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SamuelFoo
changed the title
- Moved clustering utilities in `bb_filters/utils/cluster/` including `cluster.py` for HDBSCAN clustering and `cluster_tf_action_base.py` for action server implementation. - Added utility functions for pose handling in `bb_filters/utils/pose.py`. - Refactored launch files `asv4_filters.launch.py` and `asv4_filters_sim.launch.py` to remove deprecated nodes and update topic names. - Updated `package.xml` to reflect new dependencies and changed build type to `ament_python`. - Created `setup.py` and `setup.cfg` for package installation and configuration. - Removed unused scripts and adjusted test imports to align with the new package structure.
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What changed
Removes stale files from the
bb_filterspackage:Why each file can be deleted
log.py: just implements logger fromrclpyto "avoid depending on rclpy".min_bounding_rect.py: usecv2.boundingRectorcv2.minAreaRectdetected_object_2d_vis.cpp: only converts 2D detections intovisualization_msgs/MarkerArraydebug markers. It does not filter, track, label, or publish perception outputs; with Foxglove handling visualization, this marker adapter is no longer needed inbb_filters.detected_object_3d_labelling.cpp: the C++ node is not built, registered, or installed byCMakeLists.txt; it is a strict subset ofscripts/detected_object_3d_labelling.py.detected_object_3d_vis.cpp: only converts 3D detections intovisualization_msgs/MarkerArraydebug markers and optional visualization TFs. With Foxglove handling visualization, this marker adapter is no longer part of the runtime perception pipeline.detect_red_buoy.py: does not log or publish anything. Appears to be half-written. Just reads detection data, which is obsolete and should be done inpose_estimator.placard_pose_estimator.py: simple quad pose estimator.pinger_gate_detection.py: counts frequency of DoA ranges. Too specific and not useful otherwise. Can be easily re-written to be more general.robotx_placard_detection.py: is similar in purpose to the generic best-fit-quad pose estimator in pose_estimator: both estimate an object pose from a quadrilateral image observation and camera geometry. The archived placard node adds HSV red detection, but that should be in a separateimage_processingnode.