AST_Day_Contest / Mbed 2 deprecated 53L0A1_HandGestureRecognition

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Dependencies:   X_NUCLEO_53L0A1 mbed

Fork of 53L0A1_HandGestureRecognition by ST

Middlewares/ST/Gestures/GesturesDetect/Src/tof_gestures_TAP_1.c@9:6205ef056c8a, 2018-02-22 (annotated)

Committer:
mapellil
Date:
Thu Feb 22 15:50:29 2018 +0000
Revision:
9:6205ef056c8a
Parent:
7:d79cbeda2982 
AStDay

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mapellil 7:d79cbeda2982 1 /*******************************************************************************
mapellil 7:d79cbeda2982 2 Copyright © 2015, STMicroelectronics International N.V.
mapellil 7:d79cbeda2982 3 All rights reserved.
mapellil 7:d79cbeda2982 4
mapellil 7:d79cbeda2982 5 Use and Redistribution are permitted only in accordance with licensing terms
mapellil 7:d79cbeda2982 6 available at www.st.com under software reference X-CUBE-6180XA1, and provided
mapellil 7:d79cbeda2982 7 that the following conditions are met:
mapellil 7:d79cbeda2982 8 * Redistributions of source code must retain the above copyright
mapellil 7:d79cbeda2982 9 notice, this list of conditions and the following disclaimer.
mapellil 7:d79cbeda2982 10 * Redistributions in binary form must reproduce the above copyright
mapellil 7:d79cbeda2982 11 notice, this list of conditions and the following disclaimer in the
mapellil 7:d79cbeda2982 12 documentation and/or other materials provided with the distribution.
mapellil 7:d79cbeda2982 13 * Neither the name of STMicroelectronics nor the
mapellil 7:d79cbeda2982 14 names of its contributors may be used to endorse or promote products
mapellil 7:d79cbeda2982 15 derived from this software without specific prior written permission.
mapellil 7:d79cbeda2982 16
mapellil 7:d79cbeda2982 17 THIS SOFTWARE IS PROTECTED BY STMICROELECTRONICS PATENTS AND COPYRIGHTS.
mapellil 7:d79cbeda2982 18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
mapellil 7:d79cbeda2982 19 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
mapellil 7:d79cbeda2982 20 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
mapellil 7:d79cbeda2982 21 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
mapellil 7:d79cbeda2982 22 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
mapellil 7:d79cbeda2982 23 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
mapellil 7:d79cbeda2982 24 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
mapellil 7:d79cbeda2982 25 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
mapellil 7:d79cbeda2982 26 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
mapellil 7:d79cbeda2982 27 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
mapellil 7:d79cbeda2982 28 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
mapellil 7:d79cbeda2982 29 ********************************************************************************/
mapellil 7:d79cbeda2982 30
mapellil 7:d79cbeda2982 31 /*
mapellil 7:d79cbeda2982 32 * $Date$
mapellil 7:d79cbeda2982 33 * $Revision$
mapellil 7:d79cbeda2982 34 */
mapellil 7:d79cbeda2982 35
mapellil 7:d79cbeda2982 36 #include "tof_gestures.h"
mapellil 7:d79cbeda2982 37 #include "tof_gestures_TAP_1.h"
mapellil 7:d79cbeda2982 38
mapellil 7:d79cbeda2982 39 int tof_gestures_initTAP_1(int MinBackGroundDistance, Gesture_TAP_1_Data_t *data){
mapellil 7:d79cbeda2982 40 int status=0;
mapellil 7:d79cbeda2982 41 status |= (int)(RB_init(&(data->rangeList),TAP_1_BUFFER_SIZE));
mapellil 7:d79cbeda2982 42 data->MinBackGroundDistance = MinBackGroundDistance;
mapellil 7:d79cbeda2982 43 data->timestampLastDetectedTap = 0;
mapellil 7:d79cbeda2982 44 data->nbOfDataToDecide = TAP_1_NB_OF_DATA_TO_DECIDE;
mapellil 7:d79cbeda2982 45 data->meanBackground = 0;
mapellil 7:d79cbeda2982 46 data->gestureCode = GESTURES_NULL;
mapellil 7:d79cbeda2982 47 data->timestamp = 0;
mapellil 7:d79cbeda2982 48 return status;
mapellil 7:d79cbeda2982 49 }
mapellil 7:d79cbeda2982 50
mapellil 7:d79cbeda2982 51 int tof_gestures_detectTAP_1(int32_t range_mm, Gesture_TAP_1_Data_t *data){
mapellil 7:d79cbeda2982 52 int time = GET_TIME_STAMP();
mapellil 7:d79cbeda2982 53 int madRange = 0;
mapellil 7:d79cbeda2982 54 int dir;
mapellil 7:d79cbeda2982 55 int delta_time = 0;
mapellil 7:d79cbeda2982 56 int background_threshold = 0;
mapellil 7:d79cbeda2982 57
mapellil 7:d79cbeda2982 58 // Default state
mapellil 7:d79cbeda2982 59 if (data->gestureCode == GESTURES_NULL){
mapellil 7:d79cbeda2982 60 // Calculate background distance (averaging)
mapellil 7:d79cbeda2982 61 data->meanBackground = (data->rangeList.count==0) ? 0 : RB_mean(&(data->rangeList));
