search

ros-perception / laser_filters

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.
BSD 3-Clause "New" or "Revised" License
166 stars 204 forks source link

LaserScanAngularRemovalFilter #20

Closed kmhallen closed 9 years ago

kmhallen commented 10 years ago

LaserScanAngularRemovalFilter allows the removal of sections of a LaserScan. I use it to remove pillars on my robot that are visible in the scan, but never move.

vrabaud commented 10 years ago

It seems to be the same as https://github.com/ros-perception/laser_filters/blob/indigo-devel/include/laser_filters/angular_bounds_filter.h except you modify the laser in place right ?

kmhallen commented 10 years ago

I am not sure what you mean by 'modify the laser in place'. That header file is where I started. angular_bounds_filter keeps the points inside and produces a smaller scan. angular_removal_filter keeps the points outside and replaces the removed points with range_max + 1.0.

vrabaud commented 10 years ago

I am not crazy about the name LaserScanAngularRemovalFilter : it is confusing as it is not removing anything. How about LaserScanAngularBoundsFilterInPlace ? http://en.wikipedia.org/wiki/In-place_algorithm

kmhallen commented 10 years ago

LaserScanAngularBoundsFilterInPlace is fine.

vrabaud commented 10 years ago

cool, please update your PR with the new naming. Thx

kmhallen commented 10 years ago

PR has been updated with new naming in 04f0925