PipelineDetection

class suave.pipeline_detection.PipelineDetection

Detect pipeline visibility from vehicle and pipeline poses.

__init__()

Initialize pose inputs, detection output, and path service.

calculate_interpolated_path()

Interpolate all adjacent pipeline segments into a dense path.

compare_poses(bluerov_pose, pipe_pose)

Return whether a pipeline pose is within the camera FOV.

detect_pipeline_cb(bluerov_pose)

Publish visibility and order the path on first detection.

get_interpolated_path_cb(req, response)

Populate a service response with the ordered pipeline path.

interpolate_line_by_points(pose1, pose2, n)

Return n evenly spaced poses between two pipeline poses.

pipeline_pose_cb(msg)

Store pipeline poses and calculate the interpolated path once.

sort_pipe_path(index)

Order the pipeline path starting from the detected pose index.

Methods

__init__()	Initialize pose inputs, detection output, and path service.
calculate_interpolated_path()	Interpolate all adjacent pipeline segments into a dense path.
compare_poses(bluerov_pose, pipe_pose)	Return whether a pipeline pose is within the camera FOV.
detect_pipeline_cb(bluerov_pose)	Publish visibility and order the path on first detection.
get_interpolated_path_cb(req, response)	Populate a service response with the ordered pipeline path.
interpolate_line_by_points(pose1, pose2, n)	Return n evenly spaced poses between two pipeline poses.
pipeline_pose_cb(msg)	Store pipeline poses and calculate the interpolated path once.
sort_pipe_path(index)	Order the pipeline path starting from the detected pose index.

Attributes