Class ScanThread

ScanThread.h:62–167

// Thread that performs image capture and point cloud creation
// Uses events to communicate with GUI thread for frame and disk interactions
class ScanThread : public wxThread
{
	public:
		// Constructor
		ScanThread(wxFrame *windowIn, CaptureThread *captureIn, ScanStatus *scanStatusIn, IplImage *noLaserIn,
			IplImage *laserCenteredIn, float distanceToReferenceIn);

		// Function that is run on thread init
		virtual void* Entry();

		// TODO: Remove
		void SetPixelRange(int Xmin = 0, int Ymin = 0, int Xmax = MAX_X, int Ymax = MAX_Y);

		// set image subtraction threshold value
		void SetThresholdPixelValue(int thres) { minPxVal = thres; }

		float FindReferenceLaser(IplImage *img);

		void SetBrightnessThreshold(float newThreshold) { brightnessThreshold = newThreshold; }

	private:

		// Find the laser by subtracting noLaser (class variable) and withLaser images
		// the compute distances and add to the pointcloud object
		vector<float>* FindLaser2(IplImage *withLaser);

		// send an UpdateImage event to the frame dialog
		//void DisplayImage(IplImage *frame);

		// send a display text event to the frame
		void DisplayText(wxString text);

		// send a write to file event to the frame
		void WriteToFile(wxString str);

		// write the current pointcloud to a file
		void WritePointCloudFile();

		// compute distance to pixel based on width reference pixel position and the laser pixel position
		double PixelToDistance2(float laserCenter, float widthReference);

		// Add a point to the pointcloud, with some filtering
		void AddPointCloudPoint(PointCloudPoint *newPoint, BwImage laserHitPx, BwImage laserFilterPx);

		// point cloud points for storing filtering
		PointCloudPoint *holdingPointBefore;
		PointCloudPoint *holdingPoint;

		// Send a scan progress event to update the frame progress bar
		void SendScanProgress(int laserPos);

		// Send a scan finished event to the frame
		void SendScanFinishedEvent();

		// Safely close
		void OnExit();

		void AddPointcloudPoints(vector<float> *laserPos);