Fawkes API Fawkes Development Version
720to360.cpp
1
2/***************************************************************************
3 * 720to360.cpp - Laser data data filter to downsample 720 to 360 values
4 *
5 * Created: Tue Jun 23 14:37:36 2009
6 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#include "720to360.h"
24
25#include <core/exception.h>
26#include <utils/math/angle.h>
27#include <utils/time/time.h>
28
29#include <cstdlib>
30
31/** @class Laser720to360DataFilter "720to360.h"
32 * Downsample filter from 720 to 360 values.
33 * @author Tim Niemueller
34 */
35
36/** Constructor.
37 * @param filter_name name of this filter instance
38 * @param average if true, beams will be averaged by left and right neighbours,
39 * otherwise every second beam will be used
40 * @param in_data_size number of entries input value arrays
41 * @param in vector of input arrays
42 */
44 bool average,
45 unsigned int in_data_size,
46 std::vector<LaserDataFilter::Buffer *> &in)
47: LaserDataFilter(filter_name, in_data_size, in, in.size())
48{
49 if (in_data_size != 720) {
50 throw fawkes::Exception("720to360 filter needs input array size of "
51 "720 entries");
52 }
54 average_ = average;
55}
56
57void
59{
60 const unsigned int vecsize = std::min(in.size(), out.size());
61 for (unsigned int a = 0; a < vecsize; ++a) {
62 out[a]->frame = in[a]->frame;
63 out[a]->timestamp->set_time(in[a]->timestamp);
64 float *inbuf = in[a]->values;
65 float *outbuf = out[a]->values;
66
67 if (average_) {
68 outbuf[0] = (inbuf[719] + inbuf[0]) / 2.0;
69 for (unsigned int i = 1; i < 360; ++i) {
70 outbuf[i] = (inbuf[i * 2 - 1] + inbuf[i * 2 + 1]) / 2.0;
71 }
72 } else {
73 for (unsigned int i = 0; i < 360; ++i) {
74 outbuf[i] = inbuf[i * 2];
75 }
76 }
77 }
78}
Laser720to360DataFilter(const std::string &filter_name, bool average, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
Definition: 720to360.cpp:43
void filter()
Filter the incoming data.
Definition: 720to360.cpp:58
Laser data filter.
Definition: filter.h:33
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:88
std::vector< Buffer * > out
Vector of output arrays.
Definition: filter.h:90
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:89
virtual void set_out_data_size(unsigned int data_size)
Resize output arrays.
Definition: filter.cpp:156
Base class for exceptions in Fawkes.
Definition: exception.h:36