Rqt_image_viewer crops the sonar_image

[woensug-choi]

Strangely, the image shown in the rqt_image_viewer crops in the azimuthal direction at the resulting sonar image. Image drawn using the Matlab script shows just fine.

• rqt_image_viewer

• Matlab plot

[soldierofhell]

Hi @woensug-choi , IMO the problem is in sonar_image size (

nps_uw_multibeam_sonar/src/gazebo_multibeam_sonar_ray_based.cpp

Line 578 in 50c3435

cv::Mat Intensity_image = cv::Mat::zeros(cv::Size(nBeams, nFreq), CV_8UC1);

). I don't understand why width is defined as nBeams, IMO it should be something like 2 * nFreq * sin(FOV/2), so for example if FOV is 180 deg, the image should be (2 * nFreq, nFreq), so that half-circle of sonar image fit in it? Regards,