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

[Sylvain Joyeux]

Hey. Would be IMO better to create a PR on base/types and discuss it there.

On Thu, Oct 23, 2014 at 9:15 AM, Sascha Arnold <sascha.arnold at dfki.de> wrote:
> Hi,
> after the last discussion about this new type on the mailing list we
> collected some good suggestions to improve this type, for which I now
> had the time to implement them.
> The result can be found here:
> https://github.com/saarnold/base-types/commit/4209f3d10f53acf71de4150e480079d9d88fc0dd
>
> Mainly I'd like to have your opinion on the part where the angular or
> planar resolutions are defined.
> The type has now two fields
>> std::vector<double> vertical_interval;
>> std::vector<double> horizontal_interval;
> which can either be an angle or a position on a plane. How the interval
> is interpreted is selected by a projection type parameter. It is not so
> nice to have only a double value which can be handled so differently,
> but I think it is still the most practical way to represent planar and
> polar depth maps in the same type. Using c++11 it would also be possible
> to have an union of a base::Angle and a double.
>
> I'll write a pull request as soon as the type is complete.
> If someone has a concern with something in this type please report it
> now. Later it will be hard to change anything.
>
> Best regards
> Sascha
>
> --
>   Sascha Arnold
>   Unterwasserrobotik
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