speckle_filter.cpp

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 *  speckle_filter.cpp
 */
 
#include <laser_filters/speckle_filter.h>
#include <ros/node_handle.h>
 
namespace laser_filters
{
LaserScanSpeckleFilter::LaserScanSpeckleFilter()
{
  validator_ = 0;
}
 
LaserScanSpeckleFilter::~LaserScanSpeckleFilter()
{
  if (!validator_)
  {
    delete validator_;
  }
}
 
bool LaserScanSpeckleFilter::configure()
{
  ros::NodeHandle private_nh("~" + getName());
  dyn_server_.reset(new dynamic_reconfigure::Server<laser_filters::SpeckleFilterConfig>(own_mutex_, private_nh));
  dynamic_reconfigure::Server<laser_filters::SpeckleFilterConfig>::CallbackType f;
  f = [this](auto& config, auto level){ reconfigureCB(config, level); };
  dyn_server_->setCallback(f);
 
  getParam("filter_type", config_.filter_type);
  getParam("max_range", config_.max_range);
  getParam("max_range_difference", config_.max_range_difference);
  getParam("filter_window", config_.filter_window);
  dyn_server_->updateConfig(config_);
  return true;
}
 
bool LaserScanSpeckleFilter::update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& output_scan)
{
  boost::recursive_mutex::scoped_lock lock(own_mutex_);
 
  output_scan = input_scan;
 
  std::vector<bool> &valid_ranges = valid_ranges_work_;
 
  /*Check if range size is big enough to use the filter window */
  if (output_scan.ranges.size() <= config_.filter_window + 1)
  {
    ROS_ERROR("Scan ranges size is too small: size = %ld", output_scan.ranges.size());
    return false;
  }
 
  size_t i = 0;
  size_t i_max = input_scan.ranges.size();
  valid_ranges.clear();
  while (i < i_max) {
    bool out_of_range = output_scan.ranges[i] > config_.max_range;
    valid_ranges.push_back(out_of_range);
    ++i;
  }
 
  i = 0;
  i_max = input_scan.ranges.size() - config_.filter_window + 1;
  while (i < i_max) {
    bool window_valid = validator_->checkWindowValid(
      output_scan, i, config_.filter_window, config_.max_range_difference
    );
    if (window_valid) {
      size_t j = i, j_max = i + config_.filter_window;
      do {
        valid_ranges[j++] = true;
      } while (j < j_max);
    }
    ++i;
  }
 
  i = 0;
  i_max = valid_ranges.size();
  while (i < i_max) {
    if (!valid_ranges[i]) {
      output_scan.ranges[i] = std::numeric_limits<float>::quiet_NaN();
    }
    ++i;
  }
 
  return true;
}
 
void LaserScanSpeckleFilter::reconfigureCB(laser_filters::SpeckleFilterConfig& config, uint32_t level)
{
  config_ = config;
 
  switch (config_.filter_type) {
    case laser_filters::SpeckleFilter_RadiusOutlier:
      if (validator_)
      {
        delete validator_;
      }
      validator_ = new laser_filters::RadiusOutlierWindowValidator();
      break;
 
    case laser_filters::SpeckleFilter_Distance:
      if (validator_)
      {
        delete validator_;
      }
      validator_ = new laser_filters::DistanceWindowValidator();
      break;
 
    default:
      break;
  }
 
}
}