BBoxNode

This module contains BBoxNode, a ROS node that computes and publishes a bounding box of the camera’s ground-projected field of view. The bounding box is used by GISNode to retrieve orthoimagery for the vehicle’s approximate global position.

Classes:

BBoxNode(*args, **kwargs)	Publishes a BoundingBox of the camera's ground-projected FOV

class gisnav.core.bbox_node.BBoxNode(*args, **kwargs)

Bases: Node

Publishes a BoundingBox of the camera’s ground-projected FOV

MAVLink Gimbal Protocol v2

If the MAVLink gimbal protocol v2 GimbalDeviceAttitudeStatus message is available, only the flags value of 12 i.e. bit mask 1100 (horizon-locked pitch and roll, floating yaw) is supported.

Class initializer

• Parameters:
  • args – Positional arguments to parent Node constructor
  • kwargs – Keyword arguments to parent Node constructor

Attributes:

camera_info	Subscribed camera info, or None if unknown
fov_bounding_box	Published bounding box of the camera's ground-projected FOV
gimbal_device_attitude_status	Camera orientation from FCU, or None unknown
nav_sat_fix	Vehicle GNSS fix from FCU, or None if unknown
vehicle_pose	Vehicle pose in EKF local frame from FCU, or None unknown

property camera_info : CameraInfo | None

Subscribed camera info, or None if unknown

Camera intrinsics from this message are needed for the FOV projection

property fov_bounding_box : BoundingBox | None

Published bounding box of the camera’s ground-projected FOV

property gimbal_device_attitude_status : GimbalDeviceAttitudeStatus | None

Camera orientation from FCU, or None unknown

property nav_sat_fix : NavSatFix | None

Vehicle GNSS fix from FCU, or None if unknown

property vehicle_pose : PoseStamped | None

Vehicle pose in EKF local frame from FCU, or None unknown

GISNav v0.68.1-2-gf2c72641