Method Entry

ScanThread.cpp:124–207

Called when thread is started

// Called when thread is started
void* ScanThread::Entry()
{
    captureThread->SetCapture(CAPTURE);

    // set up a pointcloud object
    pointCloud = new PointCloud();

    vector<float> *laserPos;

    IplImage *withLaser;

    // determine a distance from reference
    // we might have a distance from reference from the user, or the laser
    // has been centered
    if (distanceFromFlatReference <= 0)
    {
        // we need to compute the distance to the reference wall.
        // we can use the laserCentered image to do this.

        // first, find the laser in the laserCentered image
        laserPos = FindLaser2(laserCentered);

        // with that data, compute the distance to the wall
        // NOTE: this function also sets pixelsPerCmOnFlatReference which is required for operation
        distanceFromFlatReference = GetDistanceToReferenceWall(laserPos);

        if (distanceFromFlatReference < 0)
        {
            captureThread->SetCapture(PREVIEW);

            SendScanFinishedEvent();

            return NULL;
        }

        // free memory for the laser-centered laser position vector
        delete laserPos;
    } else
    {
        pixelsPerCmOnFlatReference = PIXELS_PER_CM_PER_CM / distanceFromFlatReference;
    }

    while (scanStatus->GetScanning() == true)
    {
        // check to see if the thread should exit
        if (TestDestroy() == true)  break;

        // get an image from the capture thread

        withLaser = captureThread->Pop();

        if (withLaser)
        {

            // find the laser beam in the image
            laserPos = FindLaser2(withLaser);

            // display the laser position for the user