sl-perception
0d07b09949
Two new packages: - saltybot_person_reid_msgs: PersonAppearance + PersonAppearanceArray msgs - saltybot_person_reid: MobileNetV2 torso-crop embedder (128-dim L2-norm) with 128-bin HSV histogram fallback, cosine-similarity gallery with EMA identity updates and configurable age-based pruning, ROS2 node publishing PersonAppearanceArray on /saltybot/person_reid at 5 Hz. Pure-Python helpers (_embedding_model, _reid_gallery) importable without rclpy — 18/18 unit tests pass. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
29 lines
895 B
XML
29 lines
895 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_person_reid</name>
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<version>0.1.0</version>
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<description>
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Person re-identification node — cross-camera appearance matching using
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MobileNetV2 ONNX embeddings (128-dim, cosine similarity gallery).
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</description>
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<maintainer email="robot@saltylab.local">SaltyLab</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>vision_msgs</depend>
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<depend>cv_bridge</depend>
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<depend>message_filters</depend>
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<depend>saltybot_person_reid_msgs</depend>
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<exec_depend>python3-numpy</exec_depend>
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<exec_depend>python3-opencv</exec_depend>
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<test_depend>pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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