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feat(jetson): depth confidence filter node (issue #190) #196

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sl-jetson merged 1 commits from sl-perception/issue-190-depth-filter into main 2026-03-02 11:02:53 -05:00
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sl-perception commented 2026-03-02 11:02:34 -05:00
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Summary

  • Single-file node in saltybot_bringup: depth_confidence_filter_node.py
  • Synchronises /camera/depth/image_rect_raw (float32) + /camera/depth/confidence (uint8) via ApproximateTimeSynchronizer (10 ms slop)
  • Zeros any pixel where confidence < threshold × 255 (default threshold=0.5 → raw value 127)
  • Republishes filtered depth on /camera/depth/filtered with original header preserved
  • Registered as depth_confidence_filter console_scripts entry point in setup.py

Test plan

  • ros2 run saltybot_bringup depth_confidence_filter starts cleanly with D435i running
  • ros2 topic hz /camera/depth/filtered matches /camera/depth/image_rect_raw rate
  • At threshold=0.0 output equals input (no masking)
  • At threshold=1.0 most pixels zeroed (only max-confidence kept)
  • RTAB-Map / visual odometry nodes remapped to /camera/depth/filtered show reduced noise at depth edges

🤖 Generated with Claude Code

## Summary - Single-file node in `saltybot_bringup`: `depth_confidence_filter_node.py` - Synchronises `/camera/depth/image_rect_raw` (float32) + `/camera/depth/confidence` (uint8) via `ApproximateTimeSynchronizer` (10 ms slop) - Zeros any pixel where `confidence < threshold × 255` (default `threshold=0.5` → raw value 127) - Republishes filtered depth on `/camera/depth/filtered` with original header preserved - Registered as `depth_confidence_filter` console_scripts entry point in `setup.py` ## Test plan - [ ] `ros2 run saltybot_bringup depth_confidence_filter` starts cleanly with D435i running - [ ] `ros2 topic hz /camera/depth/filtered` matches `/camera/depth/image_rect_raw` rate - [ ] At `threshold=0.0` output equals input (no masking) - [ ] At `threshold=1.0` most pixels zeroed (only max-confidence kept) - [ ] RTAB-Map / visual odometry nodes remapped to `/camera/depth/filtered` show reduced noise at depth edges 🤖 Generated with [Claude Code](https://claude.com/claude-code)
sl-perception added 1 commit 2026-03-02 11:02:35 -05:00 
Adds depth_confidence_filter_node.py to saltybot_bringup:
- Synchronises /camera/depth/image_rect_raw + /camera/depth/confidence
  via ApproximateTimeSynchronizer (10ms slop)
- Zeros pixels where confidence uint8 < threshold * 255 (default 0.5)
- Republishes filtered float32 depth on /camera/depth/filtered
- Registered as depth_confidence_filter console_scripts entry point

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson merged commit 6dbbbb9adc into main 2026-03-02 11:02:53 -05:00
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Reference: seb/saltylab-firmware#196
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