sl-perception
7dcdd2088a
Implements ambient-light-aware night vision mode for the D435i + IMX219
stack on the Jetson Orin Nano Super:
• light_analyser.py — histogram-based intensity FSM with hysteresis:
day → twilight → night → ir_only
• camera_controller.py — D435i IR emitter via realsense2_camera param
service + IMX219 gain/exposure via v4l2-ctl
• gpio_headlight.py — physical pin 33 headlight; Jetson.GPIO PWM
primary, sysfs on/off fallback, sim mode
• light_monitor_node.py — subscribes IMX219/IR1, publishes
/saltybot/ambient_light + /saltybot/vision_mode
• night_vision_controller_node.py — reacts to mode changes; drives
D435i emitter, IMX219 gain, headlight
• ir_slam_bridge_node.py — mono8 IR1 → rgb8 republish so RTAB-Map
keeps loop-closing in darkness
• launch/night_vision.launch.py + config/night_vision_params.yaml
• test/test_night_vision.py — 18 unit tests (18/18 pass, no ROS2 needed)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
28 lines
841 B
XML
28 lines
841 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_night_vision</name>
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<version>0.1.0</version>
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<description>
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Night vision mode for SaltyBot: ambient-light histogram detection,
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D435i IR emitter control, IMX219 auto-gain/exposure, GPIO headlight,
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and IR-only SLAM bridging.
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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>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>cv_bridge</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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