """
+        if os.path.exists(self.db_path):
+            try:
+                with open(self.db_path, 'rb') as f:
+                    self.face_database = pickle.load(f)
+                print(f"从 {self.db_path} 加载了 {len(self.face_database)} 张人脸")
+                return True
+            except Exception as e:
+                print(f"加载数据库失败: {e}")
+                self.face_database = {}
+        else:
+            print(f"未找到数据库文件 {self.db_path}，将创建新数据库")
+            self.face_database = {}
+        return False
+    
+    def recognize_face(self, face, threshold=0.70):
+        """
+        识别人脸，返回最匹配的名字和相似度分数
+        
+        Args:
+            face: 检测到的人脸对象
+            threshold: 识别阈值
+        
+        Returns:
+            tuple: (str, float) - 识别出的名字和相似度分数，未识别出返回("Unknown", 0.0)
+        """
+        if 'embedding' not in face:
+            return "Unknown", 0.0
+        
+        embedding = face['embedding']
+        best_name = "Unknown"
+        best_score = threshold
+        
+        # 检查数据库是否为空
+        if not self.face_database:
+            return "Unknown", 0.0
+        
+        # 遍历数据库，寻找最匹配的人脸
+        for name, db_embedding in self.face_database.items():
+            # 计算余弦相似度
+            similarity = np.dot(embedding, db_embedding)
+            
+            if similarity > best_score:
+                best_score = similarity
+                best_name = name
+        
+        # 确保返回的名字是有效的字符串
+        if not isinstance(best_name, str):
+            best_name = str(best_name)
+        # 移除可能的特殊字符
+        best_name = ''.join(c for c in best_name if c.isprintable())
+        if not best_name:
+            best_name = "Unknown"
+        return best_name, best_score
+    
+    def run_camera(self, camera_id, save_db_on_exit=True):
+        """
+        运行摄像头实时人脸识别
+        
+        Args:
+            camera_id: 摄像头ID，默认10
+            save_db_on_exit: 退出时是否保存数据库
+        """
+        print(f"打开摄像头 {camera_id}...")
+        
+        # 尝试不同的摄像头打开方式
+        cap = None
+        
+        # 方式1：直接使用摄像头ID
+        try:
+            cap = cv2.VideoCapture(camera_id)
+            if cap.isOpened():
+                print(f"成功打开摄像头 {camera_id}（直接方式）")
+            else:
+                print(f"直接方式打开摄像头 {camera_id}失败，尝试其他方式...")
+                cap.release()
+                cap = None
+        except Exception as e:
+            print(f"直接方式打开摄像头失败：{e}")
+            cap = None
+        
+        # 方式3：使用cv2.CAP_V4L2（Linux特有）
+        if cap is None and os.name == 'posix':
+            try:
+                cap = cv2.VideoCapture(camera_id, cv2.CAP_V4L2)
+                if cap.isOpened():
+                    print(f"成功打开摄像头 {camera_id}（CAP_V4L2方式）")
+                else:
+                    print(f"CAP_V4L2方式打开摄像头 {camera_id}失败，尝试其他方式...")
+                    cap.release()
+                    cap = None
+            except Exception as e:
+                print(f"CAP_V4L2方式打开摄像头失败：{e}")
+                cap = None
+        
+        if cap is None:
+            print(f"错误：无法打开摄像头 {camera_id}")
+            # 列出可用摄像头
+            print("尝试检测可用摄像头...")
+            for i in range(3):
+                test_cap = cv2.VideoCapture(i)
+                if test_cap.isOpened():
+                    print(f"摄像头 {i} 可用")
+                    test_cap.release()
+            return False
+        
+        # 设置摄像头参数
+        print("设置摄像头参数...")
+        
+        # 设置分辨率和帧率
+        cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+        cap.set(cv2.CAP_PROP_FPS, 30)
+        
+        # 尝试设置MJPG编码，提高兼容性（忽略可能的错误）
+        try:
+            cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
+            print("  使用MJPG编码")
+        except Exception as e:
+            print(f"  使用默认编码（MJPG设置失败：{e}")
+        
+        # 摄像头初始化后添加延迟，让摄像头稳定
+        print("摄像头初始化完成，等待1秒让摄像头稳定...")
