[sensor_msgs] add PanoramaInfo.msg and update CMakeLists.txt

sensor_msgs/CMakeLists.txt

@@ -30,6 +30,7 @@ add_message_files(
   MultiEchoLaserScan.msg
   NavSatFix.msg
   NavSatStatus.msg
+  PanoramaInfo.msg
   PointCloud.msg
   PointCloud2.msg
   PointField.msg

sensor_msgs/msg/PanoramaInfo.msg

@@ -0,0 +1,32 @@
+# This message defines meta information for a panorama image. It should
+# be in the same namespace with a image topic.
+
+#######################################################################
+#                     Image acquisition info                          #
+#######################################################################
+
+# Time of image acquisition, panorama image coordinate frame ID
+Header header    # Header timestamp should be acquisition time of image
+                 # Header frame_id should be frame of panorama image
+                 # origin of frame should be projection center
+                 # +x should point to the front of a sphere
+                 # +z should point to the top of a sphere
+
+#######################################################################
+#                      Image projection info                          #
+#######################################################################
+
+# The projection model from spherical view to a flat image.
+# E.g. "Equirectangular"
+string projection_model
+
+#######################################################################
+#                     Field of View Parameters                         #
+#######################################################################
+
+# Specifying field of view of a panorama image.
+# theta, phi are azimuthal and polar angle of spherical coordinate.
+float64 theta_min
+float64 theta_max
+float64 phi_min
+float64 phi_max