seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(perception): motion blur detector via Laplacian variance (Issue #286) #292

Merged
sl-jetson merged 1 commits from sl-perception/issue-286-blur-detect into main 2026-03-02 21:05:24 -05:00
Conversation 0 Commits 1 Files Changed 4 +469

1 Commits

Author SHA1 Message Date
sl-perception
c5f3a5b2ce feat(perception): motion blur detector via Laplacian variance — Issue #286 
- Add _blur_detector.py: BlurResult NamedTuple, laplacian_variance() (ksize=3
  Laplacian on greyscale, with optional ROI crop), detect_blur() returning
  variance + is_blurred flag + threshold; handles greyscale and BGR inputs,
  empty ROI returns 0.0
- Add blur_detect_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
  publishes Bool /saltybot/image_blurred and Float32 /saltybot/blur_score per
  frame; threshold and roi_frac ROS params
- Register blur_detector console script in setup.py
- 25/25 unit tests pass (no ROS2 required)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 20:46:37 -05:00