search

Field-Robotics-Lab / nps_uw_multibeam_sonar

Multibeam sonar plugin with NVIDIA Cuda library
Apache License 2.0
35 stars 20 forks source link

Variational reflectivity not working at Ray-based multibeam sonar #32

Open woensug-choi opened 2 years ago

woensug-choi commented 2 years ago

When added fiducials and selection buffer as raster based and running the following,

Ogre::Entity *entity =
        this->selectionBuffer->OnSelectionClick(pt.X(), pt.Y());
ROS_INFO_STREAM(entity);

it does not print anyting, which in raster based one, something like below is seen,

[ INFO] [1645066665.411559100, 7.582000000]: 0x7f0e142da528
[ INFO] [1645066665.412881800, 7.584000000]: 0x7f0e142da528
[ INFO] [1645066665.414231400, 7.586000000]: 0x7f0e142da528
[ INFO] [1645066665.415562000, 7.586000000]: 0x7f0e142da528
[ INFO] [1645066665.416846800, 7.588000000]: 0x7f0e142da528

It seems, the selection buffer does not work with gpu ray sensor. Which is stange since both depth camera and gpu ray sensor inherited same ogre objects.