25 #include <core/exception.h> 26 #include <utils/math/angle.h> 27 #include <utils/time/time.h> 44 unsigned int in_data_size,
45 std::vector<LaserDataFilter::Buffer *> &in)
48 if (in_data_size != 720) {
59 const unsigned int vecsize = std::min(
in.size(),
out.size());
60 for (
unsigned int a = 0; a < vecsize; ++a) {
61 out[a]->frame =
in[a]->frame;
62 out[a]->timestamp->set_time(
in[a]->timestamp);
63 float *inbuf =
in[a]->values;
64 float *outbuf =
out[a]->values;
67 outbuf[0] = (inbuf[719] + inbuf[0]) / 2.0;
68 for (
unsigned int i = 1; i < 360; ++i) {
69 outbuf[i] = (inbuf[i * 2 - 1] + inbuf[i * 2 + 1]) / 2.0;
72 for (
unsigned int i = 0; i < 360; ++i) {
73 outbuf[i] = inbuf[i * 2];
std::vector< Buffer * > out
Vector of output arrays.
void filter()
Filter the incoming data.
Base class for exceptions in Fawkes.
Laser720to360DataFilter(const std::string filter_name, bool average, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer *> &in)
Constructor.
virtual void set_out_data_size(unsigned int data_size)
Resize output arrays.
std::vector< Buffer * > in
Vector of input arrays.