Crate sonar_vision 

Sonar/ultrasonic perception pipeline — beam forming, echo detection, spatial mapping.

Structs

Echo

A detected echo with timing and amplitude.

PulseConfig

Sonar pulse parameters.

SpatialPoint

A point in a sonar spatial map.

Constants

SPEED_OF_SOUND

Speed of sound in air (m/s).

Functions

beamform

Simple delay-and-sum beamforming.

build_spatial_map

Build a spatial map from multiple sonar sweeps at different angles.

compute_snr

Compute signal-to-noise ratio of a signal.

detect_echoes

Detect echoes in a return signal using threshold-based peak detection.

echo_to_spatial

Convert an echo to a spatial point given sensor angle (radians from forward).

generate_pulse

Generate a sonar pulse signal.

matched_filter

Simple matched filter (cross-correlation with template).