"""Perception layer: YOLO person/vehicle detection + HSV road masking.

This package owns everything that turns a raw BGR camera frame into a
:class:`gowelcome.types.PerceptionResult`. Heavy/optional dependencies
(``ultralytics``, ``cv2``) are imported lazily inside the classes below so this
package stays importable on machines without them (e.g. off-robot unit tests).
"""

from __future__ import annotations

from gowelcome.perception.detector import YoloDetector
from gowelcome.perception.road_mask import RoadDetector
from gowelcome.perception.vision_thread import PerceptionThread

__all__ = ["YoloDetector", "RoadDetector", "PerceptionThread"]