arashnh11/lidar_filters

LIDAR Filter will provide you with useful functions to reduce noise in the data coming from a LIDAR sensor attached to your robot. LIDAR filter provides two filters entitled as range and temporal median.

Lidar_filters

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LIDAR Filter will provide you with useful functions to reduce noise in the data coming from a LIDAR sensor attached to your robot. LIDAR filter provides two filters entitled as range and temporal median.

To use this software:

To use range filter, you should define an array of sensor measurements as a one-dimensional vector.
Example:

// Range filter
filter L1; // define the filter
vector<float> scan1 = {0., 4., 7., 9.}; // Current scan measurement
vector<float> output1 = L1.range_update(scan1); // Range filtered scan

To use temporal median filter, you should define an array of scan measurments as a vector
and the two-dimensional accumulated data up to current scan.
Example:

// Temporal median filter
filter L2;
vector<float> scan2 = {10., 4., -7., 3.};
vector<vector<float> > data; // Collected data up to current scan
L2.add_scan(scan2, data); // Add new scan to the data
vector<float> output2 = L2.med_update(data); // Temporal median of the current and previous scans

Tests

Testcases are located inside the Test directory which includes: -- Empty scan -- Problem sample -- Scans with very large values up to 1e30 -- Large number of measurements up to 1000 -- Large number of scans (1000) with large number of measurements (1000) -- Update with 20 number of random scans each with 10 measurements

To run all testcases, simply compile and execute run.cpp located inside the Run directory.

Installation

Copy filters.h from src directory from Test directory file located inside src folder into your main running code. Then add the file as a header:
#include "filters.h"