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

[Sascha Arnold]

Hi Sylvain,
I thought about naming them horizontal_entries or horizontal_size too.
But an horizontal entry would of course be a vertical vector and I 
recall that this terminology led to confusion in the old type. Thats why 
I decided to use the matrix terminology. I'll think about renaming it or 
improving the documentation.

In the opendfki wiki I already collected some naming proposals:
- SweepedLaserScan
- MultiLaserScan
- LaserScanArray
- MultiLevelLaserScan
- LaserScan2
- LaserScans
- Scan3D

Currently I prefer Scan3D. Feel free to vote or contribute.

Best regards,
Sascha

Am 19.08.2014 um 20:38 schrieb Sylvain Joyeux:
> Two comments:
>    - the row/col terminology is really weird for such a data structure.
> Especially since 'rows' are vertical and 'cols' horizontal
>    - I would prefer that the name says that the scan is a polar
> representation. Scan3D feels wrong, but I don't really have a better
> one.
>
> On Tue, Aug 19, 2014 at 1:37 PM, Sascha Arnold <sascha.arnold at dfki.de> wrote:
>> 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.
>> 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.
>>
>> Best regards,
>> Sascha
>>
>> --
>>    Sascha Arnold
>>    Unterwasserrobotik
>>
>>    Hauptgeschäftsstelle Standort Bremen:
>>    DFKI GmbH
>>    Robotics Innovation Center
>>    Robert-Hooke-Straße 1
>>    28359 Bremen, Germany
>>
>>    Tel.:     +49 421 178 45-4197
>>    Zentrale: +49 421 178 45-0
>>    Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
>>    E-Mail:   Sascha.Arnold at dfki.de
>>
>>    Weitere Informationen: http://www.dfki.de/robotik
>>    -----------------------------------------------------------------------
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>>    Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
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-- 
  Sascha Arnold
  Unterwasserrobotik

  Hauptgeschäftsstelle Standort Bremen:
  DFKI GmbH
  Robotics Innovation Center
  Robert-Hooke-Straße 1
  28359 Bremen, Germany

  Tel.:     +49 421 178 45-4197
  Zentrale: +49 421 178 45-0
  Fax:      +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
  E-Mail:   Sascha.Arnold at dfki.de

  Weitere Informationen: http://www.dfki.de/robotik
  -----------------------------------------------------------------------
  Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
  Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
  Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
  (Vorsitzender) Dr. Walter Olthoff
  Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
  Amtsgericht Kaiserslautern, HRB 2313
  Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
  USt-Id.Nr.:    DE 148646973
  Steuernummer:  19/673/0060/3
  -----------------------------------------------------------------------