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Field-Robotics-Lab / nps_uw_multibeam_sonar

Multibeam sonar plugin with NVIDIA Cuda library
Apache License 2.0
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Object degradation scenario #33

Closed mabelzhang closed 2 years ago

mabelzhang commented 2 years ago

Depends on https://github.com/Field-Robotics-Lab/dave/pull/212 for object models (I didn't try #31 yet because it requires PCL.)

A world with

This is to see if the sonar readings are different between distorted and undistorted objects.

I'm not familiar with how far the sonar needs to be from the objects for the best readings. My sonar image is not very centered... as you can see below. I don't know how to get it to show up bigger. @woensug-choi I was hoping you could help adjust it so that it shows up better :sweat_smile:

Run with

$ roslaunch nps_uw_multibeam_sonar sonar_shipwreck_blueview_p900_nps_multibeam.launch

2022-02-19-074153_3706x2049_scrot

2022-02-19-074212_1396x1066_scrot

I'm not sure it'll do anything for the huge shipwrecks. They seem too big. I can see even less in those images, but that's probably also because I don't know where to put the sensor.

2022-02-19-065804_3706x2049_scrot_shipwreck

woensug-choi commented 2 years ago

image

image

roslaunch nps_uw_multibeam_sonar sonar_vase_blueview_p900_nps_multibeam.launch
roslaunch nps_uw_multibeam_sonar sonar_shipwreck_blueview_p900_nps_multibeam.launch
woensug-choi commented 2 years ago

At 1 meter distance (close range), the vase now appears to be different @mabelzhang what were the parameters being used for the distortion ?

image