DepthImage_to_Laserscan.h

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/*
 *  IAV VI-A3
 *  http://www.iav.com
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#ifndef DEPTHIMAGE_TO_LASERSCAN
#define DEPTHIMAGE_TO_LASERSCAN

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/image_encodings.h>

#include "../include/CParam.h"

namespace iav_depthimage_to_laserscan
{

  /*
  * These Class creates a new parameter LaserScan (scan_msg) associated with the camera image and converts
  * the information of the depth image, that it is encoded, into a sensor_msgs::Laserscan.
  *
  * Then fill the ranges of the scan_msg with the points of the depth image msg using a method to project 
  * each pixel into a LaserScan angular increment. And when multiple points coorespond to a specific angular 
  * measurement, then the shortest range is used.
  */
  class DepthImage_to_Laserscan
  {

  public:
        
          DepthImage_to_Laserscan();
          ~DepthImage_to_Laserscan();

          sensor_msgs::LaserScanPtr convert_msg(const sensor_msgs::ImageConstPtr& depth_msg, const CParam& Param, const LSParam& lsparam);

  private:

          bool use_point(float new_value, float old_value, float range_min, float range_max);

          template<typename T>
          void convert_dtl(const sensor_msgs::ImageConstPtr& depth_msg, const CParam& Param, const LSParam& lsparam, const sensor_msgs::LaserScanPtr& scan_msg);

  };

}; //iav_depthimage_to_laserscan

#endif