Refactor / Improve blueview driver

Question

Refactor / Improve blueview driver

kev-the-dev opened this issue 7 years ago · comments

I'm working on refactoring Tess's blueview sonar driver from #197. Hope to move to using the C++ library, cleaning up the code, and outputting something besides an image (pointcloud??)

@DSsoto I call dibs

Daniel Volya · Answer 1 · Wed Mar 22 2017 23:24:21 GMT+0800 (China Standard Time)

Jason and I had some discussion of using this class: http://www.blueview.com/documentation/ProViewer-SDK-4.0-Manual/classBVTSDK_1_1RangeProfile.html

David Santiago Soto · Answer 2 · Thu Mar 23 2017 14:04:30 GMT+0800 (China Standard Time)

@ironmig your dibs will be honored. You don't have the information to generate a point cloud from a single frame, @kingkevlar will work on generating a 2d occupancy grid and later on someone could work on reconstructing a 3d cloud if they choose to, although this is no trivial task. It would be nice if you published ping data or a range profile besides just the image.

Matt Langford · Answer 3 · Thu Mar 23 2017 20:32:14 GMT+0800 (China Standard Time)

You could do a 2d point cloud no? With a laserscan message

David Santiago Soto · Answer 4 · Thu Mar 23 2017 20:35:34 GMT+0800 (China Standard Time)

Ehhh, you're right, I reserve the word point cloud for higher dimensional things.

Matt Langford · Answer 5 · Fri Mar 24 2017 00:19:01 GMT+0800 (China Standard Time)

It's a manifold of your "higher" dimensional space

Anthony Olive · Answer 6 · Fri Mar 24 2017 22:37:01 GMT+0800 (China Standard Time)

Make sure that you pull request your changes to mil_common and use the domain name for the sonar instead of it's IP address. Also, your definitions are fake news @DSsoto.

David Santiago Soto · Answer 7 · Tue Apr 04 2017 00:06:20 GMT+0800 (China Standard Time)

This should really be in the mil_common repo.
Is this ready to close? Or will @kingkevlar be adding her stuff to the driver.