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ortho_projector

This package projects camera images onto ground, assuming the local terrain is flat.

ROS API

1. ortho_projector_node

Project images onto ground.

1.1 Published topics

map (claraty_msgs/FloatGrid)

  • 2D grid map containing a float value in each cell

map/image_raw (sensor_msgs/Image)

  • Orthoprojected image in original image color format

map/image_color (sensor_msgs/Image)

  • Orthoprojected image in RGB color

1.2 Subscribed topics

image (sensor_msgs/Image)

  • Input image

camera_info (sensor_msgs/CameraInfo)

  • Camera calibration info

reset (std_msgs/Empty)

  • Clear map
  • TODO: This will be reimplemented as a service.

1.3 Services

None

1.4 Parameters

~length (double, default: 50.0)

  • The length (x) dimensions of the map [m].

~width (double, default: 50.0)

  • The width (y) dimensions of the map [m].

~cell_size (double, default: 0.25)

  • The edge length of square cells in the map [m].

~map_frame_id (str, default: "MAP")

  • Frame ID of the map.

~base_frame_id (str, default: "RNAV")

  • Frame ID of the rover base.

~camera_frame_id (str, default: "NCAML")

  • Frame ID of the sensor.

~merge_mode (str, default: "LOT")

  • Merge mode. Candidates are First on Top (FOT), Last on Top (LOT), Maximum (MAX), Minimum (MIN).

~margin_top, ~margin_bottom, ~margin_left, ~margin_right (int, default: 0)

  • Boundary image region to be extracted from processing [pixel].

2. ortho_projector_nodelet

Identical to the ortho_projector_node.

3. terrain_mapper_node

Publish terrain class map containing hazard probability (e.g., sand).

3.1 Published topics

map (claraty_msgs/TerrainClassMap)

  • 2D grid map containing terrain classification result.

map_int (nav_msgs/OccupancyGrid)

  • 2D grid map containing hazard probability

3.2 Subscribed topics

map_float (claraty_msgs/FloatGrid)

  • Orthoprojected hazard probability

3.3 Parameters

~threshold (float, default: 0.4)

  • Threshold of hazard probability. A cell with higher probability is regarded as hazard.

4. terrain_mapper_nodelet

Identical to the terrain_mapper_node.