laserscanthread.h

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#ifndef LASERSCANTHREAD_H
#define LASERSCANTHREAD_H
#include <QThread>
#include <vector>

#ifndef Q_MOC_RUN
#include <sensor_msgs/LaserScan.h>
#include <ros/ros.h>
#include <ros/init.h>
#include <Eigen/Dense>
#endif

#include <Laserscanner/abstract_laserscanner.h>
#include <MathHelpers/linearApproximator.h>

using namespace std;
class LaserScanThread : public QThread
{
    Q_OBJECT
public:
    explicit LaserScanThread(Abstract_LaserScanner* scanner, double segmentation_lambda, double maxVarianceFilter, double maxAngleDeviation, double variationStep, int variationStepCount);
    ~LaserScanThread();
    unsigned int data_field_size;
    float angle_spread;
    float starting_angle;
    double *dx;
    double *data_raw;
    double *data_avg;
    double *data_filtered;
    double *data_segments;
    double *data_edges;
    void stop();
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
protected:

    static constexpr unsigned int GAUSSIANFIELDSIZE = 20;
    static constexpr  unsigned int AVERAGINGWINDOW = 450;
    static constexpr  unsigned int DETECTIONWINDOW = 10;
    static constexpr double sigma = 1.5;
    //static const double sigma = 0.798;

    unsigned int stepNumber;
    std::vector<float> segments;
    std::vector<int> segmentsizes;
    std::vector<int> segmentdistance;
    double *averagedRanges;
    double *rotatingAccumulationWindow[AVERAGINGWINDOW];
    double *filteredRanges;
    Eigen::Vector2d *coordinates;
    std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > edgesfound;
    double feld[2*GAUSSIANFIELDSIZE+1];
    double gaussFactor;
    double maxVarianceFilter = 0.15;
    double maxAngleDeviation;
    double variationStep = 0.006;
    int variationStepCount = 2;
    double segmentation_lambda = 1.5;

    double markersize = 0.02;

    Abstract_LaserScanner* scanner;

    LinearApproximator * linearApproximator;

    ros::NodeHandle nh;
    ros::Publisher scanDataPublisher;
    ros::Publisher segmentDataPublisher;
    ros::Publisher segmentBorderPublisher;

    void calculateGaussianMatrix();
    void launchSICK();
    void run();
signals:
    void valueChanged();                                                    //Is called everytime new data is available
    void trianglesFound(std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > *triangles);           //Is called everytime a triangle is detected
    
public slots:
    void laserScanCallback(const sensor_msgs::LaserScan::ConstPtr& msg);    //Is called everytime the laserscanner has new data
};


#endif // LASERSCANTHREAD_H