mapellil 7:d79cbeda2982 62 background_threshold = (int)((1-TAP_1_BACKGROUND_VARIATION) * data->meanBackground);
mapellil 7:d79cbeda2982 63 // Check current distance vs background distance
mapellil 7:d79cbeda2982 64 if (range_mm < background_threshold){
mapellil 7:d79cbeda2982 65 // big variation detected => hand entering in FoV
mapellil 7:d79cbeda2982 66 data->gestureCode = GESTURES_HAND_ENTERING;
mapellil 7:d79cbeda2982 67 RB_init(&(data->rangeList),TAP_1_BUFFER_SIZE);
mapellil 7:d79cbeda2982 68 RB_push(&(data->rangeList), range_mm);
mapellil 7:d79cbeda2982 69 data->timestamp = time;
mapellil 7:d79cbeda2982 70 TOF_GESTURES_DEBUG(TAP_1,"(background_thd=%d, current=%d, hand_entering=1)", background_threshold, range_mm);
mapellil 7:d79cbeda2982 71 }else{
mapellil 7:d79cbeda2982 72 // no variation => keep averaging background
mapellil 7:d79cbeda2982 73 RB_push(&(data->rangeList), range_mm);
mapellil 7:d79cbeda2982 74 TOF_GESTURES_DEBUG(TAP_1,"(background_thd=%d, current=%d, hand_entering=0)", background_threshold, range_mm);
mapellil 7:d79cbeda2982 75 }
mapellil 7:d79cbeda2982 76
mapellil 7:d79cbeda2982 77
mapellil 7:d79cbeda2982 78 // Hand entering
mapellil 7:d79cbeda2982 79 } else if (data->gestureCode == GESTURES_HAND_ENTERING){
mapellil 7:d79cbeda2982 80 // Push the range value in the buffer
mapellil 7:d79cbeda2982 81 RB_push(&(data->rangeList), range_mm);
mapellil 7:d79cbeda2982 82
mapellil 7:d79cbeda2982 83 // Try to detect a Tap gesture as soon as possible (4 data are enough for normal/fast gestures speed)
mapellil 7:d79cbeda2982 84 if(data->rangeList.count == data->nbOfDataToDecide){
mapellil 7:d79cbeda2982 85 // Calculate MAD
mapellil 7:d79cbeda2982 86 madRange = RB_mad(&(data->rangeList));
mapellil 7:d79cbeda2982 87 dir = RB_dir(&(data->rangeList));
mapellil 7:d79cbeda2982 88 delta_time = time - data->timestampLastDetectedTap;
mapellil 7:d79cbeda2982 89 // Try to detect a TAP
mapellil 7:d79cbeda2982 90 // MAD is higher than a threshold, ranging elements stored in the buffer are decreasing and last TAP has been
mapellil 7:d79cbeda2982 91 // detected more than 250 ms ago (too avoid 2 TAPS being reported in case of a slow tap)
mapellil 7:d79cbeda2982 92 if((madRange > 12) && (dir<0) && (delta_time>250)){
mapellil 7:d79cbeda2982 93 // Big negative range variation
mapellil 7:d79cbeda2982 94 if ((data->meanBackground > data->MinBackGroundDistance)){
mapellil 7:d79cbeda2982 95 // Background estimated just before hand entering is above the min distance of possible background => Skip TAP as this is a false one
mapellil 7:d79cbeda2982 96 // Relax constraints to detect the next TAP which can come very soon
mapellil 7:d79cbeda2982 97 RB_init(&(data->rangeList),16);
mapellil 7:d79cbeda2982 98 data->meanBackground = range_mm;
mapellil 7:d79cbeda2982 99 data->nbOfDataToDecide = 3;
mapellil 7:d79cbeda2982 100 }else{
mapellil 7:d79cbeda2982 101 // Estimated background is now in the gesture area so this was the hand => TAP
mapellil 7:d79cbeda2982 102 data->timestampLastDetectedTap = time;
mapellil 7:d79cbeda2982 103 //RB_trace(&(data->rangeList));
mapellil 7:d79cbeda2982 104 RB_init(&(data->rangeList),16);
mapellil 7:d79cbeda2982 105 data->nbOfDataToDecide = 4;
mapellil 7:d79cbeda2982 106 data->gestureCode = GESTURES_SINGLE_TAP;
mapellil 7:d79cbeda2982 107 //TOF_GESTURES_DEBUG(TAP_1,"(madRange=%d, delta_time=%d, dir=%d) => TAP", madRange, delta_time, dir);
mapellil 7:d79cbeda2982 108 }
mapellil 7:d79cbeda2982 109 }else{
mapellil 7:d79cbeda2982 110 // No TAP detected
mapellil 7:d79cbeda2982 111 RB_init(&(data->rangeList),16);
mapellil 7:d79cbeda2982 112 data->nbOfDataToDecide = 4;
mapellil 7:d79cbeda2982 113 data->gestureCode = GESTURES_NULL;
mapellil 7:d79cbeda2982 114 //TOF_GESTURES_DEBUG(TAP_1,"(madRange=%d, delta_time=%d, dir=%d) => no TAP", madRange, delta_time, dir);
mapellil 7:d79cbeda2982 115 }
mapellil 7:d79cbeda2982 116
mapellil 7:d79cbeda2982 117 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));
mapellil 7:d79cbeda2982 118
mapellil 7:d79cbeda2982 119 } else {
mapellil 7:d79cbeda2982 120 // Wait for more data before deciding
mapellil 7:d79cbeda2982 121 TOF_GESTURES_DEBUG(TAP_1,"(hand_entering=1, current=%d) wait", range_mm);
mapellil 7:d79cbeda2982 122 }
mapellil 7:d79cbeda2982 123 // Tap detected
mapellil 7:d79cbeda2982 124 } else {
mapellil 7:d79cbeda2982 125 // Reset gesture code state machine
mapellil 7:d79cbeda2982 126 data->gestureCode = GESTURES_NULL;
mapellil 7:d79cbeda2982 127 }
mapellil 7:d79cbeda2982 128
mapellil 7:d79cbeda2982 129 return data->gestureCode;
mapellil 7:d79cbeda2982 130 }
mapellil 7:d79cbeda2982 131
mapellil 7:d79cbeda2982 132