Alvaro Cassinelli / Mbed 2 deprecated laserUI

Laser Sensing Display for UI interfaces in the real world

Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

main.cpp@44:2432c218f191, 2013-10-30 (annotated)

Committer:
mbedalvaro
Date:
Wed Oct 30 02:50:58 2013 +0000
Revision:
44:2432c218f191
Parent:
43:1dd4cfc30788
Child:
46:e0dd2d1d07c1
This is a security commit, I will start creating UIobject class with behaviours (a child of BaseObject)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 40:3ba2b0ea9f33 1 /*
mbedalvaro 40:3ba2b0ea9f33 2
mbedalvaro 44:2432c218f191 3 - NOTE: I could instantiate at least 960 points when NOT USING THE ETHERNET LIBRARY! (as 30 objects containing each 32 points).
mbedalvaro 40:3ba2b0ea9f33 4 ... but then again I could not make only 36 1-point object on a grid? what's going on? an object takes MUCH MORE MEMORY than just
mbedalvaro 40:3ba2b0ea9f33 5 the trajectory and 3d vector array... but where?
mbedalvaro 44:2432c218f191 6 Anyway, using the ETHERNET LIBRARY uses more than 20kB, and then I cannot instantiate more than a few letters...
mbedalvaro 40:3ba2b0ea9f33 7 */
mbedalvaro 40:3ba2b0ea9f33 8
mbedalvaro 43:1dd4cfc30788 9 //#define WITH_OSC // this consumes about 20kb or RAM!!!
mbedalvaro 43:1dd4cfc30788 10
mbedalvaro 40:3ba2b0ea9f33 11 #include "mbed.h"
mbedalvaro 43:1dd4cfc30788 12 #include "WrapperFunctions.h"
mbedalvaro 43:1dd4cfc30788 13
mbedalvaro 43:1dd4cfc30788 14 #ifdef WITH_OSC
mbedalvaro 40:3ba2b0ea9f33 15 #include "mbedOSC.h"
mbedalvaro 43:1dd4cfc30788 16 #endif
mbedalvaro 42:5f21a710ebc5 17
mbedalvaro 42:5f21a710ebc5 18 // The following is because I still did not "wrap" ALL the LaserRenderer methods (so we have to use the object lsr directly, for instance to set a matrix: lsr.setIdentityPose()...)
mbedalvaro 42:5f21a710ebc5 19 #include "LaserRenderer.h"
mbedalvaro 42:5f21a710ebc5 20 extern LaserRenderer lsr;
mbedalvaro 42:5f21a710ebc5 21
mbedalvaro 41:74e24a0e6e50 22 // mbed IP address (server):
mbedalvaro 43:1dd4cfc30788 23 #ifdef WITH_OSC
mbedalvaro 40:3ba2b0ea9f33 24 #ifdef DHCP
mbedalvaro 40:3ba2b0ea9f33 25 EthernetNetIf eth;
mbedalvaro 40:3ba2b0ea9f33 26 #else
mbedalvaro 40:3ba2b0ea9f33 27 EthernetNetIf eth(
mbedalvaro 41:74e24a0e6e50 28 IpAddr(10,0,0,2), //IP Address of the mbed
mbedalvaro 40:3ba2b0ea9f33 29 IpAddr(255,255,255,0), //Network Mask
mbedalvaro 40:3ba2b0ea9f33 30 IpAddr(10,0,0,1), //Gateway
