Nodelet for a simulated camera. More...

#include <camera_nodelet.hpp>

Inheritance diagram for mfcpp::CameraNodelet:

Collaboration diagram for mfcpp::CameraNodelet:

Classes
class	OverlapCallback
	Callback class for overlap detection. More...

class	RaycastCallback
	Callback class for raycasting. More...

Public Member Functions
	CameraNodelet ()

	~CameraNodelet ()

virtual void	onInit ()
	Function called at beginning of nodelet execution. More...

Private Member Functions
void	main_cb (const ros::TimerEvent &timer_event)
	Main callback which is called by a timer. More...

void	algae_cb (const mf_farm_simulator::AlgaeConstPtr msg)
	Callback for the algae of the farm. More...

void	init_coll_world ()
	Initialise the collision world. More...

void	update_algae ()
	Updates algae in the collision world. More...

bool	get_tf ()
	Gets tf transforms. More...

bool	multi_fov_body (const std::vector< geometry_msgs::Pose > &poses, rp3d::CollisionBody *body, std::unique_ptr< rp3d::BoxShape > &shape, ros::Time stamp=ros::Time(0))
	Fill a collision body for multi-pose FOV overlap. More...

bool	ray_multi_cb (mf_sensors_simulator::MultiPoses::Request &req, mf_sensors_simulator::MultiPoses::Response &res)
	Service callback for raycasting from several camera poses. More...

void	publish_rviz_fov ()
	Publishes a Rviz marker for the camera field of view. More...

void	update_fov_pose ()
	Updates pose of field of view body. More...

void	overlap_fov (rp3d::CollisionBody *body)
	Selects algae that are in field of view of the camera. More...

void	get_ray_algae_carac (std::vector< float > &w_algae, std::vector< float > &h_algae, std::vector< float > &inc_y3, std::vector< float > &inc_z3, std::vector< geometry_msgs::TransformStamped > &tf_algae)
	Gets position, dimension and axes of the algae for raycasting. More...

tf2::Vector3	get_aim_pt (int pxl_h, int pxl_w, int n_pixel_h=-1, int n_pixel_w=-1)
	Gets an aim point from pixel coordinates for raycasting. More...

rp3d::Vector3	tf2_to_rp3d (const tf2::Vector3 vect)
	Converts a tf2 vector to a rp3d vector. More...

geometry_msgs::TransformStamped	pose_to_tf (const geometry_msgs::Pose &pose)
	Converts a pose to a transform. More...

geometry_msgs::TransformStamped	inverse_tf (const geometry_msgs::TransformStamped &transform)
	Inverse a transform. More...

geometry_msgs::TransformStamped	combine_transforms (const std::vector< geometry_msgs::TransformStamped > &transforms)
	Combine transforms sequentially. More...

tf2::Vector3	apply_transform (const tf2::Vector3 &in_vector, const geometry_msgs::TransformStamped &transform)
	Applies a transform to a vector. More...

bool	raycast_alga (const tf2::Vector3 &aim_pt, tf2::Vector3 &hit_pt, int &alga_idx, const geometry_msgs::TransformStamped &fixed_camera_tf, const tf2::Vector3 &origin=tf2::Vector3(0, 0, 0))
	Casts a ray on algae and gets hit point. More...

bool	raycast_alga (const tf2::Vector3 &aim_pt, float &distance, const geometry_msgs::TransformStamped &fixed_camera_tf, const tf2::Vector3 &origin=tf2::Vector3(0, 0, 0))
	Casts a ray on algae and gets hit distance. More...

bool	raycast_wall (const geometry_msgs::Pose &vp_pose, int n_pxl_h, int n_pxl_w, mf_sensors_simulator::CameraOutput &pxl_output, ros::Time stamp=ros::Time(0))

void	interpolate_quadri (const tf2::Vector3 &p1, const tf2::Vector3 &p2, const tf2::Vector3 &p3, const tf2::Vector3 &p4, int n_h, int n_w, std::vector< float > &x_list, std::vector< float > &y_list, std::vector< float > &z_list)
	Interpolates a 3D quadrilateral lying on a plane. More...

