[Rock-dev] Base::Pointcloud

[Janosch Machowinski]

Hey,
please rename stamp to time, to match all other data types in base.
Also it should be in the namespace base::samples.

I personally would also add the frame (as std::string) but this
point needs to be discussed on the mailing list.
Greetings
     Janosch

Am 20.06.2011 11:03, schrieb Yuping Shi:
> ​hey,
>
> As pointcloud is a very generic data type, maybe we should come to an 
> agreement how it looks like and put it under base class so that 
> everyone can use.
>
> In ROS, it is defined as:
>
> Header header
>      uint32 seq
>      time stamp
>      string frame_id
>  geometry_msgs/Point32[] points
>      float32 x
>      float32 y
>      float32 z
>  ChannelFloat32[] channels // which holds optional data associated 
> with each point in the cloud (not sure what it means)
>      string name
>      float32[] values
>
> a simple translation could be:
>
> #include <vector>
>  #include <base/time.h>
>  #include <base/eigen.h>
>
>  namespace base
>  {
>    typedef base::Vector3d    Point;
>
>    struct Pointcloud
>    {
>      Time stamp;
>
>      std::vector<base::Point> points;
>    };
>  }
>
> If nobody against it, I gonna put it under /base/types/base, feel free 
> to make changes or add more functions to fit your own needs.
>
> Best,
> Yuping
>  --
>  Dipl. Inf. Yuping Shi
>  Researcher
>
>  DFKI Bremen
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