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rock-core / drivers-transformer

Generic computation of geometric transformations
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Use templated inline functions to determine the timestamp of a sample types #12

Closed saarnold closed 8 years ago

saarnold commented 8 years ago

This is a proposal to change the current lookup of timestamps in the transformer. This would allow to specialize the function for a certain type in case it doesn't have a public field called time. The namespace doesn't has to be base::samples, I'm open for other suggestions. It would also be possible to add a function to handle the RTT ReadOnlyPointer here and get rid of the distinction in the tasks, but it would add a dependency to RTT.

doudou commented 8 years ago

This infrastructure should IMO be in the stream aligner (and then obviously used in the transformer)

While I understand the drive, I personally am very much in favor of enforcing the usage of a 'time' field. It's the typical situation where convention should prevail over configuration.

saarnold commented 8 years ago

Yes your right, I forgot about the possibility to use just the stream aligner, I'll move it there.

One use case of this would be to directly support the PCLPointcloud2 in the transformer. For the rock base types I agree, but I don't see the need of creating a wrapper type to support non rock sample types as well.

doudou commented 8 years ago

One use case of this would be to directly support the PCLPointcloud2 in the transformer

Fair enough, I guess.

saarnold commented 8 years ago

This PR was replaced by rock-core/drivers-aggregator#1