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

[Sylvain Joyeux]

Two comments:
  - the row/col terminology is really weird for such a data structure.
Especially since 'rows' are vertical and 'cols' horizontal
  - I would prefer that the name says that the scan is a polar
representation. Scan3D feels wrong, but I don't really have a better
one.

On Tue, Aug 19, 2014 at 1:37 PM, Sascha Arnold <sascha.arnold at dfki.de> wrote:
> 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
>
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