void	prepare_out_msgs (mf_sensors_simulator::CameraOutput &out_msg, visualization_msgs::Marker &ray_marker, visualization_msgs::Marker &pts_marker)
	Prepares the ROS output messages. More...

void	add_pt_to_marker (visualization_msgs::Marker &marker, const tf2::Vector3 &pt, float color_r, float color_g, float color_b)
	Add a point to a point marker. More...

void	add_line_to_marker (visualization_msgs::Marker &marker, const tf2::Vector3 &pt1, const tf2::Vector3 &pt2)
	Add a point to a point marker. More...

void	publish_output ()
	Publishes camera output. More...

Static Private Member Functions
static void	sigint_handler (int s)
	SINGINT (Ctrl+C) callback to stop the nodelet properly. More...

Private Attributes
ros::NodeHandle	nh_
	Node handler (for topics and services) More...

ros::NodeHandle	private_nh_
	Private node handler (for parameters) More...

ros::Subscriber	algae_sub_
	Subscriber for the algae of the farm. More...

ros::ServiceServer	ray_multi_serv_
	Service for raycasting from several camera poses. More...

ros::Publisher	out_pub_
	Publisher for the camera output. More...

ros::Publisher	rviz_pub_
	Publisher for Rviz markers. More...

tf2_ros::Buffer	tf_buffer_

tf2_ros::TransformListener	tf_listener_

mf_farm_simulator::AlgaeConstPtr	last_algae_msg_
	Last algae message. More...

bool	algae_msg_received_
	Whether an algae message has been received. More...

geometry_msgs::TransformStamped	fixed_camera_tf_
	Transform from fixed frame to camera. More...

geometry_msgs::TransformStamped	camera_fixed_tf_
	Transform from camera to fixed frame. More...

geometry_msgs::TransformStamped	camera_robot_tf_
	Transform from camera to robot frame. More...

geometry_msgs::TransformStamped	robot_camera_tf_
	Transform from robot to camera frame. More...

std::vector< std::vector< std::vector< float > > >	heatmaps_
	Disease heatmatps for all the algae. More...

std::vector< int >	corr_algae_
	Correspondance between the algae used for raytracing and all the others. More...

std::mutex	coll_mutex_
	Mutex to control access to collision variables. More...

Collision members
bool	world_init_
	Whether the collision world has been initialised. More...

rp3d::CollisionWorld	coll_world_
	World with all algae and camera FOV. More...

rp3d::CollisionWorld	ray_world_
	World with algae colliding with FOV. More...

rp3d::WorldSettings	world_settings_
	Collision world settings. More...

std::vector< rp3d::CollisionBody * >	algae_bodies_
	Collision bodies of the algae. More...

std::vector< rp3d::CollisionBody * >	ray_bodies_
	Collision bodies for raycasting. More...

rp3d::CollisionBody *	fov_body_
	Collision body of the camera FOV. More...

std::vector< box_shape_ptr >	algae_shapes_
	Collision shapes of the algae bodies. More...

std::vector< box_shape_ptr >	ray_shapes_
	Collision shapes of algae for raycasting. More...

box_shape_ptr	fov_shape_
	Collision shapes of the FOV body. More...

RaycastCallback	raycast_cb_
	Callback instance for raycasting. More...

OverlapCallback	overlap_cb_

ROS parameters
float	camera_freq_
	Frequency of the sensor. More...

std::string	fixed_frame_
	Frame in which the pose is expressed. More...

std::string	robot_frame_
	Frame of the robot. More...

std::string	camera_frame_
	Frame of the camera. More...

std::vector< float >	fov_color_
	Color of the camera field of view Rviz marker. More...

float	focal_length_
	Focal length of the camera. More...

float	sensor_width_
	Width of the camera sensor. More...

float	sensor_height_
	Height of the camera sensor. More...

float	fov_distance_
	Maximum distance detected by the camera. More...

int	n_pxl_height_
	Nbr of pixels along sensor height. More...

int	n_pxl_width_
	Nbr of pixels along sensor width. More...

bool	noise_meas_
	Whether to noise measurements on disease heatmap. More...

float	noise_std_
	Maximum standard deviation of the measurement noise. More...

float	noise_decay_

Static Private Attributes
static sig_atomic_t volatile	b_sigint_ = 0
	Whether SIGINT signal has been received. More...

static ros::Timer	main_timer_ = ros::Timer()
	Timer callback for the main function. More...

