25 #include <core/exception.h>
26 #include <utils/math/angle.h>
41 unsigned int in_data_size,
42 std::vector<LaserDataFilter::Buffer *> &in)
45 if (in_data_size != 720) {
56 const unsigned int vecsize = std::min(
in.size(),
out.size());
57 for (
unsigned int a = 0; a < vecsize; ++a) {
58 out[a]->frame =
in[a]->frame;
59 float *inbuf =
in[a]->values;
60 float *outbuf =
out[a]->values;
63 outbuf[0] = (inbuf[719] + inbuf[0]) / 2.0;
64 for (
unsigned int i = 1; i < 360; ++i) {
65 outbuf[i] = (inbuf[i * 2 - 1] + inbuf[i * 2 + 1]) / 2.0;
68 for (
unsigned int i = 0; i < 360; ++i) {
69 outbuf[i] = inbuf[i * 2];