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apl-ocean-engineering / sonar_image_proc

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Fast(er) Generation of Sonar Pointclouds #19

Closed marc-micatka closed 2 years ago

marc-micatka commented 2 years ago

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 image

8bit from Gazebo Simulation image

lauralindzey commented 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 =)

micat001 commented 2 years ago

closing in favor of 20

Based on feature branch, rebranching from main.,