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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef LASER_SCAN_INTENSITY_FILTER_H 00036 #define LASER_SCAN_INTENSITY_FILTER_H 00037 00044 #include "filters/filter_base.h" 00045 #include "sensor_msgs/LaserScan.h" 00046 00047 namespace laser_filters 00048 { 00049 00050 class LaserScanIntensityFilter : public filters::FilterBase<sensor_msgs::LaserScan> 00051 { 00052 public: 00053 00054 double lower_threshold_ ; 00055 double upper_threshold_ ; 00056 int disp_hist_ ; 00057 00058 bool configure() 00059 { 00060 lower_threshold_ = 8000.0; 00061 upper_threshold_ = 100000.0; 00062 disp_hist_ = 1; 00063 getParam("lower_threshold", lower_threshold_); 00064 getParam("upper_threshold", upper_threshold_) ; 00065 getParam("disp_histogram", disp_hist_) ; 00066 00067 return true; 00068 } 00069 00070 virtual ~LaserScanIntensityFilter() 00071 { 00072 00073 } 00074 00075 bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan) 00076 { 00077 const double hist_max = 4*12000.0 ; 00078 const int num_buckets = 24 ; 00079 int histogram[num_buckets] ; 00080 for (int i=0; i < num_buckets; i++) 00081 histogram[i] = 0 ; 00082 00083 filtered_scan = input_scan ; 00084 00085 for (unsigned int i=0; 00086 i < input_scan.ranges.size() && i < input_scan.intensities.size(); 00087 i++) // Need to check ever reading in the current scan 00088 { 00089 if (filtered_scan.intensities[i] <= lower_threshold_ || // Is this reading below our lower threshold? 00090 filtered_scan.intensities[i] >= upper_threshold_) // Is this reading above our upper threshold? 00091 { 00092 00093 filtered_scan.ranges[i] = input_scan.range_max + 1.0 ; // If so, then make it a value bigger than the max range 00094 } 00095 00096 int cur_bucket = (int) ((filtered_scan.intensities[i]/hist_max)*num_buckets) ; 00097 if (cur_bucket >= num_buckets-1) 00098 cur_bucket = num_buckets-1 ; 00099 histogram[cur_bucket]++ ; 00100 } 00101 00102 if (disp_hist_ > 0) // Display Histogram 00103 { 00104 printf("********** SCAN **********\n") ; 00105 for (int i=0; i < num_buckets; i++) 00106 { 00107 printf("%u - %u: %u\n", (unsigned int) hist_max/num_buckets*i, 00108 (unsigned int) hist_max/num_buckets*(i+1), 00109 histogram[i]) ; 00110 } 00111 } 00112 return true; 00113 } 00114 } ; 00115 00116 } 00117 00118 #endif // LASER_SCAN_INTENSITY_FILTER_H