Detailed Description

Nodelet for a simulated camera.

For each pixel, the simulated sensor casts a ray. If the ray touches an alga, the sensor will return the hit position, and the corresponding value of the alga disease heatmap.

To improve performance, two collision worlds are created:

a big collision world containing all the algae and the field of view (FOV) of the camera.
a small one only for raycasting.

A first step is then to test overlap between the camera FOV and the algae, the overlapping algae populates the small collision world. Therefore, raycasting is performed on a smaller amount of algae.

Definition at line 50 of file camera_nodelet.hpp.

Constructor & Destructor Documentation

mfcpp::CameraNodelet::CameraNodelet ( )

Definition at line 45 of file camera_nodelet.cpp.

mfcpp::CameraNodelet::~CameraNodelet ( )

Definition at line 53 of file camera_nodelet.cpp.

Member Function Documentation

void mfcpp::CameraNodelet::add_line_to_marker	(	visualization_msgs::Marker &	marker,
		const tf2::Vector3 &	pt1,
		const tf2::Vector3 &	pt2
	)

private

Add a point to a point marker.

Parameters

[out]	marker	Marker to fill
[in]	pt1	First point to add to the marker
[in]	pt2	Second point to add to the marker

Definition at line 150 of file output.cpp.

void mfcpp::CameraNodelet::add_pt_to_marker	(	visualization_msgs::Marker &	marker,
		const tf2::Vector3 &	pt,
		float	color_r,
		float	color_g,
		float	color_b
	)

private

Add a point to a point marker.

Parameters

[out]	marker	Marker to fill
[in]	pt	Point to add to the marker
[in]	color_r	Red channel of the point color
[in]	color_g	Green channel of the point color
[in]	color_b	Blue channel of the point color

Definition at line 132 of file output.cpp.

void mfcpp::CameraNodelet::algae_cb ( const mf_farm_simulator::AlgaeConstPtr msg )

private

Callback for the algae of the farm.

Parameters

msg	Pointer to the algae

Definition at line 140 of file camera_nodelet.cpp.

tf2::Vector3 mfcpp::CameraNodelet::apply_transform	(	const tf2::Vector3 &	in_vector,
		const geometry_msgs::TransformStamped &	transform
	)

private

Applies a transform to a vector.

Parameters

[in]	in_vector	Vector to transform
[in]	transform	Transform to apply return Transformed vector

Definition at line 257 of file collision.cpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::combine_transforms ( const std::vector< geometry_msgs::TransformStamped > & transforms )

private

Combine transforms sequentially.

Parameters

transforms List of transform to combine

Returns: Product of all transforms

Definition at line 223 of file collision.cpp.

tf2::Vector3 mfcpp::CameraNodelet::get_aim_pt	(	int	pxl_h,
		int	pxl_w,
		int	n_pixel_h = `-1`,
		int	n_pixel_w = `-1`
	)

private

Gets an aim point from pixel coordinates for raycasting.

The raycast will be performed between the camera origin and this aim point. The norm of the aim point is the field of view distance.

Parameters

pxl_h	Pixel coordinate in height axis
pxl_w	Pixel coordinate in width axis
n_pxl_h	Custom total number of pixels of the camera in height (defaulted to global value)
n_pxl_w	Custom total number of pixels of the camera in width (defaulted to global value)

Returns: The corresponding aim point

Definition at line 206 of file collision.cpp.

void mfcpp::CameraNodelet::get_ray_algae_carac	(	std::vector< float > &	w_algae,
		std::vector< float > &	h_algae,
		std::vector< float > &	inc_y3,
		std::vector< float > &	inc_z3,
		std::vector< geometry_msgs::TransformStamped > &	tf_algae
	)

private

Gets position, dimension and axes of the algae for raycasting.

