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Using NaN instead of range_max+1 to remove scans in angular_bounds_filter_in_place #202

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merged 4 commits into from
Aug 26, 2024
Merged

Using NaN instead of range_max+1 to remove scans in angular_bounds_filter_in_place #202

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0f33136
using NaN instead of range_max+1 to remove scans
bely2803 Aug 21, 2024
b1375fe
adding replace_with_nan param
bely2803 Aug 21, 2024
f7236ba
added comment
bely2803 Aug 26, 2024
d58b16d
Merge branch 'ros2' of https://github.com/Oscar-Robotics/laser_filter…
bely2803 Aug 26, 2024
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9 changes: 8 additions & 1 deletion include/laser_filters/angular_bounds_filter_in_place.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ namespace laser_filters
public:
double lower_angle_;
double upper_angle_;
bool replace_with_nan_;

bool configure()
{
Expand All @@ -59,6 +60,11 @@ namespace laser_filters
return false;
}

//toggle to use NaN for filtering scans; defaults to false for backward compatibility.
//https://github.com/ros-perception/laser_filters/pull/202
replace_with_nan_ = false;
getParam("replace_with_nan", replace_with_nan_);

return true;
}

Expand All @@ -69,10 +75,11 @@ namespace laser_filters

double current_angle = input_scan.angle_min;
unsigned int count = 0;
float replace_value = replace_with_nan_ ? std::numeric_limits<float>::quiet_NaN() : input_scan.range_max + 1.0;
//loop through the scan and remove ranges at angles between lower_angle_ and upper_angle_
for(unsigned int i = 0; i < input_scan.ranges.size(); ++i){
if((current_angle > lower_angle_) && (current_angle < upper_angle_)){
filtered_scan.ranges[i] = input_scan.range_max + 1.0;
filtered_scan.ranges[i] = replace_value;
if(i < filtered_scan.intensities.size()){
filtered_scan.intensities[i] = 0.0;
}
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