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

[Sascha Arnold]

Hi Pierre,
ToF Cameras are definitely one use case of the data type.
I thought about the case with two irregular angle vectors too and I 
couldn't think of a case that this would be needed. Since the 
irregularity described by one horizontal set of angles has to be valid 
for all other vertically transformed cases. Is that true in the case of 
the ToF Camera?
It would be easy to add another optional vector to override the angles 
both horizontally and vertically.

The true horizontally and vertically irregular case of course would need 
an unique transformation or set of 3D polar coordinates. And that I 
think is better represented by a vector of 3D polar measurements.

Best regards,
Sascha

Am 19.08.2014 um 19:03 schrieb Pierre Willenbrock:
> Hi,
>
> Sascha Arnold schrieb:
>> 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.
> Distance images from common ToF Cameras are horizontally and vertically
> irregular in respect to angles. The angles are the atan of a linear
> function. Feel free to ignore me if that was not an intended use case.
>
>> 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.
> Regards,
>    Pierre

-- 
  Sascha Arnold
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