[TASK] Sonar image overlay and color map conversion

[jorgenfj]

Description of task

Would be nice to process the received sonar images from the gstreamer stream before visualizing them.
The incoming images are grayscale uint8, but we should convert the grayscale to a colormap image. Stonefish does this by writing the pixel uint8 value directly to the red channel of an rgb image.

We should also add the overlay to the sonar image in the GUI, to display the distance to objects in the image.

Suggested Workflow

No response

Specifications

No response

Contacts

@fnilsen1

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)

[jorgenfj]

This is the desired image conversion

[fnilsen1]

Maybe it should look something like this? I think it makes sense to have radial arcs at every meter and go up to floor(max_range). There will be data after the last arc, but I think that's fine. max_range is found in the /fls/sonar_info message. Red image with white overlay would look pretty sick