Dev angular interval filter

CMakeLists.txt

@@ -24,6 +24,7 @@ generate_dynamic_reconfigure_options(
   cfg/PolygonFilter.cfg
   cfg/ScanShadowsFilter.cfg
   cfg/SpeckleFilter.cfg
+  cfg/AngularIntervalFilter.cfg
 )
 
 catkin_package(

cfg/AngularIntervalFilter.cfg

@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+#
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2020, Eurotec, Netherlands
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the TNO IVS nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# \author Yannick de Hoop
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+PACKAGE = "laser_filters"
+
+gen = ParameterGenerator()
+
+gen.add("interval_sets",    str_t,    0, "A string parameter",  "[[-1,1],[-1.2,-1.1],[0.5,0.8]]")
+gen.add("enable", bool_t, 0, "Whether the filter is enabled or not", False)
+
+exit(gen.generate(PACKAGE, "laser_filters", "AngularIntervalFilter"))

include/laser_filters/angular_interval_filter.h

@@ -0,0 +1,223 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013, JSK (The University of Tokyo).
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#ifndef LASER_SCAN_ANGULAR_INTERVAL_FILTER_H
+#define LASER_SCAN_ANGULAR_INTERVAL_FILTER_H
+/**
+\author Ulas Sureyya Bingol
+@b ScanAngularIntervalFilter takes input scans and filters the readings within the ranges of interval sets.
+**/
+
+
+#include "filters/filter_base.h"
+#include "sensor_msgs/LaserScan.h"
+#include <laser_filters/AngularIntervalFilterConfig.h>
+#include <dynamic_reconfigure/server.h>
+
+namespace laser_filters
+{
+
+class LaserScanAngularIntervalFilter : public filters::FilterBase<sensor_msgs::LaserScan>
+{
+public:
+  std::string interval_sets_;
+  std::vector<std::vector<double>> intervals_;
+  std::shared_ptr<dynamic_reconfigure::Server<laser_filters::AngularIntervalFilterConfig>> dyn_server_;
+  AngularIntervalFilterConfig param_config;
+  boost::recursive_mutex own_mutex_;
+
+  bool enable_ = true;
+  bool got_intervals_ = false;
+  bool configure()
+  {
+    ros::NodeHandle private_nh("~" + getName());
+    dyn_server_.reset(new dynamic_reconfigure::Server<laser_filters::AngularIntervalFilterConfig>(own_mutex_, private_nh));
+    dynamic_reconfigure::Server<laser_filters::AngularIntervalFilterConfig>::CallbackType f;
+    f = boost::bind(&laser_filters::LaserScanAngularIntervalFilter::reconfigureCB, this, _1, _2);
+    dyn_server_->setCallback(f);
+
+
+    if (!filters::FilterBase<sensor_msgs::LaserScan>::getParam(std::string("interval_sets"), interval_sets_))
+    {
+      ROS_WARN("AngularIntervalFilter was not given interval sets.\n");
+    }
+    else
+    {
+      param_config.interval_sets = interval_sets_;
+      dyn_server_->updateConfig(param_config);
+    }
+    return true;
+  }
+
+  virtual ~LaserScanAngularIntervalFilter()
+  {
+
+  }
+
+  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
+  {
+    filtered_scan = input_scan;
+    double replacement_value = std::numeric_limits<double>::quiet_NaN();
+    double current_angle = input_scan.angle_min;
+    if(got_intervals_ && enable_)
+    {
+      for (unsigned int i = 0; i < input_scan.ranges.size(); i++) // Need to check ever reading in the current scan
+      {
+        current_angle = input_scan.angle_min + i* input_scan.angle_increment;
+        for(auto interval : intervals_)
+        {
+          if(current_angle < interval[1]  && current_angle > interval[0])
+            filtered_scan.ranges[i] = replacement_value;
+        }
+      }
+    }
+    return true;
+  }
+
+  void reconfigureCB(AngularIntervalFilterConfig& config, uint32_t level)
+  {
+  	interval_sets_ = config.interval_sets; // th11,th12;th21,th22;th31,th32
+  	enable_ = config.enable;
+
+    std::string text = interval_sets_;
+    std::string parse_error;
+    if(parseIntervalString(text, parse_error, intervals_))
+    {
+      ROS_INFO("Got intervals %s", parse_error.c_str());
+      got_intervals_ = true;
+    }
+    else
+    {
+      got_intervals_ = false;
+      ROS_WARN("Failed to calculate intervals: %s", parse_error.c_str());
+    }
+  }
+
+  static bool compare2dVect(std::vector<double> v1, std::vector<double> v2) 
+  { 
+    return (v1[0] < v2[0]); 
+  } 
+
+
+  bool parseIntervalString(const std::string& input, std::string& error_return, std::vector<std::vector<double>>& interval)
+  {
+    std::stringstream input_ss(input);
+    int depth = 0;
+    std::vector<double> current_vector;
+    interval.clear();
+    while (!!input_ss && !input_ss.eof())
+    {
+      switch (input_ss.peek())
+      {
+      case EOF:
+        break;
+      case '[':
+        depth++;
+        if (depth > 2)
+        {
+          error_return = "Array depth greater than 2";
+          return false;
+        }
+        input_ss.get();
+        current_vector.clear();
+        break;
+      case ']':
+        depth--;
+        if (depth < 0)
+        {
+          error_return = "More close ] than open [";
+          return false;
+        }
+        input_ss.get();
+        if (depth == 1)
+        {
+          if(current_vector.size() == 2)
+            interval.push_back(current_vector);
+          else
+          {
+            error_return = "Sizes of the interval isn't correct. There has to be two elements";
+            return false;
+          }
+        }
+        break;
+      case ',':
+      case ' ':
+      case '\t':
+        input_ss.get();
+        break;
+      default:  // All other characters should be part of the numbers.
+        if (depth != 2)
+        {
+          std::stringstream err_ss;
+          err_ss << "Numbers at depth other than 2. Char was '" << char(input_ss.peek()) << "'.";
+          error_return = err_ss.str();
+          return false;
+        }
+        double value;
+        input_ss >> value;
+        if (!!input_ss)
+        {
+          current_vector.push_back(value);
+        }
+        break;
+      }
+    }
+
+    if (depth != 0)
+    {
+      error_return = "Unterminated vector string.";
+      return false;
+    }
+    else
+    {
+      error_return = "";
+    }
+    for(auto range : interval)
+    {
+      std::string debug_text = "Interval:";
+      for(double val : range)
+      {
+        debug_text = debug_text + std::to_string(val) + ",";
+      }
+      ROS_INFO("Val %s", debug_text.c_str());
+    }
+
+    return true;
+  }
+
+};
+
+}
+
+#endif // LASER_SCAN_RANGE_INTERVAL_FILTER_H

