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3bf603f685
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feat(perception): terrain roughness estimator via Gabor + LBP — Issue #296
- Add _terrain_roughness.py: RoughnessResult NamedTuple; gabor_energy() with
4-orientation × 2-wavelength (5px, 10px) quadrature Gabor bank, DC removal
via image mean subtraction (prevents false high energy on uniform surfaces);
lbp_variance() using 8-point radius-1 LBP in vectorised numpy slice
comparisons (no sklearn); estimate_roughness() with bottom roi_frac crop,
normalised blend roughness = 0.5*(gabor/500) + 0.5*(lbp/5000) clipped [0,1]
- Add terrain_rough_node.py: subscribes /camera/color/image_raw (BEST_EFFORT),
publishes Float32 /saltybot/terrain_roughness at 2Hz (configurable via
publish_hz param); roi_frac param default 0.40 (bottom 40% = floor region)
- Register terrain_roughness console script in setup.py
- 37/37 unit tests pass (no ROS2 required)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 21:12:51 -05:00 |
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