mbedalvaro 40:3ba2b0ea9f33 31 IpAddr(10,0,0,1) //DNS
mbedalvaro 40:3ba2b0ea9f33 32 );
mbedalvaro 40:3ba2b0ea9f33 33 #endif
mbedalvaro 40:3ba2b0ea9f33 34
mbedalvaro 41:74e24a0e6e50 35 //uint8_t serverMac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
mbedalvaro 42:5f21a710ebc5 36 uint8_t serverIp[] = { 10, 0, 0, 2 };
mbedalvaro 41:74e24a0e6e50 37 int serverPort = 10000;
mbedalvaro 41:74e24a0e6e50 38
mbedalvaro 42:5f21a710ebc5 39 //uint8_t destIp[] = {10, 0, 0, 3};
mbedalvaro 41:74e24a0e6e50 40 uint8_t destIp[] = {255, 255, 255, 255}; // broadcast, so we can use several computers for sound, etc
mbedalvaro 41:74e24a0e6e50 41 int destPort = 12000;
mbedalvaro 41:74e24a0e6e50 42
mbedalvaro 41:74e24a0e6e50 43 char *topAddress="/mbed";
mbedalvaro 42:5f21a710ebc5 44 char *subAddress[3]= { "/test1" , "/test2" , "/test3" };
mbedalvaro 41:74e24a0e6e50 45
mbedalvaro 40:3ba2b0ea9f33 46 OSCMessage recMes;
mbedalvaro 40:3ba2b0ea9f33 47 OSCMessage sendMes;
mbedalvaro 40:3ba2b0ea9f33 48
mbedalvaro 40:3ba2b0ea9f33 49 OSCClass osc;
mbedalvaro 41:74e24a0e6e50 50 //OSCClass osc(&recMes); // instantiate OSC communication object, and set the receiver container from the OSC packets
mbedalvaro 43:1dd4cfc30788 51 #endif
mbedalvaro 40:3ba2b0ea9f33 52
mbedalvaro 40:3ba2b0ea9f33 53 // for tests:
mbedalvaro 40:3ba2b0ea9f33 54 extern Scene scene;
mbedalvaro 40:3ba2b0ea9f33 55 extern laserSensingDisplay lsd;
mbedalvaro 40:3ba2b0ea9f33 56
mbedalvaro 40:3ba2b0ea9f33 57 // =======================================================
mbedalvaro 40:3ba2b0ea9f33 58
mbedalvaro 40:3ba2b0ea9f33 59 // Timers:
mbedalvaro 40:3ba2b0ea9f33 60 Timer t; // we can read in ms or us
mbedalvaro 40:3ba2b0ea9f33 61
mbedalvaro 40:3ba2b0ea9f33 62 // Tickers:
mbedalvaro 40:3ba2b0ea9f33 63 //Ticker timerForRendering; // now in the WrapperFunctions.cpp file
mbedalvaro 40:3ba2b0ea9f33 64 //Ticker timerForSendingData; // better use a timer, so as not to interrupt the exact laser display ticker
mbedalvaro 40:3ba2b0ea9f33 65 unsigned long lastTimeCreated;
mbedalvaro 40:3ba2b0ea9f33 66 unsigned long lastTimeSensed;
mbedalvaro 40:3ba2b0ea9f33 67
mbedalvaro 40:3ba2b0ea9f33 68 // ======================================================================================================================
mbedalvaro 42:5f21a710ebc5 69 // DEFAULT CALIBRATION MATRICES (Extrinsics and Intrinsics).
