b2fdc3a500
feat(perception): QR code reader on CSI surround frames (Issue #233 )
...
Adds cv2.QRCodeDetector-based QR reader that subscribes to all four IMX219
CSI camera streams, deduplicates detections with a 2 s per-payload cooldown,
and publishes /saltybot/qr_codes (QRDetectionArray) at 10 Hz. New
QRDetection / QRDetectionArray messages added to saltybot_scene_msgs.
16/16 pure-Python tests pass (no ROS2 required).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 12:12:57 -05:00
c44a30561a
feat: person detection + tracking (YOLOv8n TensorRT)
...
New package: saltybot_perception
person_detector_node.py:
- Subscribes /camera/color/image_raw + /camera/depth/image_rect_raw
(ApproximateTimeSynchronizer, slop=50ms)
- Subscribes /camera/color/camera_info for intrinsics
- YOLOv8n inference via TensorRT FP16 engine (Orin Nano 67 TOPS)
Falls back to ONNX Runtime when engine not found (dev/CI)
- Letterbox preprocessing (640x640), YOLOv8n post-process + NMS
- Median-window depth lookup at bbox centre (7x7 px)
- Back-projects 2D pixel + depth to 3D point in camera frame
- tf2 transform to base_link (fallback: camera_color_optical_frame)
- Publishes:
/person/detections vision_msgs/Detection2DArray all persons
/person/target geometry_msgs/PoseStamped tracked person 3D
/person/debug_image sensor_msgs/Image (optional)
tracker.py — SimplePersonTracker:
- Single-target IoU-based tracker
- Picks closest valid person (smallest depth) on first lock
- Re-associates across frames using IoU threshold
- Holds last known position for configurable duration (default 2s)
- Monotonically increasing track IDs
detection_utils.py — pure helpers (no ROS2 deps, testable standalone):
- nms(), letterbox(), remap_bbox(), get_depth_at(), pixel_to_3d()
scripts/build_trt_engine.py:
- Converts ONNX to TensorRT FP16 engine using TRT Python API
- Prints trtexec CLI alternative
- Includes YOLOv8n download instructions
config/person_detection_params.yaml:
- confidence_threshold: 0.40, min_depth: 0.5m, max_depth: 5.0m
- track_hold_duration: 2.0s, target_frame: base_link
launch/person_detection.launch.py:
- engine_path, onnx_path, publish_debug_image, target_frame overridable
Tests: 26/26 passing (test_tracker.py + test_postprocess.py)
- IoU computation, NMS suppression, tracker state machine,
depth filtering, hold duration, re-association, track ID
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 23:21:24 -05:00
