Module perception 

Perception subsystem: scene graph construction, obstacle detection, and pipeline.

This module sits on top of crate::bridge types and provides higher-level perception building blocks used by the cognitive architecture.

Re-exports

pub use config::ObstacleConfig;

pub use config::PerceptionConfig;

pub use config::SceneGraphConfig;

pub use obstacle_detector::ClassifiedObstacle;

pub use obstacle_detector::DetectedObstacle;

pub use obstacle_detector::ObstacleClass;

pub use obstacle_detector::ObstacleDetector;

pub use scene_graph::PointCloudSceneGraphBuilder;

Modules

clustering

Shared spatial-hash clustering with union-find.

config

Configuration types for the perception pipeline.

obstacle_detector

Obstacle detection from point clouds.

scene_graph

Scene-graph construction from point clouds and object lists.

sensor_fusion

Multi-sensor point cloud fusion.

Structs

Anomaly

A point-cloud anomaly detected via z-score outlier analysis.

PerceptionPipeline

End-to-end perception pipeline that processes sensor frames into scene graphs and obstacle lists.

SceneGraphBuilder

Builds a SceneGraph from detected obstacles or raw point clouds.

Enums

PerceptionError

Errors emitted by perception pipeline operations.

Type Aliases

Result

Convenience alias used throughout the perception module.