Fast(er) Generation of Sonar Pointclouds (v2)

apl-ocean-engineering / sonar_image_proc

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Fast(er) Generation of Sonar Pointclouds (v2) #20

Closed micat001 closed 2 years ago

micat001 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. This one is based on /main, not the logscale feature branch.

Results

32bit Real Data

8bit from Gazebo Simulation

lauralindzey commented 2 years ago

Looks good to me! Feel free to merge at will.