laser_filters_plugins.xml

@@ -18,6 +18,12 @@
 	This is a filter which filters sensor_msgs::LaserScan messages based on range
       </description>
     </class>
+    <class name="laser_filters/LaserScanAngularIntervalFilter" type="laser_filters::LaserScanAngularIntervalFilter" 
+      base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
+      <description>
+  This is a filter which filters sensor_msgs::LaserScan messages based on angular intervals.
+      </description>
+    </class>
     <class name="laser_filters/ScanShadowsFilter" type="laser_filters::ScanShadowsFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
       <description>

src/laser_scan_filters.cpp

@@ -31,6 +31,7 @@
 #include "laser_filters/array_filter.h"
 #include "laser_filters/intensity_filter.h"
 #include "laser_filters/range_filter.h"
+#include "laser_filters/angular_interval_filter.h"
 #include "laser_filters/scan_mask_filter.h"
 #include "laser_filters/scan_shadows_filter.h"
 #include "laser_filters/footprint_filter.h"
@@ -51,6 +52,7 @@ PLUGINLIB_EXPORT_CLASS(laser_filters::LaserMedianFilter, filters::FilterBase<sen
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserArrayFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserScanIntensityFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserScanRangeFilter, filters::FilterBase<sensor_msgs::LaserScan>)
+PLUGINLIB_EXPORT_CLASS(laser_filters::LaserScanAngularIntervalFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserScanAngularBoundsFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserScanAngularBoundsFilterInPlace, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_EXPORT_CLASS(laser_filters::LaserScanFootprintFilter, filters::FilterBase<sensor_msgs::LaserScan>)

test/test_scan_filter_chain.yaml

@@ -50,3 +50,9 @@ mask_filter_chain:
       laser:
       - 1
       - 5
+
+angular_interval_chain:
+- name: angular_interval
+  type: laser_filters/LaserScanAngularIntervalFilter
+  params:
+    interval_sets: "[[0,0.5],[2,3.2],[5,6.5]]"