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feat(perception): depth-based obstacle size estimator — measure real-world dimensions from D435i #348

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opened 2026-03-03 13:26:11 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-03 13:26:11 -05:00
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Create a ROS2 node that subscribes to /saltybot/lidar_clusters and /camera/depth/filled. For each LIDAR cluster, project into depth image to estimate real-world width and height in meters. Publish /saltybot/obstacle_sizes (custom ObstacleSize msg array with cluster_id, width_m, height_m, distance_m). Use camera intrinsics for projection. Include tests.

Create a ROS2 node that subscribes to /saltybot/lidar_clusters and /camera/depth/filled. For each LIDAR cluster, project into depth image to estimate real-world width and height in meters. Publish /saltybot/obstacle_sizes (custom ObstacleSize msg array with cluster_id, width_m, height_m, distance_m). Use camera intrinsics for projection. Include 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#348
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