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677e6eb75e
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feat(perception): MFCC nearest-centroid audio scene classifier (Issue #353)
Classifies ambient audio into indoor/outdoor/traffic/park at 1 Hz using
a 16-d feature vector (13 MFCC + spectral centroid + rolloff + ZCR) with
a normalised nearest-centroid classifier. Centroids are computed at import
time from seeded synthetic prototypes, ensuring deterministic behaviour.
Changes
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- saltybot_scene_msgs/msg/AudioScene.msg — label + confidence + features[16]
- saltybot_scene_msgs/CMakeLists.txt — register AudioScene.msg
- _audio_scene.py — pure-numpy feature extraction + NearestCentroidClassifier
- audio_scene_node.py — subscribes /audio/audio, publishes /saltybot/audio_scene
- test/test_audio_scene.py — 53 tests (all passing) with synthetic audio
- setup.py — add audio_scene entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-03 14:03:11 -05:00 |
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