Added the ability to choose output types and the ability to show what points came from the left laser versus the right

src/Main.cpp

@@ -28,6 +28,12 @@
 #include "PresetManager.h"
 #include "PropertyReaderWriter.h"
 #include "Setup.h"
+#include <algorithm>
+
+static bool SortRecordByRow(const freelss::NeutralFileRecord& a, const freelss::NeutralFileRecord& b)
+{
+	return a.pixel.y < b.pixel.y;
+}
 
 void ReleaseSingletons()
 {
@@ -53,6 +59,17 @@ int main(int argc, char **argv)
 {
 	int retVal = 0;
 	
+	pid_t pid = fork();
+	if (pid < 0)
+	{
+		std::cerr << "Error forking process!!!" << std::endl;
+		return 1;
+	}
+	else if (pid != 0)
+	{
+		return 0;
+	}
+
 	// Initialize the Raspberry Pi hardware
 	bcm_host_init();
 
@@ -74,10 +91,9 @@ int main(int argc, char **argv)
 
 		while (true)
 		{
-			freelss::Thread::usleep(100000);
+			freelss::Thread::usleep(500000);  // Sleep 500ms
 		}
 
-
 		ReleaseSingletons();
 	}
 	catch (freelss::Exception& ex)
@@ -120,6 +136,124 @@ time_t ScanResult::getScanDate() const
 	return files.front().creationTime;
 }
 
+bool NeutralFileRecord::readNextFrame(std::vector<NeutralFileRecord>& out, const std::vector<NeutralFileRecord>& results, size_t & resultIndex)
+{
+	out.clear();
+
+	if (resultIndex >= results.size() || results.empty())
+	{
+		return false;
+	}
+
+	int pseudoStep = results[resultIndex].pseudoFrame;
+	while (pseudoStep == results[resultIndex].pseudoFrame && resultIndex < results.size())
+	{
+		out.push_back(results[resultIndex]);
+		resultIndex++;
+	}
+
+	return true;
+}
+
+void NeutralFileRecord::computeAverage(const std::vector<NeutralFileRecord>& bin, NeutralFileRecord& out)
+{
+	out = bin.front();
+
+	real32 invSize = 1.0f / bin.size();
+
+	real32 rotation = 0;
+	real32 pixelLocationX = 0;
+	real32 pixelLocationY = 0;
+	real32 ptX = 0;
+	real32 ptY = 0;
+	real32 ptZ = 0;
+	real32 ptR = 0;
+	real32 ptG = 0;
+	real32 ptB = 0;
+
+	for (size_t iBin = 0; iBin < bin.size(); iBin++)
+	{
+		const NeutralFileRecord& br = bin[iBin];
+
+		rotation += invSize * br.rotation;
+		pixelLocationX += invSize * br.pixel.x;
+		pixelLocationY += invSize * br.pixel.y;
+		ptX += invSize * br.point.x;
+		ptY += invSize * br.point.y;
+		ptZ += invSize * br.point.z;
+		ptR += invSize * br.point.r;
+		ptG += invSize * br.point.g;
+		ptB += invSize * br.point.b;
+	}
+
+	out.rotation = rotation;
+	out.pixel.x = pixelLocationX;  // TODO: We should probably round these values
+	out.pixel.y = pixelLocationY;
+	out.point.x = ptX;
+	out.point.y = ptY;
+	out.point.z = ptZ;
+	out.point.r = ptR;
+	out.point.g = ptG;
+	out.point.b = ptB;
+}
+
+void NeutralFileRecord::lowpassFilter(std::vector<NeutralFileRecord>& output, std::vector<NeutralFileRecord>& frame, unsigned maxNumRows, unsigned numRowBins)
+{
+	output.clear();
+
+	// Sanity check
+	if (frame.empty())
+	{
+		return;
+	}
+
+	// Sort by image row
+	std::sort(frame.begin(), frame.end(), SortRecordByRow);
+
+	unsigned binSize = maxNumRows / numRowBins;
+
+	// Holds the current contents of the bin
+	std::vector<NeutralFileRecord> bin;
+	unsigned nextBinY = frame.front().pixel.y + binSize;
+
+	// unsigned bin = frame.front().pixel.y / numRowBins;
+	for (size_t iFr = 0; iFr < frame.size(); iFr++)
+	{
+		NeutralFileRecord& record = frame[iFr];
+
+		if (record.pixel.y < nextBinY)
+		{
+			bin.push_back(record);
+		}
+		else
+		{
+			// Average the bin results and add it to the output
+			if (!bin.empty())
+			{
+				NeutralFileRecord out;
+				computeAverage(bin, out);
+
+				output.push_back(out);
+				bin.clear();
+			}
+
+			nextBinY = record.pixel.y + binSize;
+			bin.push_back(record);
+		}
+	}
+
+	// Process any results still left in the bin
+	if (!bin.empty())
+	{
+		NeutralFileRecord out;
+		computeAverage(bin, out);
+
+		output.push_back(out);
+		bin.clear();
+	}
+}
+
+
 void LoadProperties()
 {
 	PropertyReaderWriter reader;
@@ -196,6 +330,11 @@ std::string ToString(int value)
 	return sstr.str();
 }
 
+std::string ToString(bool value)
+{
+	return value ? "1" : "0";
+}
+
 real ToReal(const std::string& str)
 {
 	return atof(str.c_str());
@@ -206,6 +345,11 @@ int ToInt(const std::string& str)
 	return atoi(str.c_str());
 }
 
+bool ToBool(const std::string& str)
+{
+	return str == "1" || str == "true";
+}
+
 bool EndsWith(const std::string& str, const std::string& ending)
 {
 	if (str.length() >= ending.length())