[Rock-dev] New type to represent 3D range measurements

[Sascha Arnold]

Hi,
I just finished a first version of the new base type that can be used to 
store 3D range measurements.
This is also the type that should replace the MultilevelLaserScan.

After some discussion with Alex I extended my first version to allow 
different configurations regarding the angular resolution between the 
scans. It leads to a bit more overhead but it is more flexible. It 
allows to have:
- horizontal and vertical regular angles or
- horizontal irregular and vertical regular angles or
- horizontal regular and vertical irregular angles
This allows to store data from different kind of sensors, like the 
velodyne, vertical or horizontal mounted 2D or everything that provides 
a distance image.
The information is stored in a single vector in a row major form to 
simplify the usage as a distance image.

Please have a look at the first version on my fork of base-types:
https://github.com/saarnold/base-types/commit/1796d23d002779639455d0ff3e4dd7876e404dad

I'll write a pull request as soon as it is complete. My next steps are 
to adapt the visualization and to write the logfile conversion for the 
old type.
If someone has a concern with something in that type please report it 
now. Later it will be hard to change anything.
The name is currently Scan3D and is also open for discussion.

Best regards,
Sascha

-- 
  Sascha Arnold
  Unterwasserrobotik

  Hauptgeschäftsstelle Standort Bremen:
  DFKI GmbH
  Robotics Innovation Center
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