sonar_image is mirrored left and right

[zym19981209]

Hello, why is the sonar image mirrored left and right? How to solve it. Thanks

[woensug-choi]

I am guessing your sonar is placed upside down. Let me know if its not.

[zym19981209]

When I set roll to 0, the image is mirrored left and right. When I set roll to 3.14, the image is normal. If I want to install the sonar on the robot, should I install the sonar upside down to get normal pictures?

[woensug-choi]

Hmm.. cant exactly find out how its caused. Can you give me something that I can reproduce?

Meanwhile, you may change the pose tag in visual in model.sdf of oculus sonar to something like 0 0 3.1415 0 0 1.57 to just flip the visual model of the oculus.

[zym19981209]

All sonar models have left and right image mirroring, such as blueview m450, blueview p900, oculus_ m1200d。 Although I can flip the sonar model 180 degrees by modifying the sonar pose, this only changes the pose of the model and does not solve the problem of left and right mirror images of the sonar output image. Is it necessary to adjust the parameters somewhere?

[woensug-choi]

Hi, sorry for the late comeback. Did you find any solution for this? Related to https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/issues/48, I might have got xyz wrong.

[huangbintao188]

Hello, why is the sonar image mirrored left and right? How to solve it. Thanks

hello, May I ask what is your CUDA version? Is it okay for version 11.1 or above, or is it mandatory for version 11.1

[woensug-choi]

Closing this Issue since it's long staled and could not reproduce. Last checked today and it looks ok