[Rock-dev] Base::Pointcloud

[Jakob Schwendner]

On 06/21/2011 03:07 PM, Alexander Duda wrote:
> On Tue, 2011-06-21 at 13:19 +0200, Sylvain Joyeux wrote:
>> On 06/20/2011 09:09 PM, Janosch Machowinski wrote:
>>> Hey,
>>> please rename stamp to time, to match all other data types in base.
>>> Also it should be in the namespace base::samples.
>> Also: you should see with Jakob (when he's back from vacations) about
>> adding metadata, as envire does store some
>>
>>> I personally would also add the frame (as std::string) but this
>>> point needs to be discussed on the mailing list.
>> IMO, the data and the frames should be kept separate. I'm really against
>> having to put the frames in every data structures that represents
>> geometrical data. Finally, I still have a problem with std::string and
>> RT properties, so I'd rather keep string usage as limited as possible.
>>
>> In any case, I would not push frames everywhere before we have a clear
>> plan on how they are gonna be integrated *at all levels of the toolchain*.
> I think a good starting point would be to use the same struct ros is
> using.
>
> ChannelFloat32[] channels
>       string name
>       float32[] values
>
> For me this would be sufficient. But yes, we should definitely wait for
> Jakob.
>
> Alex
>
>
What is the channels field for? I would also leave out the frame. Maybe 
we can discuss in one of the ag's.
I would prefer std::vector<base::Vector3d> over the plain array.

Jakob

-- 
Jakob Schwendner, M.Sc.
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

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E-Mail: jakob.schwendner at dfki.de

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