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00001 /* 00002 * Copyright (c) 2008 Radu Bogdan Rusu <rusu@cs.tum.edu> 00003 * 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions are met: 00008 * 00009 * * Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * * Redistributions in binary form must reproduce the above copyright 00012 * notice, this list of conditions and the following disclaimer in the 00013 * documentation and/or other materials provided with the distribution. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 * 00027 * $Id: $ 00028 * 00029 */ 00030 00031 #include "laser_filters/median_filter.h" 00032 00033 namespace laser_filters 00034 { 00035 LaserMedianFilter::LaserMedianFilter() : 00036 num_ranges_(1), xmlrpc_value_(), range_filter_(NULL), intensity_filter_(NULL) 00037 { 00038 ROS_WARN("LaserMedianFilter has been deprecated. Please use LaserArrayFilter instead.\n"); 00039 }; 00040 00041 bool LaserMedianFilter::configure() 00042 { 00043 00044 if (!getParam("internal_filter", xmlrpc_value_)) 00045 { 00046 ROS_ERROR("Cannot Configure LaserMedianFilter: Didn't find \"internal_filter\" tag within LaserMedianFilter params. Filter definitions needed inside for processing range and intensity"); 00047 return false; 00048 } 00049 00050 if (range_filter_) delete range_filter_; 00051 range_filter_ = new filters::MultiChannelFilterChain<float>("float"); 00052 if (!range_filter_->configure(num_ranges_, xmlrpc_value_)) return false; 00053 00054 if (intensity_filter_) delete intensity_filter_; 00055 intensity_filter_ = new filters::MultiChannelFilterChain<float>("float"); 00056 if (!intensity_filter_->configure(num_ranges_, xmlrpc_value_)) return false; 00057 return true; 00058 }; 00059 00060 LaserMedianFilter::~LaserMedianFilter() 00061 { 00062 delete range_filter_; 00063 delete intensity_filter_; 00064 }; 00065 00066 bool LaserMedianFilter::update(const sensor_msgs::LaserScan& scan_in, sensor_msgs::LaserScan& scan_out) 00067 { 00068 if (!this->configured_) 00069 { 00070 ROS_ERROR("LaserMedianFilter not configured"); 00071 return false; 00072 } 00073 boost::mutex::scoped_lock lock(data_lock); 00074 scan_out = scan_in; 00075 00076 00077 if (scan_in.ranges.size() != num_ranges_) //Reallocating 00078 { 00079 ROS_INFO("Laser filter clearning and reallocating due to larger scan size"); 00080 delete range_filter_; 00081 delete intensity_filter_; 00082 00083 00084 num_ranges_ = scan_in.ranges.size(); 00085 00086 range_filter_ = new filters::MultiChannelFilterChain<float>("float"); 00087 if (!range_filter_->configure(num_ranges_, xmlrpc_value_)) return false; 00088 00089 intensity_filter_ = new filters::MultiChannelFilterChain<float>("float"); 00090 if (!intensity_filter_->configure(num_ranges_, xmlrpc_value_)) return false; 00091 00092 } 00093 00095 range_filter_->update(scan_in.ranges, scan_out.ranges); 00096 intensity_filter_->update(scan_in.intensities, scan_out.intensities); 00097 00098 00099 return true; 00100 } 00101 }