laser_processor.h

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#ifndef LEG_DETECTOR_LASER_PROCESSOR_H
#define LEG_DETECTOR_LASER_PROCESSOR_H
 
#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;
 
  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 ScanMask
{
  SampleSet mask_;
 
  bool     filled;
  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();
 
  void removeLessThan(uint32_t num);
 
  void splitConnected(float thresh);
};
};  // namespace laser_processor
 
#endif  // LEG_DETECTOR_LASER_PROCESSOR_H