Biggest change is adding the sonar_msg_metadata class to unify how we access metadata across the FOV and point cloud scripts.
Other changes:
Vectorizing geometry creation
Clarifying comments around sonar_thresholding
Separate self.intensity_threshold from it's intended purpose and prevent it from being used in multiple places
Moving geometry creation (point cloud) and vector list creation (fov) back into the class method, as I think they are specific to those classes and not specific to msg metadata
Consistent naming between the two files (mostly sonar_msg_* for the callback and msg names)
Scaling Stuff
Here's a visualization of the first 1000 points of the sonar_msg and the different scaling methods.
The "clipped" line is what we are currently using:
Marc botched the first integration when trying to update to incorporate changes to main. Instead of fixing that mess, let's just start over. All comments from https://github.com/apl-ocean-engineering/sonar_image_proc/pull/33 still apply.
Change Overview
Biggest change is adding the sonar_msg_metadata class to unify how we access metadata across the FOV and point cloud scripts.
Other changes:
sonar_msg_*for the callback and msg names)Scaling Stuff
Here's a visualization of the first 1000 points of the sonar_msg and the different scaling methods.
The "clipped" line is what we are currently using:
PC Visualization
With no thresholding
With thresholding (only positive values)
With thresholding (only values > 0.1)