Bathymetry

[CorradoMotta]

Issue:

Having the possibility to display the bathymetry while the vehicle is moving. It should be possible to set a range (e.g. 0-10 meters). Then the colors from light blue to dark blue will be displayed according to it. Values above 10 meters will take the highest possible value.

[CorradoMotta]

To dynamically change the color we use hsva representation from Qt with the following values:

• Hue: [185 - 235] --> [0.513 - 0.652]
• Saturation: 1
• Lightness: 0.5
• Alpha: 1

For more color combinations refer to this guide The hue value is then passed as a role in the model representation of the circles on the map. Such value should be related to the depth value from the sensor.

Next steps:

• Clean the code
• Add the possibility to set depth range
• Relate hue value to the depth according to the depth range.

[CorradoMotta]

We decided to add a graph as well to show the bathymetry in that way as well. Still have to make the steps outlined in the previous comment. Set Depth range should also set the chart range accordingly.

[CorradoMotta]

The formula for conversions are:

• From depth newValue to the set MAX_DEPTH, in order to scale the value between 0 and 1 : scaledValue = newValue - MIN_DEPTH / (MAX_DEPTH - MIN_DEPTH) where MAX_DEPTH can change.
• From scaledValue to the hue color range described in previous comment: finalValue = scaledValue * (hueMax - hueMin) + hueMin

if combined and considering MIN_DEPTH always equal to zero: finalValue = newValue / MAX_DEPTH * (hueMax - hueMin) + hueMin

with MIN_DEPTH: finalValue = ((newValue - MIN_DEPTH) / (MAX_DEPTH -MIN_DEPTH)) * (hueMax - hueMin) + hueMin

[CorradoMotta]

Steps:

1. Convert to minus values
2. Move abstractlistmodel to C++
3. Add the possibility to adapt min and math depth range during runtime

[CorradoMotta]

All steps are done.

What is missing:

• Clean and comment on the code.
• Fix a small bug for the label that gets created under the new printed points.
• Wait for the correct topic to assign to depth value (instead of generated value).

[CorradoMotta]

Also adding play stop cancel and save icons

[CorradoMotta]

All done.

The next commit is used solely for Viareggio and should be tested there.

[CorradoMotta]

Errors found during fieldwork:

• Modified by mistake connect methods in the constructor of data_source. It should be reverted or fixed.
• "/" value for robotand environmentin the configuration file should be interpreted as empty strings.

[CorradoMotta]

Rebasing to main and fixing issues reported above..

[CorradoMotta]

All done. Closing issue.