+        time.sleep(1)
+        
+        # 预读取几帧，丢弃初始的不稳定帧
+        for _ in range(5):
+            ret, _ = cap.read()
+            if not ret:
+                # 短暂休眠后重试
+                time.sleep(0.1)
+        
+        print("开始实时人脸识别。按 'q' 键退出，按 's' 键保存数据库。")
+        
+        frame_count = 0
+        consecutive_failures = 0  # 连续失败计数器
+        
+        while True:
+            # 读取帧
+            ret, frame = cap.read()
+            
+            if not ret:
+                consecutive_failures += 1
+                print(f"警告：无法读取帧 {frame_count} (连续失败: {consecutive_failures})")
+                
+                # 仅等待后重试，不重新打开摄像头，确保摄像头持续开启
+                # 连续失败多次后才考虑重新初始化
+                if consecutive_failures >= 30:  # 连续失败30次后才重新初始化
+                    print("连续读取失败30次，尝试重置摄像头...")
+                    consecutive_failures = 0  # 重置失败计数器
+                    
+                    # 释放并重新打开摄像头
+                    cap.release()
+                    time.sleep(1)  # 等待1秒
+                    cap = cv2.VideoCapture(camera_id)
+                    if not cap.isOpened():
+                        print(f"错误：无法重新打开摄像头 {camera_id}")
+                        break
+                    # 重新设置参数
+                    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+                    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+                    cap.set(cv2.CAP_PROP_FPS, 30)
+                else:
+                    time.sleep(0.1)  # 短暂等待后重试
+                continue
+            
+            # 读取成功，重置失败计数器
+            consecutive_failures = 0
+            frame_count += 1
+            
+            # 检查帧是否有效
+            if frame is None or frame.size == 0:
+                print(f"警告：无效帧 {frame_count}")
+                continue
+            
+            # 创建空白结果帧，防止原帧有问题
+            result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+            
+            try:
+                # 检测人脸
+                faces = self.app.get(frame)
+                
+                # 绘制结果
+                result_frame = frame.copy()
+                
+                for face in faces:
+                    # 获取置信度
+                    confidence = face['det_score']
+                    
+                    # 识别人脸，获取名字和相似度
+                    name, similarity = self.recognize_face(face)
+                    
+                    # 只有当置信度大于0.7且相似度大于200时才显示对应名字，否则显示Unknown
+                    if confidence > 0.7 and similarity > 100:
+                        display_name = name
+                    else:
+                        display_name = "Unknown"
+                    
+                    # 获取边界框
+                    bbox = face['bbox']
+                    bbox = list(map(int, bbox))
+                    
+                    # 绘制边界框
+                    cv2.rectangle(result_frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (0, 255, 0), 2)
+                    
+                    # 绘制名字 - 确保文字在图像范围内
+                    name_y = max(20, bbox[1] - 10)  # 确保文字不会超出图像顶部
+                    name_y = min(name_y, result_frame.shape[0] - 20)  # 确保文字不会超出图像底部
+                    self._put_text_freetype(result_frame, display_name, (bbox[0], name_y), 
+                                          font_size=18, color=(0, 255, 0))
+                    
+                    # 绘制置信度和相似度
+                    conf_y = bbox[3] + 20
+                    conf_y = min(conf_y, result_frame.shape[0] - 10)  # 确保文字不会超出图像底部
+                    self._put_text_freetype(result_frame, f"置信度: {confidence:.2f}, 相似度: {similarity:.2f}", 
+                                          (bbox[0], conf_y), font_size=12, color=(0, 255, 0))
+            except Exception as e:
+                error_msg = str(e)
+                print(f"处理帧时出错: {error_msg}")
+                
+                # 检查是否是执行提供程序相关错误
+                is_provider_error = any(keyword in error_msg for keyword in 
+                                      ['CUDA', 'cuda', 'CUDNN', 'cudnn', 'GPU', 'gpu', 
+                                       'FusedConv', 'TensorRT', 'tensorrt', 'TRT', 'trt'])
+                
+                if is_provider_error:
+                    print("检测到执行提供程序相关错误，尝试重新初始化...")
