ProjectedSonarImage

This is a ROS message definition.

Source

# Single scan from an imaging sonar
#
# The Z-axis is centered in the plane of the fan ("forward"), with X up,
# in order to be consistent with the NED for traditional multibeam profilers.
#
# For sonars with a 1D array, the beams lie on the Y-Z plane, and
# and each beam has an azimuth (rotation about X) value.  Zero azimuth
# is in the direction of the Z-axis, typically "straight out" from the sonar.
# Elevation is the orthogonal direction (rotation about Y),
# often termed the "vertical aperture"

# The header time should be the time the ping was transmitted, not
# the time the message was received.
# Note that these two could potentially be several seconds apart,
# especially in deep water.
std_msgs/Header header

PingInfo ping_info

geometry_msgs/Vector3[] beam_directions

# Center of each range bin in meters. Note this these may not be equally
# spaced, and do not necessarily start at zero range.
float32[] ranges

SonarImageData image