sl-perception
bd4a9f094d
Some checks failed
social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 2s
social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped
social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled
saltybot_social_msgs: - Add PointingTarget.msg: origin (INDEX_MCP), direction (unit vec), target, range_m, person_id, confidence, coarse_direction, is_active - Register in CMakeLists.txt saltybot_social: - _pointing_ray.py (pure Python, no rclpy): unproject(), sample_depth() (median with outlier rejection), compute_pointing_ray() — reprojects INDEX_MCP and INDEX_TIP into 3-D using D435i depth; falls back to image- plane direction when both depths are equal; gracefully handles one-sided missing depth - pointing_node.py: subscribes /social/gestures + synced D435i colour+depth; re-runs MediaPipe Hands when a 'point' gesture is cached (within gesture_timeout_s); picks closest hand to gesture anchor; publishes PointingTarget on /saltybot/pointing_target at 5 Hz - setup.py: adds pointing_node entry point - 18/18 unit tests pass Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>