+                    # 重新初始化应用（会尝试TensorRT -> CUDA -> CPU的回退）
+                    if self._reinit_app_with_fallback(use_tensorrt=True):
+                        try:
+                            # 尝试重新检测
+                            faces = self.app.get(frame)
+                            result_frame = frame.copy()
+                            for face in faces:
+                                confidence = face['det_score']
+                                name, similarity = self.recognize_face(face)
+                                if confidence > 0.7 and similarity > 100:
+                                    display_name = name
+                                else:
+                                    display_name = "Unknown"
+                                bbox = list(map(int, face['bbox']))
+                                cv2.rectangle(result_frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), (0, 255, 0), 2)
+                                name_y = max(20, bbox[1] - 10)
+                                name_y = min(name_y, result_frame.shape[0] - 20)
+                                self._put_text_freetype(result_frame, display_name, (bbox[0], name_y), 
+                                                      font_size=18, color=(0, 255, 0))
+                                conf_y = bbox[3] + 20
+                                conf_y = min(conf_y, result_frame.shape[0] - 10)
+                                self._put_text_freetype(result_frame, f"置信度: {confidence:.2f}, 相似度: {similarity:.2f}", 
+                                                      (bbox[0], conf_y), font_size=12, color=(0, 255, 0))
+                        except Exception as retry_e:
+                            print(f"重新检测失败: {retry_e}")
+                            result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+                            self._put_text_freetype(result_frame, f"重新检测失败: {retry_e}", (10, 50), 
+                                                  font_size=14, color=(0, 0, 255))
+                    else:
+                        result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+                        self._put_text_freetype(result_frame, "执行提供程序重新初始化失败", (10, 50), 
+                                              font_size=14, color=(0, 0, 255))
+                else:
+                    # 使用空白帧，避免程序崩溃
+                    result_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+                    self._put_text_freetype(result_frame, f"处理错误: {error_msg}", (10, 50), 
+                                          font_size=14, color=(0, 0, 255))
+            
+            # 显示 FPS
+            fps = 1.0 / (frame_count + 1e-6)  # 简单FPS计算
+            self._put_text_freetype(result_frame, f"FPS: {fps:.1f}", (10, 30), 
+                                  font_size=22, color=(0, 0, 255))
+            
+            # 确保窗口持续显示的关键逻辑
+            try:
+                # 确保窗口已创建并保持打开
+                if not hasattr(self, '_window_created') or not self._window_created:
+                    cv2.namedWindow('实时人脸识别', cv2.WINDOW_NORMAL)
+                    cv2.resizeWindow('实时人脸识别', 640, 480)
+                    self._window_created = True
+                    print("摄像头窗口已创建并持续显示")
+                
+                # 持续显示结果
+                cv2.imshow('实时人脸识别', result_frame)
+                
+                # 键盘控制 - 使用waitKey(1)确保窗口持续刷新
+                key = cv2.waitKey(1) & 0xFF
+                if key == ord('q'):
+                    # 退出
+                    print("收到退出命令，正在关闭...")
+                    break
+                elif key == ord('s'):
+                    # 保存数据库
+                    self.save_database()
+            except Exception as e:
+                print(f"窗口显示错误: {e}")
+                # 窗口显示错误时重新创建窗口
+                if hasattr(self, '_window_created'):
+                    delattr(self, '_window_created')
+                # 不退出，继续尝试显示
+                continue
+        
+        # 释放资源
+        print("释放摄像头资源...")
+        cap.release()
+        print("关闭所有窗口...")
+        cv2.destroyAllWindows()
+        
+        # 退出时保存数据库
+        if save_db_on_exit:
+            self.save_database()
+        
+        print("系统已退出")
+        return True
+    
+    def add_face_interactive(self, name, camera_id):
+        """
+        交互式添加人脸（从摄像头捕获）
+        
+        Args:
+            name: 人脸对应的名字
+            camera_id: 摄像头ID，默认10
+        
+        Returns:
+            bool: 添加成功返回True，失败返回False
+        """
+        print(f"准备添加人脸: {name}")
+        print("请面对摄像头，按 'c' 键捕获图像，按 'q' 键取消")
+        
+        # 尝试打开摄像头
+        cap = cv2.VideoCapture(camera_id)
+        if not cap.isOpened():
+            print(f"❌ 无法打开摄像头，索引: {camera_id}")
+            
+            # 列出可用摄像头
+            print("ℹ️  尝试检测可用摄像头...")
