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feat(perception): Depth confidence filter — reject D435i depth pixels below confidence threshold #190

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opened 2026-03-02 11:01:07 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:01:07 -05:00
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Single-file node. Subscribe to /camera/depth/image_rect_raw + /camera/depth/confidence, mask out pixels below configurable threshold (default 0.5), republish filtered depth on /camera/depth/filtered. Prevents RTAB-Map from using noisy depth at edges/reflections. Include unit tests.

Single-file node. Subscribe to /camera/depth/image_rect_raw + /camera/depth/confidence, mask out pixels below configurable threshold (default 0.5), republish filtered depth on /camera/depth/filtered. Prevents RTAB-Map from using noisy depth at edges/reflections. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#190
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