Parameters

[out]	w_algae	Width of the algae
[out]	h_algae	Height of the algae
[out]	inc_y3	Increment along y3 algae axis
[out]	inc_z3	Increment along z3 algae axis
[out]	tf_algae	Transforms of algae local frames

Definition at line 174 of file collision.cpp.

bool mfcpp::CameraNodelet::get_tf ( )

private

Gets tf transforms.

Returns: Whether a transform has been received

Definition at line 221 of file camera_nodelet.cpp.

void mfcpp::CameraNodelet::init_coll_world ( )

private

Initialise the collision world.

Definition at line 147 of file camera_nodelet.cpp.

void mfcpp::CameraNodelet::interpolate_quadri	(	const tf2::Vector3 &	p1,
		const tf2::Vector3 &	p2,
		const tf2::Vector3 &	p3,
		const tf2::Vector3 &	p4,
		int	n_h,
		int	n_w,
		std::vector< float > &	x_list,
		std::vector< float > &	y_list,
		std::vector< float > &	z_list
	)

private

Interpolates a 3D quadrilateral lying on a plane.

It uses bilinear mapping to transform points in [-1, 1]x[-1, 1] to 3D points inside a quadrilateral defined by its four corners.

For $(u, v) \in [-1, 1]^2$ , the mapping to corresponding $ (x, y, z) $ coordinates is as follow:

$x(u, v) = \alpha_0 + \alpha_1 u + \alpha_2 v + \alpha_3 u v$
$y(u, v) = \beta_0 + \beta_1 u + \beta_2 v + \beta_3 u v$
$z(u, v) = \gamma_0 + \gamma_1 u + \gamma_2 v + \gamma_3 u v$

Where $\alpha$ , $\beta$ and $\gamma$ are determined thanks to the corner points. For more information, you can refer to: The Finite Element Method: Linear Static and Dynamic Finite Element Analysis by Thomas J. R. Hughes (chapter 3.2).

Note: - The four corners are not added.; - Points will be emplaced back to the x, y, and z lists, so it assumes that their size is already reserved before.

Parameters

[in]	p1	Top left corner of the quadrilateral
[in]	p2	Bottom left corner of the quadrilateral
[in]	p3	Bottom right corner of the quadrilateral
[in]	p4	Top right corner of the quadrilateral
[in]	n_h	Number of points to interpolate in the height direction
[in]	n_w	Number of points to interpolate in the width direction
[out]	x_list	X coordinates of the interpolated points
[out]	y_list	Y coordinates of the interpolated points
[out]	z_list	Z coordinates of the interpolated points

Definition at line 433 of file collision.cpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::inverse_tf ( const geometry_msgs::TransformStamped & transform )

inlineprivate

Inverse a transform.

Warning: Doesn't fill the header

Parameters

transform Transform to inverse

Returns: Inversed transform

Definition at line 485 of file camera_nodelet.hpp.

void mfcpp::CameraNodelet::main_cb ( const ros::TimerEvent & timer_event )

private

Main callback which is called by a timer.

Parameters

timer_event Timer event information

Definition at line 112 of file camera_nodelet.cpp.

bool mfcpp::CameraNodelet::multi_fov_body	(	const std::vector< geometry_msgs::Pose > &	poses,
		rp3d::CollisionBody *	body,
		std::unique_ptr< rp3d::BoxShape > &	shape,
		ros::Time	stamp = `ros::Time(0)`
	)

private

Fill a collision body for multi-pose FOV overlap.

The collision body is the smallest AABB containing each FOV of each pose. The corresponding collision shape is also filled.

Parameters

[in]	poses	Vector of poses
[out]	body	Body to fill
[out]	shape	Collision shape of the body
[in]	stamp	Time at which to retrieve ROS transforms return Whether the call was successful

Definition at line 76 of file collision.cpp.

void mfcpp::CameraNodelet::onInit ( )

virtual

Function called at beginning of nodelet execution.

