prova
Dependencies: X_NUCLEO_53L0A1 mbed
Fork of 53L0A1_HandGestureRecognition by
Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_TAP_1.c
- Committer:
- mapellil
- Date:
- 2017-12-15
- Revision:
- 7:d79cbeda2982
File content as of revision 7:d79cbeda2982:
/******************************************************************************* 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_TAP_1.h" int tof_gestures_initTAP_1(int MinBackGroundDistance, Gesture_TAP_1_Data_t *data){ int status=0; status |= (int)(RB_init(&(data->rangeList),TAP_1_BUFFER_SIZE)); data->MinBackGroundDistance = MinBackGroundDistance; data->timestampLastDetectedTap = 0; data->nbOfDataToDecide = TAP_1_NB_OF_DATA_TO_DECIDE; data->meanBackground = 0; data->gestureCode = GESTURES_NULL; data->timestamp = 0; return status; } int tof_gestures_detectTAP_1(int32_t range_mm, Gesture_TAP_1_Data_t *data){ int time = GET_TIME_STAMP(); int madRange = 0; int dir; int delta_time = 0; int background_threshold = 0; // Default state if (data->gestureCode == GESTURES_NULL){ // Calculate background distance (averaging) data->meanBackground = (data->rangeList.count==0) ? 0 : RB_mean(&(data->rangeList)); background_threshold = (int)((1-TAP_1_BACKGROUND_VARIATION) * data->meanBackground); // Check current distance vs background distance if (range_mm < background_threshold){ // big variation detected => hand entering in FoV data->gestureCode = GESTURES_HAND_ENTERING; RB_init(&(data->rangeList),TAP_1_BUFFER_SIZE); RB_push(&(data->rangeList), range_mm); data->timestamp = time; TOF_GESTURES_DEBUG(TAP_1,"(background_thd=%d, current=%d, hand_entering=1)", background_threshold, range_mm); }else{ // no variation => keep averaging background RB_push(&(data->rangeList), range_mm); TOF_GESTURES_DEBUG(TAP_1,"(background_thd=%d, current=%d, hand_entering=0)", background_threshold, range_mm); } // Hand entering } else if (data->gestureCode == GESTURES_HAND_ENTERING){ // Push the range value in the buffer RB_push(&(data->rangeList), range_mm); // Try to detect a Tap gesture as soon as possible (4 data are enough for normal/fast gestures speed) if(data->rangeList.count == data->nbOfDataToDecide){ // Calculate MAD madRange = RB_mad(&(data->rangeList)); dir = RB_dir(&(data->rangeList)); delta_time = time - data->timestampLastDetectedTap; // Try to detect a TAP // MAD is higher than a threshold, ranging elements stored in the buffer are decreasing and last TAP has been // detected more than 250 ms ago (too avoid 2 TAPS being reported in case of a slow tap) if((madRange > 12) && (dir<0) && (delta_time>250)){ // Big negative range variation if ((data->meanBackground > data->MinBackGroundDistance)){ // Background estimated just before hand entering is above the min distance of possible background => Skip TAP as this is a false one // Relax constraints to detect the next TAP which can come very soon RB_init(&(data->rangeList),16); data->meanBackground = range_mm; data->nbOfDataToDecide = 3; }else{ // Estimated background is now in the gesture area so this was the hand => TAP data->timestampLastDetectedTap = time; //RB_trace(&(data->rangeList)); RB_init(&(data->rangeList),16); data->nbOfDataToDecide = 4; data->gestureCode = GESTURES_SINGLE_TAP; //TOF_GESTURES_DEBUG(TAP_1,"(madRange=%d, delta_time=%d, dir=%d) => TAP", madRange, delta_time, dir); } }else{ // No TAP detected RB_init(&(data->rangeList),16); data->nbOfDataToDecide = 4; data->gestureCode = GESTURES_NULL; //TOF_GESTURES_DEBUG(TAP_1,"(madRange=%d, delta_time=%d, dir=%d) => no TAP", madRange, delta_time, dir); } TOF_GESTURES_DEBUG(TAP_1,"(hand_entering=1, current=%d, decide=1, madRange=%d, dir=%d, delta_time=%d, meanBackground=%d, tap=%d)", range_mm, madRange, dir, delta_time, data->meanBackground, (int)(data->gestureCode == GESTURES_SINGLE_TAP)); } else { // Wait for more data before deciding TOF_GESTURES_DEBUG(TAP_1,"(hand_entering=1, current=%d) wait", range_mm); } // Tap detected } else { // Reset gesture code state machine data->gestureCode = GESTURES_NULL; } return data->gestureCode; }