/**
 * In-process follow-me loop. Subscribes to color + depth, runs YOLOv8n person
 * detection, computes a Twist via FollowerController, and publishes cmd_vel.
 *
 * This is the `mode: 'local'` alternative to the agenticros_follow_me ROS2 node.
 */
import type { AgenticROSConfig, ResolvedRobot, RosTransport } from "@agenticros/core";
import { type Twist } from "./controller.js";
export interface FollowMeLocalStatus {
    enabled: boolean;
    tracking: boolean;
    targetDistance: number;
    targetDescription: string | null;
    personCount: number;
    lastPerson: {
        x: number;
        z: number;
        confidence: number;
    } | null;
    lastTwist: Twist;
    lastError: string | null;
    framesProcessed: number;
    detectionsSinceStart: number;
}
export interface StartOptions {
    targetDescription?: string;
}
export declare class FollowMeLocal {
    private readonly robot;
    private readonly config;
    private readonly transport;
    private readonly detector;
    private readonly controller;
    private enabled;
    private running;
    private targetDescription;
    private colorSub;
    private depthSub;
    private latestColor;
    private latestDepth;
    private tickHandle;
    private lastError;
    private framesProcessed;
    private detectionsSinceStart;
    private lastPerson;
    private tracking;
    constructor(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport);
    /** Stable id of the robot this loop is bound to. Used by the registry below. */
    get robotId(): string;
    start(opts?: StartOptions): Promise<void>;
    stop(): Promise<void>;
    setTargetDistance(d: number): void;
    setTargetDescription(description: string): void;
    status(): FollowMeLocalStatus;
    private subscribeFrames;
    private unsubscribeFrames;
    private tickSafe;
    private tick;
    private projectTo3D;
    private publishTwist;
    private publishStop;
}
export declare function getFollowMeLocal(robot: ResolvedRobot, config: AgenticROSConfig, transport: RosTransport): FollowMeLocal;
/** Stop the in-process YOLO follow loop if one was started for this robot. */
export declare function stopFollowMeLocalIfPresent(robotId: string): Promise<void>;
/** Test-only: clear the registry so suites can run in isolation. */
export declare function _resetFollowMeLocalRegistry(): void;
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