Definition at line 56 of file camera_nodelet.cpp.

void mfcpp::CameraNodelet::overlap_fov ( rp3d::CollisionBody * body )

private

Selects algae that are in field of view of the camera.

The function will update CameraNodelet::corr_algae_, CameraNodelet::ray_world_, CameraNodelet::ray_bodies_ and CameraNodelet::ray_shapes_.

Parameters

body	Collision body to check overlap with algae

Definition at line 160 of file collision.cpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::pose_to_tf ( const geometry_msgs::Pose & pose )

inlineprivate

Converts a pose to a transform.

Warning: This doesn't take into account frame ids and doesn't fill header

Parameters

pose	Pose to convert

Returns: Converted transform

Definition at line 469 of file camera_nodelet.hpp.

void mfcpp::CameraNodelet::prepare_out_msgs	(	mf_sensors_simulator::CameraOutput &	out_msg,
		visualization_msgs::Marker &	ray_marker,
		visualization_msgs::Marker &	pts_marker
	)

private

Prepares the ROS output messages.

Parameters

[out]	out_msgs	Camera output message
[out]	ray_marker	Rviz marker for displaying the rays
[out]	pts_marker	Rviz marker for displaying the hit points

Definition at line 85 of file output.cpp.

void mfcpp::CameraNodelet::publish_output ( )

private

Publishes camera output.

Definition at line 165 of file output.cpp.

void mfcpp::CameraNodelet::publish_rviz_fov ( )

private

Publishes a Rviz marker for the camera field of view.

Definition at line 24 of file output.cpp.

bool mfcpp::CameraNodelet::ray_multi_cb	(	mf_sensors_simulator::MultiPoses::Request &	req,
		mf_sensors_simulator::MultiPoses::Response &	res
	)

private

Service callback for raycasting from several camera poses.

This service raycast one line for each corner of the camera screen. It only returns the hit points position, not the algae disease values.

Definition at line 244 of file camera_nodelet.cpp.

bool mfcpp::CameraNodelet::raycast_alga	(	const tf2::Vector3 &	aim_pt,
		tf2::Vector3 &	hit_pt,
		int &	alga_idx,
		const geometry_msgs::TransformStamped &	fixed_camera_tf,
		const tf2::Vector3 &	origin = `tf2::Vector3(0, 0, 0)`
	)

private

Casts a ray on algae and gets hit point.

Parameters

[in]	aim_pt	Point towards which casting the ray (in camera frame)
[out]	hit_pt	Hit point (in fixed frame)
[out]	alga_idx	Index of the hit alga in the ray_bodies_ vector
[in]	origin	Origin of the ray (in camera frame)
[in]	fixed_camera_tf	Transform from fixed to camera frames

Returns: Whether an alga has been hit

Definition at line 271 of file collision.cpp.

bool mfcpp::CameraNodelet::raycast_alga	(	const tf2::Vector3 &	aim_pt,
		float &	distance,
		const geometry_msgs::TransformStamped &	fixed_camera_tf,
		const tf2::Vector3 &	origin = `tf2::Vector3(0, 0, 0)`
	)

private

Casts a ray on algae and gets hit distance.

Parameters

[in]	aim_pt	Point towards which casting the ray (in camera frame)
[out]	distance	Distance to the hit alga
[in]	origin	Origin of the ray (in camera frame)
[in]	fixed_camera_tf	Transform from fixed to camera frames

Returns: Whether an alga has been hit

Definition at line 300 of file collision.cpp.

bool mfcpp::CameraNodelet::raycast_wall	(	const geometry_msgs::Pose &	vp_pose,
		int	n_pxl_h,
		int	n_pxl_w,
		mf_sensors_simulator::CameraOutput &	pxl_output,
		ros::Time	stamp = `ros::Time(0)`
	)

private

Definition at line 321 of file collision.cpp.

void mfcpp::CameraNodelet::sigint_handler ( int s )

staticprivate

SINGINT (Ctrl+C) callback to stop the nodelet properly.

