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- package multibeamlcm;
- struct ping_t {
- int64_t time;
- string sonar_id; // sonar id, e.g.: "DIDSON", "MB2250", ...
- // platform/vehicle pose in the world frame
- double platform_origin[3]; // x y z (North, East, Down) [m]
- double platform_orientation[4]; // w + xi + yj + zk (eigen conv)
- // sensor pose in the platform frame
- double sensor_origin[3]; // x y z (FWD, STB, DOWN) [m]
- double sensor_orientation[4]; // w + xi + yj + zk (eigen conv)
- double hfov; // the horizontal (in-plane) field of view [rad]
- double vfov; // the vertical (out-of-plane) field of view [rad]
- int32_t num_beams; // number of (virtual) beams
- double beam_hfov; // in-plane beam width (3dB down) [rad]
- double beam_vfov; // out-of-plane beam width (3dB down) [rad]
- double azi[num_beams]; // nominal beam azimuth [rad]
- int32_t num_bins; // number of range bins
- double min_range; // [m]
- double max_range; // [m]
- double range[num_bins];
- double focus; // [m]
- double rx_gain; // [dB]
- double tx_gain; // [dB]
- double tvg[num_bins];
- double water_temperature; // [deg C]
- double center_frequency; // [Hz]
- double sound_speed; // [m/s]
- int32_t width;
- int32_t height;
- int32_t size;
- int16_t image[size];
- }
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