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feat(perception): Hand gesture pointing direction — estimate 3D point target from hand pose #221

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opened 2026-03-02 11:52:10 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:52:10 -05:00
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Single ROS2 node. Subscribe to /social/gestures (from gesture_node). When 'point' gesture detected, use MediaPipe hand landmarks + D435i depth to estimate 3D pointing ray. Publish PointingTarget.msg (origin, direction, hit_point if depth available) on /saltybot/pointing_target at 5Hz. Include unit tests.

Single ROS2 node. Subscribe to /social/gestures (from gesture_node). When 'point' gesture detected, use MediaPipe hand landmarks + D435i depth to estimate 3D pointing ray. Publish PointingTarget.msg (origin, direction, hit_point if depth available) on /saltybot/pointing_target at 5Hz. 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#221
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