laser_processor.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/




#ifndef LASER_SCAN_LASERPROCESSOR_HH
#define LASER_SCAN_LASERPROCESSOR_HH

#include <unistd.h>
#include <math.h>
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
#include "geometry_msgs/Point.h"

#include <list>
#include <set>
#include <vector>
#include <map>
#include <utility>
#include <algorithm>

#include "tf/transform_datatypes.h"

namespace laser_processor
{
  class Sample
  {
  public:
    int   index;
    float range;
    float intensity;
    float x;
    float y;
    float variation; // used only in the class Background
    int scans; // used only in the class Background to to averaging contains the number of scans that have gone into this scan

    static Sample* Extract(int ind, const sensor_msgs::LaserScan& scan);

  private:
     Sample() {};
  };

  struct CompareSample
  {
     CompareSample() {}

    inline bool operator() (const Sample* a, const Sample* b)
    {
      return (a->index <  b->index);
    }
  };


  class SampleSet : public std::set<Sample*, CompareSample>
  {
  public:
    SampleSet() {}

    ~SampleSet() { clear(); }

    void clear();

    void appendToCloud(sensor_msgs::PointCloud& cloud, int r = 0, int g = 0, int b = 0);

    tf::Point center();
   
  };

  
class Background
{
SampleSet backgr_data;

   bool filled; 
   float    angle_min;
   float    angle_max;
   uint32_t size;

public:
   Background() : filled(false), angle_min(0), angle_max(0), size(0) { }

   inline void clear() { backgr_data.clear(); filled = false; }
   
   void addScan(sensor_msgs::LaserScan& scan, float treshhold);

   bool isSamplebelongstoBackgrond(Sample* s, float thresh);

};


  class ScanMask
  {
    SampleSet mask_;

    bool     filled;  // indicates if there is any data inside
    float    angle_min;
    float    angle_max;
    uint32_t size;

  public:

    ScanMask() : filled(false), angle_min(0), angle_max(0), size(0) { }

    inline void clear() { mask_.clear(); filled = false; }

    void addScan(sensor_msgs::LaserScan& scan);

    bool hasSample(Sample* s, float thresh);
  };



  class ScanProcessor
  {
    std::list<SampleSet*> clusters_;
    sensor_msgs::LaserScan scan_;

  public:

    std::list<SampleSet*>& getClusters() { return clusters_; }

    ScanProcessor(const sensor_msgs::LaserScan& scan, ScanMask& mask_, float mask_threshold = 0.03);
    ScanProcessor(const sensor_msgs::LaserScan& scan, ScanMask& mask_, Background& background_ , float mask_threshold = 0.03 , float background_treshhold = 0.03);

    ~ScanProcessor();

    void removeLessThan(uint32_t num);

    void splitConnected(float thresh);
  };
};

#endif