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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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maxDistance unit vs oculus M1200d real range #54

Open JaouadROS opened 1 year ago

JaouadROS commented 1 year ago

Hi, In the oculus M1200d datasheet, it stated that the maximum distance is 10m for 2.1MHz settings, and when looking at sdf file it is by default 1.2 maxDistance. At first, I thought it is 1.2MHz and the distance is deduced wrt the frequency but it is not the case as 1.2 is actually a distance as can be seen in the screenshot where the object is located at 1.2 from the sonar: Screenshot from 2022-11-28 16-29-33

My question is what dimension the parameter maxDistance has? should I scale the 1.2 to 10m when working with the sonar image? I can just work with 1.2 as it seems to be coherent with the sonar's pose given by gazebo but I need to have 10m distance to cover more space in the scene. Thank you!

woensug-choi commented 1 year ago

maxDistance tag is to handle calculation quantity to control refresh rate! It's not the spec sheet data value. It crops the point cloud within the maxDistance range to calculate sonar equations. It is actual meter unit dimension. If you put 10 at maxDistance it will calculate all cloud point up to 10 m range with slower refresh rate!

JaouadROS commented 1 year ago

Okay I understand, so is there any way to have 10m coverage and the same image resolution as oculus M1200d spec sheet?