+            available_cameras = []
+            for i in range(5):  # 尝试检测前5个摄像头
+                test_cap = cv2.VideoCapture(i)
+                if test_cap.isOpened():
+                    available_cameras.append(i)
+                    test_cap.release()
+            
+            if available_cameras:
+                print(f"✅ 检测到以下可用摄像头: {available_cameras}")
+            else:
+                print("❌ 未检测到任何可用摄像头")
+            
+            return False
+        
+        # 重新设置参数
+        cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+        cap.set(cv2.CAP_PROP_FPS, 30)
+        
+        # 摄像头初始化后添加延迟，让摄像头稳定
+        print("摄像头初始化完成，等待1秒让摄像头稳定...")
+        time.sleep(1)
+        
+        # 预读取几帧，丢弃初始的不稳定帧
+        for _ in range(5):
+            ret, _ = cap.read()
+            if not ret:
+                # 短暂休眠后重试
+                time.sleep(0.1)
+        
+        # 创建空白帧，防止摄像头初始帧为黑
+        blank_frame = np.zeros((480, 640, 3), dtype=np.uint8)
+        self._put_text_freetype(blank_frame, "初始化摄像头...", (10, 30), 
+                              font_size=18, color=(0, 0, 255))
+        
+        # 创建窗口
+        cv2.namedWindow('捕获人脸', cv2.WINDOW_NORMAL)
+        cv2.resizeWindow('捕获人脸', 640, 480)
+        
+        frame_count = 0
+        consecutive_failures = 0
+        
+        while True:
+            ret, frame = cap.read()
+            
+            if not ret or frame is None or frame.size == 0:
+                consecutive_failures += 1
+                print(f"⚠️  无法读取帧 ({frame_count}/{consecutive_failures})")
+                
+                # 使用空白帧
+                display_frame = blank_frame.copy()
+                self._put_text_freetype(display_frame, f"无法读取帧，尝试次数: {consecutive_failures}", (10, 60), 
+                                      font_size=14, color=(0, 0, 255))
+                
+                if consecutive_failures > 10:
+                    print("❌ 连续10次无法读取帧，退出")
+                    cap.release()
+                    cv2.destroyAllWindows()
+                    return False
+            else:
+                consecutive_failures = 0
+                frame_count += 1
+                
+                # 确保帧尺寸正确
+                if frame.shape[0] != 480 or frame.shape[1] != 640:
+                    display_frame = cv2.resize(frame, (640, 480))
+                else:
+                    display_frame = frame.copy()
+            
+            # 在图像上显示提示信息
+            self._put_text_freetype(display_frame, "按 'c' 键捕获，按 'q' 键取消", (10, 30), 
+                                  font_size=18, color=(0, 0, 255))
+            
+            # 显示当前帧计数
+            self._put_text_freetype(display_frame, f"帧计数: {frame_count}", (10, 450), 
+                                  font_size=14, color=(0, 255, 0))
+            
+            # 显示图像
+            cv2.imshow('捕获人脸', display_frame)
+            
+            # 等待键盘输入
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord('q'):
+                # 取消
+                cap.release()
+                cv2.destroyAllWindows()
+                print("已取消添加")
+                return False
+            elif key == ord('c'):
+                # 捕获图像
+                cap.release()
+                cv2.destroyAllWindows()
+                
+                # 确保捕获的是有效图像
+                if consecutive_failures == 0 and frame is not None and frame.size > 0:
+                    # 检测并添加人脸
+                    return self.add_face_from_frame(frame, name)
+                else:
+                    print("❌ 无法捕获有效图像")
+                    return False
+    
+    def add_face_from_frame(self, frame, name):
+        """
+        从图像帧添加人脸
+        
+        Args:
+            frame: 图像帧
+            name: 人脸对应的名字
+        
+        Returns:
+            bool: 添加成功返回True，失败返回False
+        """
+        try:
+            # 检测人脸
+            faces = self.app.get(frame)
+            if len(faces) == 0:
+                print("错误：图像中未检测到人脸")
+                return False
+            elif len(faces) > 1:
+                print("警告：图像中检测到多张人脸，仅使用第一张")
+            
+            # 获取人脸特征
+            face = faces[0]
+            if 'embedding' not in face:
+                print("错误：无法提取人脸特征")
+                return False
+            
+            # 添加到数据库
+            self.face_database[name] = face['embedding']
+            print(f"成功添加人脸: {name}")
+            return True
+        except Exception as e:
+            error_msg = str(e)
+            print(f"从帧添加人脸时出错: {error_msg}")
+            
+            # 检查是否是执行提供程序相关错误
+            is_provider_error = any(keyword in error_msg for keyword in 
+                                  ['CUDA', 'cuda', 'CUDNN', 'cudnn', 'GPU', 'gpu', 
+                                   'FusedConv', 'TensorRT', 'tensorrt', 'TRT', 'trt'])
+            
+            if is_provider_error:
+                print("检测到执行提供程序相关错误，尝试重新初始化...")