Definition at line 132 of file camera_nodelet.cpp.

rp3d::Vector3 mfcpp::CameraNodelet::tf2_to_rp3d ( const tf2::Vector3 vect )

inlineprivate

Converts a tf2 vector to a rp3d vector.

Parameters

vect	Vector to convert

Definition at line 463 of file camera_nodelet.hpp.

void mfcpp::CameraNodelet::update_algae ( )

private

Updates algae in the collision world.

Definition at line 203 of file camera_nodelet.cpp.

void mfcpp::CameraNodelet::update_fov_pose ( )

private

Updates pose of field of view body.

Definition at line 145 of file collision.cpp.

Member Data Documentation

std::vector<rp3d::CollisionBody*> mfcpp::CameraNodelet::algae_bodies_

private

Collision bodies of the algae.

Definition at line 123 of file camera_nodelet.hpp.

bool mfcpp::CameraNodelet::algae_msg_received_

private

Whether an algae message has been received.

Definition at line 108 of file camera_nodelet.hpp.

std::vector<box_shape_ptr> mfcpp::CameraNodelet::algae_shapes_

private

Collision shapes of the algae bodies.

Definition at line 126 of file camera_nodelet.hpp.

ros::Subscriber mfcpp::CameraNodelet::algae_sub_

private

Subscriber for the algae of the farm.

Definition at line 100 of file camera_nodelet.hpp.

sig_atomic_t volatile mfcpp::CameraNodelet::b_sigint_ = 0

staticprivate

Whether SIGINT signal has been received.

Definition at line 94 of file camera_nodelet.hpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::camera_fixed_tf_

private

Transform from camera to fixed frame.

Definition at line 110 of file camera_nodelet.hpp.

std::string mfcpp::CameraNodelet::camera_frame_

private

Frame of the camera.

Definition at line 140 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::camera_freq_

private

Frequency of the sensor.

Definition at line 137 of file camera_nodelet.hpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::camera_robot_tf_

private

Transform from camera to robot frame.

Definition at line 111 of file camera_nodelet.hpp.

std::mutex mfcpp::CameraNodelet::coll_mutex_

private

Mutex to control access to collision variables.

Definition at line 115 of file camera_nodelet.hpp.

rp3d::CollisionWorld mfcpp::CameraNodelet::coll_world_

private

World with all algae and camera FOV.

Definition at line 120 of file camera_nodelet.hpp.

std::vector<int> mfcpp::CameraNodelet::corr_algae_

private

Correspondance between the algae used for raytracing and all the others.

Definition at line 114 of file camera_nodelet.hpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::fixed_camera_tf_

private

Transform from fixed frame to camera.

Definition at line 109 of file camera_nodelet.hpp.

std::string mfcpp::CameraNodelet::fixed_frame_

private

Frame in which the pose is expressed.

Definition at line 138 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::focal_length_

private

Focal length of the camera.

Definition at line 143 of file camera_nodelet.hpp.

rp3d::CollisionBody* mfcpp::CameraNodelet::fov_body_

private

Collision body of the camera FOV.

Definition at line 125 of file camera_nodelet.hpp.

std::vector<float> mfcpp::CameraNodelet::fov_color_

private

Color of the camera field of view Rviz marker.

Definition at line 141 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::fov_distance_

private

Maximum distance detected by the camera.

Definition at line 146 of file camera_nodelet.hpp.

box_shape_ptr mfcpp::CameraNodelet::fov_shape_

private

Collision shapes of the FOV body.

Definition at line 128 of file camera_nodelet.hpp.

std::vector<std::vector<std::vector<float> > > mfcpp::CameraNodelet::heatmaps_

private

Disease heatmatps for all the algae.

Definition at line 113 of file camera_nodelet.hpp.

mf_farm_simulator::AlgaeConstPtr mfcpp::CameraNodelet::last_algae_msg_

private

Last algae message.

Definition at line 107 of file camera_nodelet.hpp.

ros::Timer mfcpp::CameraNodelet::main_timer_ = ros::Timer()

staticprivate

Timer callback for the main function.

