sl-perception
31cfb9dcb9
Implement multi-person tracking with: - Track up to 10 people with persistent unique IDs - Target priority: wake-word speaker > closest known > largest bbox - Occlusion handoff with 3-second grace period - Re-ID via face embedding (cosine similarity) + HSV color histogram - Group detection and centroid calculation - Lost target behavior: stop + rotate + SEARCHING state - 15+ fps on Jetson Orin Nano Super - PersonArray message publishing with active target tracking - Configurable similarity thresholds and grace periods - Unit tests for tracking, matching, priority, and re-ID Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
30 lines
910 B
Python
30 lines
910 B
Python
from setuptools import setup
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package_name = 'saltybot_multi_person_tracker'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='sl-perception',
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author_email='sl-perception@saltylab.local',
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maintainer='sl-perception',
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maintainer_email='sl-perception@saltylab.local',
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url='https://gitea.vayrette.com/seb/saltylab-firmware',
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description='Multi-person tracker with group handling and target priority',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'multi_person_tracker_node = saltybot_multi_person_tracker.multi_person_tracker_node:main',
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],
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},
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)
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