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feat(perception): AprilTag landmark detector — detect and publish AprilTag poses for localization #191

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opened 2026-03-02 11:01:09 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:01:09 -05:00
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Single-node package. Use cv2.aruco with DICT_APRILTAG_36h11 to detect AprilTags in CSI camera frames. Publish DetectedTag.msg array (tag_id, pose, confidence) on /saltybot/apriltags at 10Hz. Config: min_size, max_distance, camera_topic. Include unit tests.

Single-node package. Use cv2.aruco with DICT_APRILTAG_36h11 to detect AprilTags in CSI camera frames. Publish DetectedTag.msg array (tag_id, pose, confidence) on /saltybot/apriltags at 10Hz. Config: min_size, max_distance, camera_topic. 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#191
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