sl-perception
e24c0b2e26
- Add _sky_detector.py: SkyResult NamedTuple; detect_sky() with dual HSV band masking (blue sky H∈[90,130]/S∈[40,255]/V∈[80,255] OR overcast S∈[0,50]/V∈[185,255]), cv2.bitwise_or combined mask; sky_fraction over configurable top scan_frac region; horizon_y = bottommost row where per-row sky fraction ≥ row_threshold (−1 when no sky detected) - Add sky_detect_node.py: subscribes /camera/color/image_raw (BEST_EFFORT), publishes Float32 /saltybot/sky_fraction and Int32 /saltybot/horizon_y per frame; scan_frac (default 0.60) and row_threshold (default 0.30) params - Register sky_detector console script in setup.py - 33/33 unit tests pass (no ROS2 required) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
53 lines
2.3 KiB
Python
53 lines
2.3 KiB
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'saltybot_bringup'
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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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(os.path.join('share', package_name, 'launch'),
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glob('launch/*.launch.py')),
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(os.path.join('share', package_name, 'config'),
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glob('config/*.yaml')),
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(os.path.join('share', package_name, 'behavior_trees'),
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glob('behavior_trees/*.xml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='sl-perception',
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maintainer_email='sl-perception@saltylab.local',
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description='SaltyBot sensor bringup and SLAM launch files',
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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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'depth_confidence_filter = saltybot_bringup.depth_confidence_filter_node:main',
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'camera_health_monitor = saltybot_bringup.camera_health_node:main',
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'scan_height_filter = saltybot_bringup.scan_height_filter_node:main',
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# LIDAR object clustering + RViz visualisation (Issue #239)
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'lidar_clustering = saltybot_bringup.lidar_clustering_node:main',
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# Floor surface type classifier (Issue #249)
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'floor_classifier = saltybot_bringup.floor_classifier_node:main',
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# Visual odometry drift detector (Issue #260)
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'vo_drift_detector = saltybot_bringup.vo_drift_node:main',
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# Depth image hole filler (Issue #268)
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'depth_hole_fill = saltybot_bringup.depth_hole_fill_node:main',
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# HSV color object segmenter (Issue #274)
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'color_segmenter = saltybot_bringup.color_segment_node:main',
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# Motion blur detector (Issue #286)
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'blur_detector = saltybot_bringup.blur_detect_node:main',
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# Terrain roughness estimator (Issue #296)
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'terrain_roughness = saltybot_bringup.terrain_rough_node:main',
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# Sky detector for outdoor navigation (Issue #307)
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'sky_detector = saltybot_bringup.sky_detect_node:main',
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],
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},
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)
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