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2a9b03dd76
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feat(perception): depth-based obstacle size estimator (Issue #348)
Projects LIDAR clusters into the D435i depth image to estimate 3-D
obstacle width and height in metres.
- saltybot_scene_msgs/msg/ObstacleSize.msg — new message
- saltybot_scene_msgs/msg/ObstacleSizeArray.msg — array wrapper
- saltybot_scene_msgs/CMakeLists.txt — register new msgs
- saltybot_bringup/_obstacle_size.py — pure-Python helper:
CameraParams (intrinsics + LIDAR→camera extrinsics)
ObstacleSizeEstimate (NamedTuple)
lidar_to_camera() LIDAR frame → camera frame transform
project_to_pixel() pinhole projection + bounds check
sample_depth_median() uint16 depth image window → median metres
estimate_height() vertical strip scan for row extent → height_m
estimate_cluster_size() full pipeline: cluster → size estimate
- saltybot_bringup/obstacle_size_node.py — ROS2 node
sub: /scan, /camera/depth/image_rect_raw, /camera/depth/camera_info
pub: /saltybot/obstacle_sizes (ObstacleSizeArray)
width from LIDAR bbox; height from depth strip back-projection;
graceful fallback (LIDAR-only) when depth image unavailable;
intrinsics latched from CameraInfo on first arrival
- test/test_obstacle_size.py — 33 tests, 33 passing
- setup.py — add obstacle_size entry
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-03 13:32:41 -05:00 |
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