LaserProc.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* 
 * Author: Chad Rockey
 */

#include <laser_proc/LaserProc.h>

using namespace laser_proc;

sensor_msgs::LaserScanPtr LaserProc::getFirstScan(const sensor_msgs::MultiEchoLaserScan& msg){
  sensor_msgs::LaserScanPtr out(new sensor_msgs::LaserScan());
  fillLaserScan(msg, *out);
  out->ranges.resize(msg.ranges.size());
  if(msg.ranges.size() == msg.intensities.size()){
    out->intensities.resize(msg.intensities.size());
  }

  for(size_t i = 0; i < out->ranges.size(); i++){
    size_t index = getFirstValue(msg.ranges[i], out->ranges[i]);
    if(out->intensities.size() > 0){
      if(msg.intensities[i].echoes.size() > 0){
        out->intensities[i] = msg.intensities[i].echoes[index];
      } else {
        out->intensities[i] = 0.0;
      }
    }
  }
  return out;
}

sensor_msgs::LaserScanPtr LaserProc::getLastScan(const sensor_msgs::MultiEchoLaserScan& msg){
  sensor_msgs::LaserScanPtr out(new sensor_msgs::LaserScan());
  fillLaserScan(msg, *out);
  out->ranges.resize(msg.ranges.size());
  if(msg.ranges.size() == msg.intensities.size()){
    out->intensities.resize(msg.intensities.size());
  }
  for(size_t i = 0; i < out->ranges.size(); i++){
    size_t index = getLastValue(msg.ranges[i], out->ranges[i]);
    if(out->intensities.size() > 0){
      if(msg.intensities[i].echoes.size() > 0){
        out->intensities[i] = msg.intensities[i].echoes[index];
      } else {
        out->intensities[i] = 0.0;
      }
    }
  }
  return out;
}

sensor_msgs::LaserScanPtr LaserProc::getMostIntenseScan(const sensor_msgs::MultiEchoLaserScan& msg){
  sensor_msgs::LaserScanPtr out(new sensor_msgs::LaserScan());
  fillLaserScan(msg, *out);
  if(msg.ranges.size() == msg.intensities.size()){
    out->ranges.resize(msg.ranges.size());
    out->intensities.resize(msg.intensities.size());
  } else {
    std::stringstream ss;
    ss << "getMostIntenseScan::Size of ranges does not equal size of intensities, cannot create scan.";
    throw std::runtime_error(ss.str());
  }
  for(size_t i = 0; i < out->intensities.size(); i++){
    getMostIntenseValue(msg.ranges[i], msg.intensities[i], out->ranges[i], out->intensities[i]);
  }
  return out;
}

void LaserProc::fillLaserScan(const sensor_msgs::MultiEchoLaserScan& msg, sensor_msgs::LaserScan& out){
  out.header = msg.header;
  out.angle_min = msg.angle_min;
  out.angle_max = msg.angle_max;
  out.angle_increment = msg.angle_increment;
  out.time_increment = msg.time_increment;
  out.scan_time = msg.scan_time;
  out.range_min = msg.range_min;
  out.range_max = msg.range_max;
}

size_t LaserProc::getFirstValue(const sensor_msgs::LaserEcho& ranges, float& range){
  if(ranges.echoes.size() > 0){
    size_t index = 0;
    range = ranges.echoes[index];
    return index;
  }

  range = std::numeric_limits<float>::quiet_NaN();
  return 0; // Value doesn't matter
}

size_t LaserProc::getLastValue(const sensor_msgs::LaserEcho& ranges, float& range){
  if(ranges.echoes.size() > 0){
    size_t index = ranges.echoes.size()-1;
    range = ranges.echoes[index];
    return index;
  }

  range = std::numeric_limits<float>::quiet_NaN();
  return 0; // Value doesn't matter
}

void LaserProc::getMostIntenseValue(const sensor_msgs::LaserEcho& ranges, const sensor_msgs::LaserEcho& intensities, float& range, float& intensity){
  if(intensities.echoes.size() == 0){
    range = std::numeric_limits<float>::quiet_NaN();
    intensity = 0.0;
    return;
  }

  std::vector<float>::const_iterator max_iter = std::max_element(intensities.echoes.begin(), intensities.echoes.end());
  size_t index = std::distance(intensities.echoes.begin(), max_iter);

  if(ranges.echoes.size() > 0){
    range = ranges.echoes[index];
    intensity = *max_iter;
  } else {
    range = std::numeric_limits<float>::quiet_NaN();
    intensity = 0.0;
    return;
  }
}