I have a camera model in Gazebo world. I created it by following the tutorials [here](http://gazebosim.org/tutorials?tut=ros_gzplugins&cat=connect_ros). It generates images as expected. My next step is to divide the image into an `M x M` grid and do ray tracing for each cell and if it collides with an obstacle in the world at `'k' m` from the camera and assign 0 to the cell and 1 if not. The function will be like, `mbym_grid = RayTrace(image, k)`.
How would I go about implementing that function ? I took a look at logical camera plugin but it only returns the object list with pose in the frustrum. I want a ray traced image for each pixel at a plane 'k' m away. Is there an easier way to do that in Gazebo ?
↧