+                # 重新初始化应用（会尝试TensorRT -> CUDA -> CPU的回退）
+                if self._reinit_app_with_fallback(use_tensorrt=True):
+                    # 重新尝试添加人脸
+                    return self.add_face_from_frame(frame, name)
+                else:
+                    print("重新初始化失败")
+                    return False
+            return False
+            
+class FaceRecognitionNode(Node):  
+    """人脸检测识别ROS2节点"""
+    
+    def __init__(self):
+        super().__init__('face_recognition_node')
+        
+        # 声明参数
+        self.declare_parameter('db_path', '/home/ubuntu/eyes/src/eye_ros/face_database/face_database.pkl')
+        self.declare_parameter('model_name', 'buffalo_l')
+        self.declare_parameter('image_topic', '/camera/camera/color/image_raw')
+        
+        # 获取参数值
+        self.db_path = self.get_parameter('db_path').value
+        self.model_name = self.get_parameter('model_name').value
+        self.image_topic = self.get_parameter('image_topic').value
+        
+        # 验证数据库路径
+        self.get_logger().info(f'使用数据库路径: {self.db_path}')
+        self.get_logger().info(f'数据库文件是否存在: {os.path.exists(self.db_path)}')
+        
+        # 检查数据库文件的绝对路径
+        abs_db_path = os.path.abspath(self.db_path)
+        self.get_logger().info(f'数据库绝对路径: {abs_db_path}')
+        
+        # 检查数据库文件大小（如果存在）
+        if os.path.exists(self.db_path):
+            file_size = os.path.getsize(self.db_path)
+            self.get_logger().info(f'数据库文件大小: {file_size} 字节')
+            
+            # 检查文件权限
+            is_readable = os.access(self.db_path, os.R_OK)
+            is_writable = os.access(self.db_path, os.W_OK)
+            self.get_logger().info(f'数据库文件可读: {is_readable}')
+            self.get_logger().info(f'数据库文件可写: {is_writable}')
+        
+        # 检查数据库文件夹是否存在
+        db_dir = os.path.dirname(self.db_path)
+        self.get_logger().info(f'数据库文件夹: {db_dir}')
+        self.get_logger().info(f'数据库文件夹是否存在: {os.path.exists(db_dir)}')
+        
+        # 检查数据库文件夹权限
+        if os.path.exists(db_dir):
+            is_dir_readable = os.access(db_dir, os.R_OK)
+            is_dir_writable = os.access(db_dir, os.W_OK)
+            is_dir_executable = os.access(db_dir, os.X_OK)
+            self.get_logger().info(f'数据库文件夹可读: {is_dir_readable}')
+            self.get_logger().info(f'数据库文件夹可写: {is_dir_writable}')
+            self.get_logger().info(f'数据库文件夹可执行: {is_dir_executable}')
+        else:
+            # 如果文件夹不存在，尝试创建
+            try:
+                os.makedirs(db_dir, exist_ok=True)
+                self.get_logger().info(f'已创建数据库文件夹: {db_dir}')
+            except Exception as e:
+                self.get_logger().error(f'创建数据库文件夹失败: {e}')
+        
+        # 创建发布者
+        self.face_publisher = self.create_publisher(String, 'face_recognition/name', 10)
+        self.face_position_publisher = self.create_publisher(String, 'face_recognition/position', 10)
+        # 初始化CvBridge
+        self.bridge = CvBridge()
+        
+        # 订阅彩色相机话题
+        self.image_sub = self.create_subscription(
+            Image,
+            self.image_topic,
+            self.image_callback,
+            10
+        )
+        self.image_sub  # 防止变量被垃圾回收
+        
+        # 初始化人脸识别系统
+        self.face_recognition = None
+        self._init_face_recognition()
+        
+        # 初始化运行标志
+        self.running = True
+        
+        self.get_logger().info('人脸检测识别节点初始化完成')
+        self.get_logger().info(f'正在订阅彩色相机话题: {self.image_topic}')
+        self.get_logger().info('按下ESC键即可退出程序')
+    
+    def _init_face_recognition(self):
+        """初始化人脸识别系统"""
+        try:
+            # 直接使用集成的FaceRecognitionSystem类
