[Rock-dev] draft for a new base type SonarScan

[Alexander Duda]

On Wed, 2012-02-22 at 13:20 +0100, Chris Mueller wrote:
> Am 21.02.2012 16:36, schrieb Alexander Duda:
> > Hi
> >
> > I would like to add a new type SonarScan to rock base types.
> > The idea behind this new data type is that:
> > * imaging sonars can directly store their data
> > * support for sector scan sonars (n x SonarBeams = 1 x SonarScan)
> > * support for the transformer in the case of sector scan sonars
> >    * time stamp for each stored sonar beam
> > * memory layout matches normal images
> >    * resize
> >    * filtering
> >    * multi-resolution
> >
> > A draft + unit test can be find on the branch sonar_scan.
> >
> > Any comments are welcome.
> > Alex
> >
> I think, It's a great idea to have a standard type for a spatial 
> representation of an sonar image.ns
> Especially the option for generating and extraction of a SonarScan from 
> SonarBeams.
> 
> I would welcome this, because:
>   * standards helps to develop our tools and task interfaces
>   * it won't currently affect other components and log datas 
> (introducing a new type is probably much easier than changing one)
> 
> I see you also already provide direct support for transforming a 
> SonarScan into a cv::Mat.
> 
> What do you think about providing support also for base::samples::Frame? 
> Maybe we can reuse some tools
> for vizualization for the beginning.

Which tools do you have in mind?

At the moment I do not really see a need for this because on the one
side we could easily update the FrameViewer to understand SonarScans
(raw data) and on the other side I would prefer a specialized viewer
which is displaying the SonarScan in polar coordinates.

Alex 

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-- 
Dipl.-Ing. Alexander Duda 
Unterwasserrobotik

DFKI Bremen
Robotics Innovation Center
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E-Mail: alexander.duda at dfki.de

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