<html>
<head>
<meta content="text/html; charset=ISO-8859-1"
http-equiv="Content-Type">
</head>
<body text="#000000" bgcolor="#FFFFFF">
<div class="moz-cite-prefix">Hi,<br>
option one is ok, but I don't like the overhead of the laserScan.
(AFAIK we have a full header for every 32 scan lines)<br>
<br>
Option two sound the best to me. In this case the new LaserScan
should be designed to seperate the header from the data<br>
to avoid the problem with the old type.<br>
<br>
I don't like option 3, we would loose precision. And the
information if single lines are 'consistent' (taken in one shot).<br>
Anyway the consistent thing was always implicit, I would like it
to be marked explicit in the data structure.<br>
Greetings<br>
Janosch<br>
<br>
On 27.01.2014 10:02, Jakob Schwendner wrote:<br>
</div>
<blockquote cite="mid:00c001cf1b3e$723434a0$569c9de0$@dfki.de"
type="cite">
<meta http-equiv="Content-Type" content="text/html;
charset=ISO-8859-1">
<meta name="Generator" content="Microsoft Word 14 (filtered
medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:Tahoma;
panose-1:2 11 6 4 3 5 4 4 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman","serif";
color:black;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:purple;
text-decoration:underline;}
p
{mso-style-priority:99;
mso-margin-top-alt:auto;
margin-right:0cm;
margin-bottom:5.95pt;
margin-left:0cm;
font-size:12.0pt;
font-family:"Times New Roman","serif";
color:black;}
span.EmailStyle18
{mso-style-type:personal-reply;
font-family:"Calibri","sans-serif";
color:#1F497D;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:70.85pt 70.85pt 2.0cm 70.85pt;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
<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
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">difficult. All 3 are good options.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">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
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">Cheers,<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US">Jakob<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><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
style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:windowtext"
lang="EN-US">From:</span></b><span
style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:windowtext"
lang="EN-US"> <a class="moz-txt-link-abbreviated" href="mailto:rock-dev-bounces@dfki.de">rock-dev-bounces@dfki.de</a>
[<a class="moz-txt-link-freetext" href="mailto:rock-dev-bounces@dfki.de">mailto:rock-dev-bounces@dfki.de</a>] <b>On Behalf Of </b>Sascha
Arnold<br>
<b>Sent:</b> Dienstag, 21. Januar 2014 11:32<br>
<b>To:</b> <a class="moz-txt-link-abbreviated" href="mailto:rock-dev@dfki.de">rock-dev@dfki.de</a><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
style="color:#1F497D" lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"
lang="EN-US"><o:p> </o:p></span></p>
</div>
</div>
<br>
<fieldset class="mimeAttachmentHeader"></fieldset>
<br>
<pre wrap="">_______________________________________________
Rock-dev mailing list
<a class="moz-txt-link-abbreviated" href="mailto:Rock-dev@dfki.de">Rock-dev@dfki.de</a>
<a class="moz-txt-link-freetext" href="http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev">http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev</a>
</pre>
</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl. Inf. Janosch Machowinski
SAR- & Sicherheitsrobotik
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
Besuchsadresse der Nebengeschäftstelle:
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-6614
Empfang: +49 421 178 45-6600
Fax: +49 421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:jmachowinski@informatik.uni-bremen.de">jmachowinski@informatik.uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a>
</pre>
</body>
</html>