sl-perception
82ad626a94
New package saltybot_obstacle_detect — RANSAC ground plane fitting on
D435i depth images with 2D grid BFS obstacle clustering.
ground_plane.py (pure Python + numpy):
fit_ground_plane(pts, n_iter=50, inlier_thresh_m=0.06): RANSAC over 3D
point cloud in camera optical frame (+Z forward). Samples 3 points, fits
plane via cross-product, counts inliers, refines via SVD on best inlier
set. Orients normal toward -Y (upward in world). Returns (normal, d).
height_above_plane(pts, plane): signed h = d - n·p (h>0 = above ground).
obstacle_mask(pts, plane, min_h, max_h): min_obstacle_h_m < h < max_h.
ground_mask(pts, plane, thresh): inlier classification.
obstacle_clusterer.py (pure Python + numpy):
cluster_obstacles(pts, heights, cell_m=0.30, min_pts=5): projects
obstacle 3D points onto (X,Z) bird's-eye plane, discretises into grid
cells, runs 4-connected BFS flood-fill, returns ObstacleCluster list
sorted by forward distance. ObstacleCluster: centroid(3), radius_m,
height_m, n_pts + distance_m/lateral_m properties.
obstacle_detect_node.py (ROS2 node 'obstacle_detect'):
- Subscribes: /camera/depth/camera_info (latched, once),
/camera/depth/image_rect_raw (BEST_EFFORT, 30Hz float32 depth).
- Pipeline: stride downsample (default 8x → 80x60) → back-project to
3D → RANSAC ground plane (temporally blended α=0.3) → obstacle mask
(min_h=0.05m, max_h=0.80m) → BFS clustering → alert classification.
- Publishes:
/saltybot/obstacles (MarkerArray): SPHERE markers colour-coded
DANGER(red)/WARN(yellow)/CLEAR(green) + distance TEXT labels.
/saltybot/obstacles/cloud (PointCloud2): xyz float32 non-ground pts.
/saltybot/obstacles/alert (String JSON): alert_level, closest_m,
obstacle_count, per-obstacle {x,y,z,radius_m,height_m,level}.
- Safety zone integration (depth_estop_enabled=false by default):
DANGER → zero Twist to depth_estop_topic (/cmd_vel_input) feeds
into safety_zone's cmd_vel chain for independent depth e-stop.
config/obstacle_detect_params.yaml: all tuneable parameters with comments.
launch/obstacle_detect.launch.py: single node with params_file arg.
test/test_ground_plane.py: 10 unit tests (RANSAC correctness, normal
orientation, height computation, inlier/obstacle classification).
test/test_obstacle_clusterer.py: 8 unit tests (single/dual cluster,
distance sort, empty, min_pts filter, centroid accuracy, range clip).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
37 lines
1.3 KiB
XML
37 lines
1.3 KiB
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_obstacle_detect</name>
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<version>0.1.0</version>
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<description>
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RealSense D435i depth-based obstacle detection node (Issue #611).
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RANSAC ground-plane fitting, 2D grid-BFS obstacle clustering, publishes
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MarkerArray centroids (/saltybot/obstacles), PointCloud2 of non-ground
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points (/saltybot/obstacles/cloud), and JSON alert (/saltybot/obstacles/alert)
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with safety_zone e-stop integration via configurable Twist output.
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</description>
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<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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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>geometry_msgs</depend>
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<depend>visualization_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>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-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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