Transformations

Tree

graph TD earth --> _[map] _[map] --> base_in_map base_in_map --> base_rolled_pitched base_rolled_pitched --> cam_mount cam_mount --> cam_ptz_encoder cam_ptz_encoder --> cam_ptz_sensor cam_ptz_sensor --> cam_ptz_sensor_image_plane base_rolled_pitched --> soar_imu _[map] --> ais_123 _[map] --> ais_512

tf tree

• earth is fixed according to ROS-REP105

• map is a zero rotation position of the ship

  • other actors e.g. AIS GPS ship positions should be transformed into this frame

• base_in_map is the compass / yaw corrected ship position in map (rotation only)

• base_rolled_pitched is the IMU / roll+pitch corrected ship position (rotation only)

  • dont use yaw info as this is done by compass in base_in_map frame

  • datasources

    • ship imu (slow via NMEA but fused with compass/gps)

    • resq custom pi based imu (fast)

• cam_mount is the position of the camera on the mast (translation only)

• cam_ptz_encoder is the ptz axis corrected position (rotation only)

• cam_ptz_sensor translation from cam_mount to camera sensor (translation only)

• cam_ptz_sensor_image_plane sensor to image coordinates (rotation only)

AIS

AIS GPS Positions will be converted to metrical relative position to the map coordinate frame to be able to use them as transform.