ld_alternate.c

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#include "../csm/csm_all.h"

int main(int argc, const char ** argv) {
        sm_set_program_name(argv[0]);

        int every = 5;
        int count = 0;
        LDP ld;
        while( (ld = ld_read_smart(stdin))) {
                count++;
                
                if(!ld_valid_fields(ld))  {
                        sm_error("Invalid laser data (#%d in file)\n", count);
                        continue;
                }

                int i;
                for(i=0;i<ld->nrays;i++) {
                        if( (i % every) != 0 ) {
                                ld->valid[i] = 0;
                                ld->readings[i] = NAN;
                        }
                }
                
                ld_write_as_json(ld, stdout);
                ld_free(ld);

                count++;
        }
        
        return 0;
}