prova
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_SWIPE_1.c
- Committer:
- mapellil
- Date:
- 2018-02-22
- Revision:
- 9:6205ef056c8a
- Parent:
- 7:d79cbeda2982
File content as of revision 9:6205ef056c8a:
/******************************************************************************* Copyright © 2015, STMicroelectronics International N.V. All rights reserved. Use and Redistribution are permitted only in accordance with licensing terms available at www.st.com under software reference X-CUBE-6180XA1, and provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of STMicroelectronics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROTECTED BY STMICROELECTRONICS PATENTS AND COPYRIGHTS. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ********************************************************************************/ /* * $Date$ * $Revision$ */ #include "tof_gestures.h" #include "tof_gestures_SWIPE_1.h" int tof_gestures_initSWIPE_1(Gesture_SWIPE_1_Data_t *data){ int status=0; status |= (int)(RB_init(&(data->rangeList),SWIPE_1_BUFFER_SIZE)); data->meanBackground = 0; data->meanHand = 0; data->gestureCode = GESTURES_NULL; data->cpt = SWIPE_1_SENSITIVITY; return status; } int tof_gestures_detectSWIPE_1(int32_t range_mm, Gesture_SWIPE_1_Data_t *data){ int time = GET_TIME_STAMP(); /* Default state */ if (data->gestureCode == GESTURES_NULL){ // Calculate background distance (averaging) data->meanBackground = (data->rangeList.count==0) ? 0 : RB_mean(&(data->rangeList)); // Check current distance vs background distance if (range_mm < (int)((1-SWIPE_1_BACKGROUND_VARIATION) * data->meanBackground)){ // big variation detected => hand entering in FoV if (data->cpt == 0) { // Potential spikes (duster ?) skipped data->cpt = SWIPE_1_SENSITIVITY; data->gestureCode = GESTURES_HAND_ENTERING; RB_init(&(data->rangeList),SWIPE_1_BUFFER_SIZE); RB_push(&(data->rangeList), range_mm); data->timestamp = time; TOF_GESTURES_DEBUG(SWIPE_1,"(background=%d, current=%d) => HAND_ENTERING", data->meanBackground, range_mm); } else { data->cpt--; TOF_GESTURES_DEBUG(SWIPE_1,"(background=%d, current=%d) => SKIP", data->meanBackground, range_mm); } }else{ // no variation => keep averaging background RB_push(&(data->rangeList), range_mm); } /* Hand entering */ } else if (data->gestureCode == GESTURES_HAND_ENTERING){ // Calculate hand distance (averaging) data->meanHand = (data->rangeList.count==0) ? 0 : RB_mean(&(data->rangeList)); // Check current distance vs hand mean distance if ((range_mm < (data->meanHand * (1-SWIPE_1_HAND_VARIATION))) || (((data->meanHand * (1+SWIPE_1_HAND_VARIATION)) < range_mm))){ // Big variation => Hand leaving data->gestureCode = GESTURES_HAND_LEAVING; RB_init(&(data->rangeList),SWIPE_1_BUFFER_SIZE); RB_push(&(data->rangeList), range_mm); data->timestamp = time; TOF_GESTURES_DEBUG(SWIPE_1,"(meanHand=%d, current=%d) => HAND_LEAVING", data->meanHand, range_mm); } else if ((time - data->timestamp) > SWIPE_1_MAX_SWIPE_DURATION) { // Too slow => discard (swipe is too slow, this may be a background change for a long time) data->gestureCode = GESTURES_DISCARDED_TOO_SLOW; RB_init(&(data->rangeList),SWIPE_1_BUFFER_SIZE); TOF_GESTURES_DEBUG(SWIPE_1,"DISCARDED_TOO_SLOW"); } else { // No big variation => remains in this state RB_push(&(data->rangeList), range_mm); TOF_GESTURES_DEBUG(SWIPE_1, "Wait (meanHand=%d, current=%d)", data->meanHand, range_mm); } /* Hand leaving */ } else if (data->gestureCode == GESTURES_HAND_LEAVING){ // Check current distance vs background distance (previously calculated) if (((data->meanBackground * (1-SWIPE_1_BACKGROUND_VARIATION)) < range_mm) && (range_mm < ((data->meanBackground * (1+SWIPE_1_BACKGROUND_VARIATION))))){ // Almost same => Swipe detected/finished data->gestureCode = GESTURES_SINGLE_SWIPE; //data->cpt = 0; RB_init(&(data->rangeList),SWIPE_1_BUFFER_SIZE); //return_code = GESTURES_SINGLE_SWIPE; TOF_GESTURES_DEBUG(SWIPE_1, "(background=%d, current==%d) => SINGLE_SWIPE\n", data->meanBackground, range_mm); //uart_printf("2 : Next state : %d, (background=%d), range=%d (SWIPE)\n", data->gestureCode, data->meanBackground, range_mm); } else if ((time - data->timestamp) > SWIPE_1_BACKGROUND_TIMEOUT){ // To slow to converge back to background distance => discard (background may have change during the gesture) data->gestureCode = GESTURES_DISCARDED; RB_init(&(data->rangeList),SWIPE_1_BUFFER_SIZE); TOF_GESTURES_DEBUG(SWIPE_1,"DISCARDED"); } else { // Wait for convergence towards background TOF_GESTURES_DEBUG(SWIPE_1,"Wait (background=%d, current=%d)", data->meanBackground, range_mm); } /* Swipe detected or discarded */ } else { data->gestureCode = GESTURES_NULL; } return data->gestureCode; }