saltylab-firmware

History

sl-perception 672120bb50 feat(perception): geometric face emotion classifier (Issue #359 )

Classifies facial expressions into neutral/happy/surprised/angry/sad
using geometric rules over MediaPipe Face Mesh landmarks — no ML model
required at runtime.

Rules
-----
  surprised: brow_raise > 0.12 AND eye_open > 0.07 AND mouth_open > 0.07
  happy:     smile > 0.025  (lip corners above lip midpoint)
  angry:     brow_furl > 0.02 AND smile < 0.01
  sad:       smile < -0.025 AND brow_furl < 0.015
  neutral:   default

Changes
-------
- saltybot_scene_msgs/msg/FaceEmotion.msg       — per-face emotion + features
- saltybot_scene_msgs/msg/FaceEmotionArray.msg
- saltybot_scene_msgs/CMakeLists.txt            — register new msgs
- _face_emotion.py   — pure-Python: FaceLandmarks, compute_features,
                        classify_emotion, detect_emotion, from_mediapipe
- face_emotion_node.py  — subscribes /camera/color/image_raw,
                           publishes /saltybot/face_emotions (≤15 fps)
- test/test_face_emotion.py  — 48 tests, all passing
- setup.py  — add face_emotion entry point

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-03 14:39:49 -05:00

test_audio_scene.py

feat(perception): MFCC nearest-centroid audio scene classifier (Issue #353 )

2026-03-03 14:03:11 -05:00

test_blur_detector.py

feat(perception): motion blur detector via Laplacian variance — Issue #286

2026-03-02 20:46:37 -05:00

test_camera_health.py

feat(jetson): camera health watchdog node (issue #198 )

2026-03-02 11:11:48 -05:00

test_color_segmenter.py

feat(perception): HSV color object segmenter — Issue #274