blacknode-package.toml

[package]
name = "blacknode-perception"
version = "0.5.7"
description = "Camera, tracking, VLM, and spatial-perception capabilities organized as selectable components."
requires-blacknode = ">=0.3.0"
layer = "perception"
component-mode = true

[categories]
"Perception" = "#18a058"
"Tracking" = "#2563eb"
"Detection" = "#f59e0b"
"Camera" = "#18a058"

[components.camera]
description = "Camera discovery, calibration, managed streams, and deterministic OpenCV tracking."
default = true
capabilities = ["perception.camera", "perception.calibration", "perception.tracking.color"]
nodes = ["components/camera/nodes"]
module-root = true
node-types = [
  "Camera", "CameraCalibration", "CameraDiscovery", "CameraImageProcessor", "CameraViewer",
  "CameraSelect", "CameraStream"
]

[components.camera.dependencies]
pip = ["opencv-python>=4.8", "numpy>=1.24"]
imports = ["cv2", "numpy"]

[components.camera.adapters.ros2]
description = "Camera capability over ROS 2: image-topic streams, plug-and-play USB camera publishing, and robot web_video_server viewing."
default = true
capabilities = ["adapter.perception.camera.ros2"]
nodes = ["components/camera/adapters/ros2/nodes"]
templates = ["components/camera/adapters/ros2/templates"]
# Colcon sources the adapter ships; build before ROS 2 nodes can run them.
ros2-workspaces = ["components/camera/adapters/ros2/ros2_ws"]
node-types = ["CameraROS2Provider", "CameraROS2Publish", "CameraROS2Http"]

[components.camera.adapters.ros2.dependencies]
requires = [{ package = "blacknode-ros2", component = "core", version = ">=0.4.0,<1.0.0" }]

[components.vlm]
description = "Frame prompting, VLM description, reasoning streams, and visual dashboards."
default = true
capabilities = ["perception.vlm", "perception.reasoning"]
nodes = ["components/vlm/nodes"]
node-types = [
  "CameraDashboard", "DetectionPrompt", "FramePrompt", "ReasoningDashboard",
  "ReasoningStream", "VLM"
]

[components.vlm.dependencies]
requires = [{ package = "blacknode-perception", component = "camera", version = ">=0.2.0,<1.0.0" }]

[components.depth]
description = "Provider-neutral depth-camera contracts, health, and safe obstacle assessment."
default = true
capabilities = ["perception.depth"]
nodes = ["components/depth/nodes"]
templates = ["components/depth/templates"]
node-types = [
  "DepthCamera", "DepthCameraDeviceSelect", "DepthImageProcessor", "DepthViewer",
  "DepthObstacleWarning"
]

[components.depth.adapters.ros2]
description = "Metric depth-image and point-cloud capability over ROS 2."
default = true
capabilities = ["adapter.perception.depth.ros2"]
nodes = ["components/depth/adapters/ros2/nodes"]
templates = ["components/depth/adapters/ros2/templates"]
node-types = []

[components.depth.adapters.ros2.dependencies]
requires = [
  { package = "blacknode-ros2", component = "core", version = ">=0.4.0,<1.0.0" }
]

[components.lidar]
description = "Provider-neutral LiDAR scans, health, and spatial-processing inputs."
default = true
capabilities = ["perception.lidar"]
nodes = ["components/lidar/nodes"]
node-types = ["LaserScanProcessor", "LiDAR"]

[components.lidar.adapters.ros2]
description = "Generic ROS 2 transport dependency for the LiDAR processor and viewers."
default = true
capabilities = ["adapter.perception.lidar.ros2"]
nodes = ["components/lidar/adapters/ros2/nodes"]
node-types = []

[components.lidar.adapters.ros2.dependencies]
requires = [
  { package = "blacknode-ros2", component = "core", version = ">=0.4.0,<1.0.0" },
  { package = "blacknode-cuda", component = "spatial-processing", version = ">=0.3.0,<1.0.0" }
]

[components.imu]
description = "Provider-neutral IMU orientation, health, and a live 3D diagnostic viewer."
default = true
capabilities = ["perception.imu"]
nodes = ["components/imu/nodes"]
templates = ["components/imu/templates"]
node-types = ["IMUProcessor", "IMU", "IMUViewer"]

[components.detection]
description = "Live OpenCV object detection (face, motion) over a wired camera stream."
default = true
capabilities = ["perception.detection"]
nodes = ["components/detection/nodes"]
node-types = ["DetectionStream", "DetectionYolo"]

[components.detection.dependencies]
pip = ["opencv-python>=4.8", "numpy>=1.24"]
imports = ["cv2", "numpy"]
requires = [{ package = "blacknode-perception", component = "camera", version = ">=0.2.0,<1.0.0" }]

[components.tracking]
description = "Deterministic OpenCV colour-object tracking and target hints."
default = true
capabilities = ["perception.tracking", "perception.tracking.color"]
nodes = ["components/tracking/nodes"]
node-types = [
  "TrackingObject", "TrackingColorHint", "TrackingColorMask"
]

[components.tracking.dependencies]
pip = ["opencv-python>=4.8", "numpy>=1.24"]
imports = ["cv2", "numpy"]
requires = [{ package = "blacknode-perception", component = "camera", version = ">=0.2.0,<1.0.0" }]

[components.slam]
description = "Persistent mapping sessions and provider-neutral map artifacts."
default = false
capabilities = ["perception.slam"]

[components.slam.adapters.ros2]
description = "SLAM Toolbox mapping over an existing or Blacknode-owned ROS 2 session."
default = false
capabilities = ["adapter.perception.slam.ros2"]
nodes = ["components/slam/adapters/ros2/nodes"]
templates = ["components/slam/adapters/ros2/templates"]
node-types = ["MapEnvironment"]

[components.slam.adapters.ros2.dependencies]
requires = [
  { package = "blacknode-ros2", component = "core", version = ">=0.6.2,<1.0.0" }
]

[components.localization]
description = "Localization state, confidence, and recovery contracts."
default = false
capabilities = ["perception.localization"]