Closed marc-micatka closed 2 years ago
@marc-micatka -- I took a quick look. I think the biggest problem I have with this code was in the part you didn't write =)
I'm happy to merge this whenever. I don't care as much about code quality for one-off utilities as I do for code that is core to our research ... for something like this, the important bit is that it works, as you demoed earlier today =)
Overview
Updating callback method in sonar_pointcloud.py to numpy vectorization for that sweet speed. Method is also compatible with 8bit/32bit data input and log scales the output:
Results
32bit Real Data
8bit from Gazebo Simulation