+            self.face_recognition = FaceRecognitionSystem(
+                db_path=self.db_path,
+                model_name=self.model_name
+            )
+            self.get_logger().info('人脸识别系统初始化成功')
+        except Exception as e:
+            self.get_logger().error(f'初始化人脸识别系统失败: {e}')
+            traceback.print_exc()
+    
+    def image_callback(self, msg):
+        """回调函数：收到ROS图像消息后，转换为OpenCV格式并执行人脸识别"""
+        try:
+            # 检查是否应该继续运行
+            if not self.running:
+                return
+            
+            # 调试信息：检查图像消息
+        
+            # 关键步骤：ROS Image → OpenCV图像
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="bgr8")
+            
+            # 调试信息：检查转换后的图像
+            
+            
+            # 检测人脸
+            faces = self.face_recognition.app.get(cv_image)
+            
+            self.get_logger().info(f"检测到 {len(faces)} 张人脸")
+            
+            # 处理识别结果
+            for face in faces:
+                # 识别人脸
+                name, similarity = self.face_recognition.recognize_face(face)
+                
+                # 提取置信度
+                confidence = face.get('confidence', 0.0)
+                
+                # 创建消息
+                msg = String()
+                msg.data = name
+
+                # 发布消息
+                self.face_publisher.publish(msg)
+                self.get_logger().info(f'识别到人脸: {name} (相似度: {similarity:.2f}, 置信度: {confidence:.2f})')
+                
+                # 为了避免频繁发布，每次只发布第一个识别到的人脸
+                break
+        
+            # 显示图像
+            cv2.imshow('人脸识别', cv_image)
+            
+            # 按键检测
+            if cv2.waitKey(1) & 0xFF == 27:
+                self.get_logger().info('用户按下ESC键，准备退出程序...')
+                self.running = False
+                
+        except Exception as e:
+            self.get_logger().error(f'执行人脸识别时出错: {e}')
+            traceback.print_exc()
+    
+    def destroy_node(self):
+        """销毁节点，释放资源"""
+        self.get_logger().info('开始销毁节点，释放资源...')
+        
+        # 释放人脸识别系统资源
+        if self.face_recognition:
+            try:
+                # FaceRecognitionSystem 类没有release方法，直接跳过
+                self.get_logger().info('人脸识别系统资源已释放')
+            except Exception as e:
+                self.get_logger().error(f'释放人脸识别系统资源时出错: {e}')
+        
+        # 关闭所有窗口
+        try:
+            cv2.destroyAllWindows()
+            self.get_logger().info('所有窗口已关闭')
+        except Exception as e:
+            self.get_logger().error(f'关闭窗口时出错: {e}')     
+        
+        self.get_logger().info('节点销毁完成')
+        super().destroy_node()
+    
+    def stop(self):
+        """优雅停止节点"""
+        self.get_logger().info('开始清理资源...')
+        self.running = False
+        # 关闭OpenCV窗口
+        cv2.destroyAllWindows()
+        # 销毁节点
+        self.destroy_node()
+
+def main(args=None):
+    """主函数"""
+    # 初始化ROS 2上下文
+    rclpy.init(args=args)
+    
+    # 创建节点实例
+    node = FaceRecognitionNode()
+    
+    # 自定义自旋循环，支持优雅退出
+    try:
+        while rclpy.ok() and node.running:
+            # 处理一次回调，超时时间100ms
+            rclpy.spin_once(node, timeout_sec=0.1)
+    except KeyboardInterrupt:
+        # 处理Ctrl+C中断
+        node.get_logger().info('收到Ctrl+C中断，准备退出...')
+    finally:
+        # 关闭资源
+        node.stop()
+        # 确保所有资源都被释放
+        cv2.destroyAllWindows()
+        rclpy.shutdown()
+        print("程序已优雅退出！")
+
+if __name__ == '__main__':
+    main()
+    

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/install/.colcon_install_layout

@@ -0,0 +1 @@
+isolated

build/eye_ros/ament_cmake_python/eye_ros/eye_ros/install/_local_setup_util_ps1.py

@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)