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Update to marine_acoustic_msgs. #3

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Update to marine_acoustic_msgs. #3

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ set(ROS_DEPENDS
tf2_ros
tf2_msgs
tf2_sensor_msgs
acoustic_msgs
marine_acoustic_msgs
)

# if you end up using external dependencies it be a bit more manual (it's not that bad don't worry)
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2 changes: 1 addition & 1 deletion README.md
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@@ -1,6 +1,6 @@
# acoustic_msgs_tools

This is a set of tools designed to view, debug and process the acoustic_msgs defined in https://github.com/apl-ocean-engineering/hydrographic_msgs
This is a set of tools designed to view, debug and process the marine_acoustic_msgs defined in https://github.com/apl-ocean-engineering/marine_msgs

Currently it contains:

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4 changes: 2 additions & 2 deletions include/acoustic_msgs_tools/water_column_view.h
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Expand Up @@ -4,7 +4,7 @@
#include <QWidget>
#include "qcustomplot.h"
#include <ros/ros.h>
#include <acoustic_msgs/RawSonarImage.h>
#include <marine_acoustic_msgs/RawSonarImage.h>
#include <qtimer.h>
#include "libInterpolate/Interpolate.hpp"
#include "ros/master.h"
Expand All @@ -22,7 +22,7 @@ class WaterColumnView : public QWidget
~WaterColumnView();
void setupSignals();

void wcCallback(const acoustic_msgs::RawSonarImage::ConstPtr& wc_msg);
void wcCallback(const marine_acoustic_msgs::RawSonarImage::ConstPtr& wc_msg);
private slots:
void spinOnce();
void updateRangeBearing(QMouseEvent *event);
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2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -24,7 +24,7 @@
<depend>std_msgs</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
<depend>acoustic_msgs</depend>
<depend>marine_acoustic_msgs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tf2_msgs</depend>
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34 changes: 17 additions & 17 deletions src/water_column_view.cpp
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Expand Up @@ -32,21 +32,21 @@ void WaterColumnView::setupSignals(){
this,SLOT(updateRangeBearing(QMouseEvent*)));
}

double getRange(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, size_t sample_number){
double getRange(const marine_acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, size_t sample_number){
double range = double(sample_number) *
wc_msg->ping_info.sound_speed /
(2.0 * wc_msg->sample_rate);
return range;
}

int getSampleNo(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, double range){
int getSampleNo(const marine_acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, double range){
double scale = (2.0 * wc_msg->sample_rate) /
wc_msg->ping_info.sound_speed;
int sample_no = range * scale;
return sample_no;
}

double rowMajor(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, double beam_idx, double sample_idx){
double rowMajor(const marine_acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, double beam_idx, double sample_idx){

beam_idx = beam_idx + 0.5 - (beam_idx<0);
sample_idx = sample_idx + 0.5 - (sample_idx<0);
Expand All @@ -59,33 +59,33 @@ double rowMajor(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg, double be
return 0.0;
}else {
switch( wc_msg->image.dtype){
case acoustic_msgs::SonarImageData::DTYPE_UINT8:
case marine_acoustic_msgs::SonarImageData::DTYPE_UINT8:
return reinterpret_cast<const uint8_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_INT8:
case marine_acoustic_msgs::SonarImageData::DTYPE_INT8:
return reinterpret_cast<const int8_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_UINT16:
case marine_acoustic_msgs::SonarImageData::DTYPE_UINT16:
return reinterpret_cast<const uint16_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_INT16:
case marine_acoustic_msgs::SonarImageData::DTYPE_INT16:
return reinterpret_cast<const int16_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_UINT32:
case marine_acoustic_msgs::SonarImageData::DTYPE_UINT32:
return reinterpret_cast<const uint32_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_INT32:
case marine_acoustic_msgs::SonarImageData::DTYPE_INT32:
return reinterpret_cast<const int32_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_UINT64:
case marine_acoustic_msgs::SonarImageData::DTYPE_UINT64:
return reinterpret_cast<const uint64_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_INT64:
case marine_acoustic_msgs::SonarImageData::DTYPE_INT64:
return reinterpret_cast<const int64_t*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_FLOAT32:
case marine_acoustic_msgs::SonarImageData::DTYPE_FLOAT32:
return reinterpret_cast<const float*>(wc_msg->image.data.data())[index];
case acoustic_msgs::SonarImageData::DTYPE_FLOAT64:
case marine_acoustic_msgs::SonarImageData::DTYPE_FLOAT64:
return reinterpret_cast<const double*>(wc_msg->image.data.data())[index];
default:
return std::nan(""); // unknown data type
}
}
}

double getVal(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg,_1D::LinearInterpolator<double> beam_idx_interp, double x, double y){
double getVal(const marine_acoustic_msgs::RawSonarImage::ConstPtr &wc_msg,_1D::LinearInterpolator<double> beam_idx_interp, double x, double y){


auto angle = atan2(x,y);
Expand Down Expand Up @@ -121,7 +121,7 @@ double getVal(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg,_1D::LinearIn



void WaterColumnView::wcCallback(const acoustic_msgs::RawSonarImage::ConstPtr &wc_msg){
void WaterColumnView::wcCallback(const marine_acoustic_msgs::RawSonarImage::ConstPtr &wc_msg){
auto M = wc_msg->samples_per_beam;
auto N = wc_msg->rx_angles.size();

Expand Down Expand Up @@ -202,7 +202,7 @@ void WaterColumnView::spinOnce(){
void WaterColumnView::on_wc_topic_currentIndexChanged(const QString &arg1)
{
if(wc_sub_.getTopic() != arg1.toStdString()){
wc_sub_ = nh_->subscribe<acoustic_msgs::RawSonarImage>(arg1.toStdString(), 1, &WaterColumnView::wcCallback, this);
wc_sub_ = nh_->subscribe<marine_acoustic_msgs::RawSonarImage>(arg1.toStdString(), 1, &WaterColumnView::wcCallback, this);
new_msg = true;
}
}
Expand Down Expand Up @@ -242,7 +242,7 @@ void WaterColumnView::updateTopics(){
ui->wc_topic->clear();
QStringList topic_list;
for(auto topic : master_topics){
if(topic.datatype=="acoustic_msgs/RawSonarImage"){
if(topic.datatype=="marine_acoustic_msgs/RawSonarImage"){
QString::fromStdString(topic.name);
topic_list.push_back(QString::fromStdString(topic.name));
}
Expand Down