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feat(perception): lane/path edge detector (Issue #339) #341

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sl-jetson merged 1 commits from sl-perception/issue-339-path-edges into main 2026-03-03 12:41:24 -05:00
Conversation 0 Commits 1 Files Changed 6 +959

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Author SHA1 Message Date
sl-perception
bd9cb6da35 feat(perception): lane/path edge detector (Issue #339) 
Adds Canny+Hough+bird-eye perspective pipeline for detecting left/right
path edges from the forward camera.  Pure-Python helper (_path_edges.py)
is fully tested; ROS2 node publishes PathEdges on /saltybot/path_edges.

- saltybot_scene_msgs/msg/PathEdges.msg — new message
- saltybot_scene_msgs/CMakeLists.txt    — register PathEdges.msg
- saltybot_bringup/_path_edges.py       — PathEdgeConfig, PathEdgesResult,
                                          build/apply_homography, canny_edges,
                                          hough_lines, classify_lines,
                                          average_line, warp_segments,
                                          process_frame
- saltybot_bringup/path_edges_node.py  — ROS2 node (sensor_msgs/Image →
                                          PathEdges, parameters for all
                                          tunable Canny/Hough/birdseye params)
- test/test_path_edges.py              — 38 tests, 38 passing
- setup.py                             — add path_edges console_script

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-03 11:33:22 -05:00