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feat(perception): appearance-based person re-identification (Issue #322) #330

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sl-jetson merged 1 commits from sl-perception/issue-322-person-reid into main 2026-03-03 06:46:08 -05:00
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Author SHA1 Message Date
sl-perception
4dbb4c6f0d feat(perception): appearance-based person re-identification (Issue #322)
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Adds PersonTrack/PersonTrackArray msgs and a PersonReidNode that matches
individuals across camera views using HSV colour histogram appearance
features and cosine similarity, with EMA gallery update and 30s stale timeout.

New messages (saltybot_scene_msgs):
  msg/PersonTrack.msg        — track_id, camera_id, bbox, confidence,
                               first_seen, last_seen, is_stale
  msg/PersonTrackArray.msg   — array wrapper with header

New files (saltybot_bringup):
  saltybot_bringup/_person_reid.py    — pure kinematics (no ROS2 deps)
    extract_hsv_histogram()  2-D HS histogram (H=16, S=8 → 128-dim, L2-norm)
    cosine_similarity()      handles zero/non-unit vectors
    match_track()            best gallery match above threshold (strict >)
    TrackGallery             add/update/match/mark_stale/prune_stale
    TrackEntry               mutable dataclass; EMA feature blend (α=0.3)
  saltybot_bringup/person_reid_node.py
    Subscribes /camera/color/image_raw + /saltybot/scene/objects (BEST_EFFORT)
    Crops COCO person (class_id=0) ROIs; extracts features; matches gallery
    Publishes PersonTrackArray on /saltybot/person_tracks at 5 Hz
    Parameters: camera_id, similarity_threshold=0.75, stale_timeout_s=30,
                max_tracks=20, publish_hz=5.0
  test/test_person_reid.py   — 50 tests, all passing

Modified:
  saltybot_scene_msgs/CMakeLists.txt  — register PersonTrack/Array msgs
  saltybot_bringup/setup.py           — add person_reid console_script

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-03 06:45:43 -05:00