<html>
<head>
<meta http-equiv="content-type" content="text/html;
charset=ISO-8859-15">
</head>
<body bgcolor="#FFFFFF" text="#000000">
Hi,<br>
some time ago we already had a short discussion on that topic but
didn't finish and I'd like to catch up on this now.<br>
<br>
The current version of the MulitlevelLaserScan needs to be improved,
if it should become a base type. <br>
Basically this type should be a 3D version of the 2D Laserscan. As
far as I know the LaserScan itself should be improved on long term,
mainly because the units are not in meter and the range error should
be a separated state.<br>
<br>
In my opinion there are three possible ways of doing that:<br>
<br>
1. Using the current LaserScan in the MulitlevelLaserScan and change
them together in the future. That would look like this:<br>
<blockquote type="cite">struct MultilevelLaserScan<br>
{<br>
MultilevelLaserScan() : time(base::Time::now()) {};<br>
<br>
base::Time time;<br>
<br>
std::vector< base::samples::LaserScan > scans;<br>
<br>
std::vector< base::Angle > angles;<br>
};</blockquote>
<br>
2. Define and use a improved LaserScan inside the
MulitlevelLaserScan and change the current LaserScan with the new
one later.<br>
<br>
3. Discretize both angles: Define a distance image type that can be
used for laser scan data. This comes closest to a 3D version of the
Laserscan, but that would mean to filter the data already in the
sample type, since most 3D lidars are a combination of a 2D lidar
with a (not so accurate) servo or motor. This is also true in the
Velodyne case.<br>
<br>
Personally I
<meta http-equiv="CONTENT-TYPE" content="text/html;
charset=ISO-8859-15">
<title></title>
<meta name="GENERATOR" content="LibreOffice 3.5 (Linux)">
<style type="text/css">
<!--
@page { margin: 2cm }
P { margin-bottom: 0.21cm }
-->
</style> would prefer the first option for now. <br>
Instead of a single angle a quaternion could be used to be more
flexible. But I don't know if there are any practical cases for
that.<br>
<br>
<br>
best regards,<br>
Sascha<br>
</body>
</html>