mbedalvaro 40:3ba2b0ea9f33 70 // -> would be better to load them from a system file!! (TO DO)
mbedalvaro 40:3ba2b0ea9f33 71 // Note: last row is completed automatically in the loadExtrinsicMatrix and loadProjMatrix methods
mbedalvaro 40:3ba2b0ea9f33 72 // Extrinsics of usb camera to projector (note: calibration was in cm, so the translation vector is in cm)
mbedalvaro 40:3ba2b0ea9f33 73 float E1[12] = {9.8946330287356954e-01, -5.0979372852926171e-03, -1.4469410251272136e-01, 5.8356271792647112e+00,
mbedalvaro 42:5f21a710ebc5 74 -4.7536907255693065e-03, 9.9769720674821438e-01, -6.7658599389111715e-02, -6.0821695799283804e+00,
mbedalvaro 42:5f21a710ebc5 75 1.4470582120637832e-01, 6.7633532232509466e-02, 9.8716053943963022e-01, -8.2545447546057940e+00
mbedalvaro 42:5f21a710ebc5 76 };
mbedalvaro 40:3ba2b0ea9f33 77
mbedalvaro 40:3ba2b0ea9f33 78 // 9.9540692993883650e-01, -8.5578652572728450e-03, -9.5350966287597705e-02, 2.2256570914518332e+00,
mbedalvaro 42:5f21a710ebc5 79 // 1.4872282274740087e-02, 9.9772789680840523e-01, 6.5710418886328711e-02, -6.9310510316834923e+00,
mbedalvaro 42:5f21a710ebc5 80 // 9.4571978141945845e-02, -6.6826692814433777e-02, 9.9327253766416224e-01, 1.0699927478132011e+01
mbedalvaro 40:3ba2b0ea9f33 81 //};
mbedalvaro 40:3ba2b0ea9f33 82
mbedalvaro 40:3ba2b0ea9f33 83
mbedalvaro 40:3ba2b0ea9f33 84 // INTRINSICS of laser projector:
mbedalvaro 40:3ba2b0ea9f33 85 float K1[6] = { 5.9957148864529627e+03, 0.0000000e+000, 2.8869455045867635e+03,
mbedalvaro 40:3ba2b0ea9f33 86 0.0000000e+000, 5.9647451141521778e+03, 2.9005238051336592e+03
mbedalvaro 40:3ba2b0ea9f33 87 };
mbedalvaro 40:3ba2b0ea9f33 88
mbedalvaro 42:5f21a710ebc5 89 // 7.0776317995422105e+03, 0., 2.4203185896583996e+03,
mbedalvaro 40:3ba2b0ea9f33 90 // 0., 7.2889265345161484e+03, 1.7718110988625751e+03};
mbedalvaro 40:3ba2b0ea9f33 91
mbedalvaro 40:3ba2b0ea9f33 92 // SCALE FACTOR for the SCAN:
mbedalvaro 40:3ba2b0ea9f33 93 float scaleFactorProjector1 = 1.0; //scale factor for the projector image (the scan is, say, 600x600, but the resolution is 4096x4096)
mbedalvaro 40:3ba2b0ea9f33 94
mbedalvaro 40:3ba2b0ea9f33 95 // ======================================================================================================================
mbedalvaro 42:5f21a710ebc5 96 // LASER TERMINAL:
mbedalvaro 42:5f21a710ebc5 97 // We assume that the "terminal" is operating on an a4 page. Units are in cm.
mbedalvaro 40:3ba2b0ea9f33 98 V2 cursorPosition(0,0);
mbedalvaro 40:3ba2b0ea9f33 99
mbedalvaro 40:3ba2b0ea9f33 100 void createTextScene();
mbedalvaro 43:1dd4cfc30788 101 void addText(string, int, float, float);
mbedalvaro 43:1dd4cfc30788 102
mbedalvaro 40:3ba2b0ea9f33 103 float angle;
mbedalvaro 43:1dd4cfc30788 104 string textToDisplay = "O";
mbedalvaro 40:3ba2b0ea9f33 105 float fontWidth = 2.5, fontHeight = 2.5; // if calibration is in cm, then this is in cm.
mbedalvaro 40:3ba2b0ea9f33 106
mbedalvaro 40:3ba2b0ea9f33 107 // ==============================================================================================================
mbedalvaro 40:3ba2b0ea9f33 108 // Some global functions and variables (find a better way to integrate this!)
