Fawkes API  Fawkes Development Version
min_merge.cpp
00001 
00002 /***************************************************************************
00003  *  min_merge.cpp - Laser min merge data filter
00004  *
00005  *  Created: Wed Mar 16 21:46:36 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include "min_merge.h"
00024 
00025 #include <core/exception.h>
00026 #include <cstring>
00027 
00028 /** @class LaserMinMergeDataFilter "min_merge.h"
00029  * Merge multiple laser data arrays into one.
00030  * For each value in the output array takes the minimum value of all input
00031  * arrays.
00032  * @author Tim Niemueller
00033  */
00034 
00035 /** Constructor.
00036  * @param in_data_size number of entries input value arrays
00037  * @param in vector of input arrays
00038  */
00039 LaserMinMergeDataFilter::LaserMinMergeDataFilter(unsigned int in_data_size,
00040                                                  std::vector<LaserDataFilter::Buffer *> &in)
00041   : LaserDataFilter(in_data_size, in, 1)
00042 {
00043 }
00044 
00045 
00046 void
00047 LaserMinMergeDataFilter::filter()
00048 {
00049   const unsigned int vecsize = in.size();
00050   if (vecsize == 0)  return;
00051 
00052   out[0]->frame = in[0]->frame;
00053 
00054   copy_to_outbuf(out[0], in[0]);
00055   float *outbuf = out[0]->values;
00056 
00057   for (unsigned int a = 1; a < vecsize; ++a) {
00058     if (in[a]->frame != out[0]->frame) {
00059       throw fawkes::Exception("MinMerge frame mismatch: two frames with different frame IDs "
00060                               "(first has %s but input buffer %u has %s)",
00061                               out[0]->frame.c_str(), a, in[a]->frame.c_str());
00062     }
00063     float *inbuf  = in[a]->values;
00064     for (unsigned int i = 0; i < (const unsigned int)out_data_size; ++i) {
00065       if ( (outbuf[i] == 0) || ((inbuf[i] != 0) && (inbuf[i] < outbuf[i])) ) {
00066         outbuf[i] = inbuf[i];
00067       }
00068     }
00069   }
00070 }