laser_processor.h

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#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;

    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);
  };
};

#endif