From 0d085b9d64e8d80d5ab4a8d3f8a629cce35e4570 Mon Sep 17 00:00:00 2001
From: tteil <thibaud.teil@lasp.colorado.edu>
Date: Thu, 31 Oct 2024 12:53:04 -0600
Subject: [PATCH] correct the COB to be in the middle of a pixel

We were using the top left corner of the pixel before leading to biases in the filter.
---
 .../imageProcessing/centerOfBrightness/centerOfBrightness.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/fswAlgorithms/imageProcessing/centerOfBrightness/centerOfBrightness.cpp b/src/fswAlgorithms/imageProcessing/centerOfBrightness/centerOfBrightness.cpp
index 0cdafbe19..abd4b676a 100755
--- a/src/fswAlgorithms/imageProcessing/centerOfBrightness/centerOfBrightness.cpp
+++ b/src/fswAlgorithms/imageProcessing/centerOfBrightness/centerOfBrightness.cpp
@@ -110,8 +110,8 @@ void CenterOfBrightness::updateState(uint64_t currentSimNanos)
             cobBuffer.valid = true;
             cobBuffer.timeTag = this->sensorTimeTag;
             cobBuffer.cameraID = imageBuffer.cameraID;
-            cobBuffer.centerOfBrightness[0] = cobData.first[0];
-            cobBuffer.centerOfBrightness[1] = cobData.first[1];
+            cobBuffer.centerOfBrightness[0] = cobData.first[0] + 0.5;
+            cobBuffer.centerOfBrightness[1] = cobData.first[1] + 0.5;
             cobBuffer.pixelsFound = static_cast<int32_t> (locations.size());
         }
         cobBuffer.rollingAverageBrightness = averageBrightnessNew;