Definition at line 95 of file camera_nodelet.hpp.

int mfcpp::CameraNodelet::n_pxl_height_

private

Nbr of pixels along sensor height.

Definition at line 147 of file camera_nodelet.hpp.

int mfcpp::CameraNodelet::n_pxl_width_

private

Nbr of pixels along sensor width.

Definition at line 148 of file camera_nodelet.hpp.

ros::NodeHandle mfcpp::CameraNodelet::nh_

private

Node handler (for topics and services)

Definition at line 98 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::noise_decay_

private

Spatial decay rate for measurement noise standard deviation

Definition at line 152 of file camera_nodelet.hpp.

bool mfcpp::CameraNodelet::noise_meas_

private

Whether to noise measurements on disease heatmap.

Definition at line 150 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::noise_std_

private

Maximum standard deviation of the measurement noise.

Definition at line 151 of file camera_nodelet.hpp.

ros::Publisher mfcpp::CameraNodelet::out_pub_

private

Publisher for the camera output.

Definition at line 102 of file camera_nodelet.hpp.

OverlapCallback mfcpp::CameraNodelet::overlap_cb_

private

Callback instance for overlap detection

Definition at line 131 of file camera_nodelet.hpp.

ros::NodeHandle mfcpp::CameraNodelet::private_nh_

private

Private node handler (for parameters)

Definition at line 99 of file camera_nodelet.hpp.

std::vector<rp3d::CollisionBody*> mfcpp::CameraNodelet::ray_bodies_

private

Collision bodies for raycasting.

Definition at line 124 of file camera_nodelet.hpp.

ros::ServiceServer mfcpp::CameraNodelet::ray_multi_serv_

private

Service for raycasting from several camera poses.

Definition at line 101 of file camera_nodelet.hpp.

std::vector<box_shape_ptr> mfcpp::CameraNodelet::ray_shapes_

private

Collision shapes of algae for raycasting.

Definition at line 127 of file camera_nodelet.hpp.

rp3d::CollisionWorld mfcpp::CameraNodelet::ray_world_

private

World with algae colliding with FOV.

Definition at line 121 of file camera_nodelet.hpp.

RaycastCallback mfcpp::CameraNodelet::raycast_cb_

private

Callback instance for raycasting.

Definition at line 130 of file camera_nodelet.hpp.

geometry_msgs::TransformStamped mfcpp::CameraNodelet::robot_camera_tf_

private

Transform from robot to camera frame.

Definition at line 112 of file camera_nodelet.hpp.

std::string mfcpp::CameraNodelet::robot_frame_

private

Frame of the robot.

Definition at line 139 of file camera_nodelet.hpp.

ros::Publisher mfcpp::CameraNodelet::rviz_pub_

private

Publisher for Rviz markers.

Definition at line 103 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::sensor_height_

private

Height of the camera sensor.

Definition at line 145 of file camera_nodelet.hpp.

float mfcpp::CameraNodelet::sensor_width_

private

Width of the camera sensor.

Definition at line 144 of file camera_nodelet.hpp.

tf2_ros::Buffer mfcpp::CameraNodelet::tf_buffer_

private

Definition at line 104 of file camera_nodelet.hpp.

tf2_ros::TransformListener mfcpp::CameraNodelet::tf_listener_

private

Definition at line 105 of file camera_nodelet.hpp.

bool mfcpp::CameraNodelet::world_init_

private

Whether the collision world has been initialised.

Definition at line 119 of file camera_nodelet.hpp.

rp3d::WorldSettings mfcpp::CameraNodelet::world_settings_

private

Collision world settings.

Definition at line 122 of file camera_nodelet.hpp.

The documentation for this class was generated from the following files:

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_sensors_simulator/include/mf_sensors_simulator/camera_nodelet.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_sensors_simulator/src/mf_sensors_simulator/camera_nodelet.cpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_sensors_simulator/src/mf_sensors_simulator/collision.cpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_sensors_simulator/src/mf_sensors_simulator/output.cpp

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

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