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feat(perception): person re-identification node (Issue #201) #208

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sl-jetson merged 2 commits from sl-perception/issue-201-person-reid into main 2026-03-02 11:44:32 -05:00
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Author SHA1 Message Date
sl-perception
d143a6d156 chore: remove accidentally committed __pycache__ dirs 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 11:39:21 -05:00
sl-perception
0d07b09949 feat(perception): add person re-ID node (Issue #201) 
Two new packages:
- saltybot_person_reid_msgs: PersonAppearance + PersonAppearanceArray msgs
- saltybot_person_reid: MobileNetV2 torso-crop embedder (128-dim L2-norm)
  with 128-bin HSV histogram fallback, cosine-similarity gallery with EMA
  identity updates and configurable age-based pruning, ROS2 node publishing
  PersonAppearanceArray on /saltybot/person_reid at 5 Hz.

Pure-Python helpers (_embedding_model, _reid_gallery) importable without
rclpy — 18/18 unit tests pass.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 11:39:21 -05:00