Hi Sascha, the pointcloud from ToF Cameras can be produced using [x*x_scale,y*y_scale,1]^T*depth, with x,y being integer pixel coordinates and x_scale,y_scale constants. The angular representation depends on the order of angular transformations. Usually, x=0 or y=0 results in atan(y*y_scale) or atan(x*x_scale), but things get a bit more complex when deviating from the coordinate axis'.
Regards, Pierre Sascha Arnold schrieb: > Hi Pierre, > ToF Cameras are definitely one use case of the data type. > I thought about the case with two irregular angle vectors too and I > couldn't think of a case that this would be needed. Since the > irregularity described by one horizontal set of angles has to be valid > for all other vertically transformed cases. Is that true in the case of > the ToF Camera? > It would be easy to add another optional vector to override the angles > both horizontally and vertically. > > The true horizontally and vertically irregular case of course would need > an unique transformation or set of 3D polar coordinates. And that I > think is better represented by a vector of 3D polar measurements. > > Best regards, > Sascha > > Am 19.08.2014 um 19:03 schrieb Pierre Willenbrock: >> Hi, >> >> Sascha Arnold schrieb: >>> 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. >> Distance images from common ToF Cameras are horizontally and vertically >> irregular in respect to angles. The angles are the atan of a linear >> function. Feel free to ignore me if that was not an intended use case. >> >>> 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. >> Regards, >> Pierre > _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
