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</o:shapelayout></xml><![endif]--></head><body bgcolor=white lang=DE link=blue vlink=purple><div class=WordSection1><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Hi Sascha,<o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>difficult. All 3 are good options.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>To me option 1 sounds ok, because it would be the most simple solution for now. Not sure about the name. How about SweepedLaserScan, or just MultiLaserScan, or LaserScanArray? <o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>I prefer option 3 from a code point of view, though. I would try to have all distance image types to be some form of image. <o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>So my vote would go for option 1 with a transition to option 3 later.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Cheers,<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'>Jakob<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><div style='border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt'><div><div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=EN-US style='font-size:10.0pt;font-family:"Tahoma","sans-serif";color:windowtext'>From:</span></b><span lang=EN-US style='font-size:10.0pt;font-family:"Tahoma","sans-serif";color:windowtext'> rock-dev-bounces@dfki.de [mailto:rock-dev-bounces@dfki.de] <b>On Behalf Of </b>Sascha Arnold<br><b>Sent:</b> Dienstag, 21. Januar 2014 11:32<br><b>To:</b> rock-dev@dfki.de<br><b>Subject:</b> [Rock-dev] MulitlevelLaserScan base type integration<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><p class=MsoNormal>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><br><o:p></o:p></p><p class=MsoNormal>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>};<o:p></o:p></p><p class=MsoNormal><span lang=EN-US><br>2. Define and use a improved LaserScan inside the MulitlevelLaserScan and change the current LaserScan with the new one later.<br><br></span>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 would prefer the first option for now. <br>Instead of a single angle a quaternion could be used to be more flexible. <span lang=EN-US>But I don't know if there are any practical cases for that.</span><span lang=EN-US style='color:#1F497D'><o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D'><o:p> </o:p></span></p></div></div></body></html>