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apl-ocean-engineering / sonar_image_proc

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sonar_pointcloud: update cached geometry when metadata changes. #31

Closed lauralindzey closed 1 year ago

lauralindzey commented 1 year ago

Closes #30.

lauralindzey commented 1 year ago

Hi @micat001! The big change here is creating a Metadata class containing all the info needed to build the geometry, and detecting when the metadata changes.

I've tested it in the tank, and the resulting pointclouds do the right thing then the sonar scan's max range changes.

One thing I ran into while reading the code is that the intensity thresholding is pretty confusing to me. If you remember the logic behind it, I'd love to be enlightened =) (I commented where I had questions.)

lauralindzey commented 1 year ago

Since it's a bit of a pain to have multiple open branches building on each other in the same repo, I've lumped some additional changes to sonar_fov's geometry calculations in with this PR.