Method GetDistanceToReferenceWall

ScanThread.cpp:526–558

NOTE: this function also sets pixelsPerCmOnFlatReference which is required for operation

// NOTE: this function also sets pixelsPerCmOnFlatReference which is required for operation
float ScanThread::GetDistanceToReferenceWall(vector<float> *laserCenterPx)
{
    // first, find the laser in the top 25 pixels in the image
    float refCenter = GetReferenceLaserLocation(laserCenterPx);

    if (refCenter < 0)
    {
        // failed to find reference laser.
        DisplayText(wxT("\nError: failed to compute distance to target.  Most likely didn't get a clear enough picture of the laser line.  Aborting."));
        return -1;
    }

    // compute the distance to the target based on camera parameters and refCenter
    // refCenter holds the number of pixels the center is from the left of the image.
    // For this computation, we want to know the number of pixels from the camera's center -- convert
    float pixelsFromCameraCenter = (laserCentered->width / 2) - refCenter;

    distanceFromFlatReference = 0;

    pixelsPerCmOnFlatReference = pixelsFromCameraCenter / float(DISPARITY_DISTANCE);

    distanceFromFlatReference +=  float(PIXELS_PER_CM_PER_CM) / pixelsPerCmOnFlatReference;

    wxString strDist = wxT("\nEstimated distance from flat reference = ");
    wxString numstr;
    numstr.Printf(wxT("%.0f"), distanceFromFlatReference);
    strDist += numstr + wxT("cm");

    DisplayText(strDist);

    return distanceFromFlatReference;

}

void ScanThread::DisplayLaserPx(vector<float> *laserPx)
{