sl-perception
c620dc51a7
Implements real-time person detection + tracking pipeline for the
follow-me motion controller on Jetson Orin Nano Super (D435i).
Core components
- TargetTrack.msg: bearing_deg, distance_m, confidence, bbox, vel_bearing_dps,
vel_dist_mps, depth_quality (0-3)
- _person_tracker.py (pure-Python, no ROS2/runtime deps):
· 8-state constant-velocity Kalman filter [cx,cy,w,h,vcx,vcy,vw,vh]
· Greedy IoU data association
· HSV torso colour histogram re-ID (16H×8S, Bhattacharyya similarity)
with fixed saturation clamping (s = (cmax−cmin)/cmax, clipped to [0,1])
· FollowTargetSelector: nearest person auto-lock, hold_frames hysteresis
· TENTATIVE→ACTIVE after min_hits; LOST track removal after max_lost_frames
with per-frame lost_age increment across all LOST tracks
· bearing_from_pixel, depth_at_bbox (median, quality flags)
- person_tracking_node.py:
· YOLOv8n via ultralytics (TRT FP16 on first run) → HOG+SVM fallback
· Subscribes colour + depth + camera_info + follow_start/stop
· Publishes /saltybot/target_track at ≤30 fps
- test/test_person_tracker.py: 59/59 tests passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
69 lines
3.4 KiB
Python
69 lines
3.4 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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# Wheel encoder differential drive odometry (Issue #184)
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'wheel_odom = saltybot_bringup.wheel_odom_node:main',
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# Appearance-based person re-identification (Issue #322)
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'person_reid = saltybot_bringup.person_reid_node:main',
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# Dynamic obstacle velocity estimator (Issue #326)
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'obstacle_velocity = saltybot_bringup.obstacle_velocity_node:main',
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# Lane/path edge detector (Issue #339)
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'path_edges = saltybot_bringup.path_edges_node:main',
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# Depth-based obstacle size estimator (Issue #348)
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'obstacle_size = saltybot_bringup.obstacle_size_node:main',
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# Audio scene classifier (Issue #353)
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'audio_scene = saltybot_bringup.audio_scene_node:main',
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# Face emotion classifier (Issue #359)
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'face_emotion = saltybot_bringup.face_emotion_node:main',
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# Person tracking for follow-me mode (Issue #363)
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'person_tracking = saltybot_bringup.person_tracking_node:main',
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],
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},
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)
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