Method FindBrightestPointInRow

ScanThread.cpp:294–345

}

float ScanThread::FindBrightestPointInRow(BwImage subPx, int row, int rowWidth)
{
    // init values we will use
    int laserSum, laserNum, laserCenter, maxPx, maxPxVal;

    int h = row;

    // for each row, find the location of the laser
    laserSum = 0;
    laserNum = 0;
    maxPx = -1;
    maxPxVal = -1;

    for (int w = 0; w < rowWidth; w++)
    {
        // for each row of pixels, find the brightest point on the laser beam

        // for every pixel in the image, check to see if it is non-zero and thus corresponding
        // to a pixel that is illuminated by the laser

        if (subPx[h][w] > maxPxVal && subPx[h][w] > minPxVal)
        {
            // this point is the brightest we have seen so far and it exceeds our minimum value
            maxPxVal = subPx[h][w];
            maxPx = w;

            laserSum = w;
            laserNum = 1;

        } else if (subPx[h][w] == maxPxVal)
        {
            // this point is exactly as bright as our current brightest pixel, so average them
            laserSum += w;
            laserNum ++;
        }
    }

    // we are done with this row -- select the most likely point.

    // TODO: subpixel interpolation


    if (maxPx >= 0)
    {
        // compute the center point of the laser
        laserCenter = laserSum/laserNum;
    } else {
        // no value for this row
        laserCenter = 0;
    }
    return laserCenter;
}

// Compute where the 3d points are based on where the laser was detected in the image
void ScanThread::AddPointcloudPoints(vector<float> *laserPos)