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<div class="moz-cite-prefix">It was not intended to add the
MultiLevelLaserScan class in its current form to the base types.
Among other things it breaks with our unit conventions, like the
LaserScan class.<br>
<br>
Am 19.11.2013 15:50, schrieb Matthias Goldhoorn:<br>
</div>
<blockquote cite="mid:528B7A9F.3020005@dfki.de" type="cite"> <br>
why not using the LaserScan from base::Types here it has a slight
overhead, but would simplify the usage...<br>
Then you would not need to use VerticalMultilevelScan anymore.<br>
</blockquote>
It was mainly the overhead why I didn't want to use the Laserscan
here. It would be possible to use the Laserscan as vertical scan
instead, but the Laserscan class itself needs some improvements. (in
particular units in meter and the error handling)<br>
<blockquote cite="mid:528B7A9F.3020005@dfki.de" type="cite"> The
naming is even wourse, Vertical is missleading the scanner could
be aligned in every direction.<br>
</blockquote>
Horizontal entries are verticals scans. But yes it is a bit
confusing.<br>
<blockquote cite="mid:528B7A9F.3020005@dfki.de" type="cite"> <br>
Then what's the current angle of a MultiLevelLaserScan, the
"Vertical" angle is represended within horizontal_angle and
start_angle and angular resolution give's the "vertical" angle
with the index.<br>
<br>
But why not coding the current angle for the MultiLevelLaserScan
the same way. <br>
-> giving start angle and anglar resolution, the index then
give's the current angle.<br>
This should be done in the same way like the normal LaserScan.<br>
</blockquote>
This comes from the fact that the velodyne has discrete vertical
angles, but non-discrete horizontal angles. And I simply didn't want
to loose any information in the raw type.<br>
But it is anyway the question how a common 3D laserscan base type
should look like. It could be discrete in both directions, than a 2D
distance image should do. Or not discrete at all, or a mixed form
like this one.<br>
<br>
<blockquote cite="mid:528B7A9F.3020005@dfki.de" type="cite"> <br>
That's all from my side.<br>
<br>
Matthias<br>
<br>
<br>
<br>
<br>
On 19.11.2013 15:41, Stefan Haase wrote:
<blockquote
cite="mid:CAKHP_R9HohNE3bfU9y6H4Nky1Dx_PcovEgojr6zNd3zr-rCVLg@mail.gmail.com"
type="cite">
<div dir="ltr">
<div style="">This type can be used to store scan data of
velodyne-like laser-scanners.</div>
<a moz-do-not-send="true"
href="http://spacegit.dfki.uni-bremen.de/dfki-drivers/velodyne_lidar/blobs/master/src/MultilevelLaserScan.h">http://spacegit.dfki.uni-bremen.de/dfki-drivers/velodyne_lidar/blobs/master/src/MultilevelLaserScan.h</a>
<div> <br>
</div>
<div>It is used by graph_slam and will be used by MARS and the
corridor-navigation.</div>
<div><br>
</div>
<div>Any comments, suggestions or concerns about adding it to
base/types?<br clear="all">
<div><br>
</div>
<div style=""> Best regards,</div>
<div style="">Stefan</div>
<div><br>
</div>
-- <br>
Dipl.-Inf. Stefan Haase<br>
Space Robotics and Animation<br>
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href="mailto:Stefan.Haase@dfki.de" target="_blank">Stefan.Haase@dfki.de</a><br>
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
Zentrale: +49 421 178 45-6550
Fax: +49 421 178 45-4150
E-Mail: <a moz-do-not-send="true" class="moz-txt-link-abbreviated" href="mailto:matthias.goldhoorn@uni-bremen.de">matthias.goldhoorn@uni-bremen.de</a>
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