mbedalvaro 40:3ba2b0ea9f33 109 extern "C" void mbed_reset();
mbedalvaro 40:3ba2b0ea9f33 110
mbedalvaro 40:3ba2b0ea9f33 111 void createSceneTest();
mbedalvaro 41:74e24a0e6e50 112 void setOrthographicView();
mbedalvaro 40:3ba2b0ea9f33 113
mbedalvaro 43:1dd4cfc30788 114 #ifdef WITH_OSC
mbedalvaro 42:5f21a710ebc5 115 void processOSC(UDPSocketEvent e);
mbedalvaro 43:1dd4cfc30788 116 #endif
mbedalvaro 43:1dd4cfc30788 117 void interpretCommand();
mbedalvaro 40:3ba2b0ea9f33 118 void processSerial();
mbedalvaro 40:3ba2b0ea9f33 119
mbedalvaro 40:3ba2b0ea9f33 120 int touchedTimes = 0;
mbedalvaro 40:3ba2b0ea9f33 121 enum sensingModes {NO_SENSING, SENSING_WHOLE_SCENE, SENSING_PER_OBJECT};
mbedalvaro 42:5f21a710ebc5 122 sensingModes currentSensingMode=SENSING_PER_OBJECT;//NO_SENSING;
mbedalvaro 42:5f21a710ebc5 123
mbedalvaro 42:5f21a710ebc5 124 // ================= AUXILIARY VARIABLES FOR INTERPRETING COMMAND FROM SERIAL OR OSC =========================
mbedalvaro 43:1dd4cfc30788 125 // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretCommand function):
mbedalvaro 42:5f21a710ebc5 126 // max of two addresses (top and sub), of a max length of 24 characters:
mbedalvaro 42:5f21a710ebc5 127 char address[2][24];
mbedalvaro 42:5f21a710ebc5 128 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 42:5f21a710ebc5 129 int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 42:5f21a710ebc5 130 int numArgs;
mbedalvaro 42:5f21a710ebc5 131
mbedalvaro 42:5f21a710ebc5 132 // An auxiliary buffer to store parameters data, or matrices, or points to load as vertices.
mbedalvaro 42:5f21a710ebc5 133 // Note: for matrices (pose, projection), the maximum size we need is 12 floats, but as we will also receive vertices, let's give enough space (assuming
mbedalvaro 42:5f21a710ebc5 134 // we can send 3d points, this means 3 floats per point; let's limit the number of points per object to 128 (a lot)
mbedalvaro 42:5f21a710ebc5 135 float auxDataBuffer[128];
mbedalvaro 42:5f21a710ebc5 136 int auxDataBuffer_index=0;
mbedalvaro 42:5f21a710ebc5 137
mbedalvaro 43:1dd4cfc30788 138 // Commands:
mbedalvaro 43:1dd4cfc30788 139 string command1, command2;
mbedalvaro 43:1dd4cfc30788 140
mbedalvaro 43:1dd4cfc30788 141 // this is a hack for the time being:
mbedalvaro 43:1dd4cfc30788 142 int objectID;
mbedalvaro 43:1dd4cfc30788 143 int xx, yy; // initial position of object
mbedalvaro 43:1dd4cfc30788 144 bool firstTimeDisplay=true;
mbedalvaro 40:3ba2b0ea9f33 145
mbedalvaro 40:3ba2b0ea9f33 146 // ==============================================================================================================
mbedalvaro 40:3ba2b0ea9f33 147 int main()
mbedalvaro 40:3ba2b0ea9f33 148 {
mbedalvaro 40:3ba2b0ea9f33 149
mbedalvaro 40:3ba2b0ea9f33 150 t.start();
mbedalvaro 40:3ba2b0ea9f33 151 lastTimeCreated = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 152 lastTimeSensed = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 153 angle = 0;
mbedalvaro 40:3ba2b0ea9f33 154
mbedalvaro 40:3ba2b0ea9f33 155 // Setup:
mbedalvaro 40:3ba2b0ea9f33 156 // (1) Hardware init (laser powers, positions...):
mbedalvaro 40:3ba2b0ea9f33 157 IO.init();
mbedalvaro 42:5f21a710ebc5 158
mbedalvaro 43:1dd4cfc30788 159 #ifdef WITH_OSC
mbedalvaro 40:3ba2b0ea9f33 160 // OSC initialization:
mbedalvaro 41:74e24a0e6e50 161 // Set the Ethernet port:
mbedalvaro 41:74e24a0e6e50 162 printf("Setting up...\r\n");
mbedalvaro 40:3ba2b0ea9f33 163 EthernetErr ethErr = eth.setup();
mbedalvaro 40:3ba2b0ea9f33 164 if (ethErr) {
mbedalvaro 41:74e24a0e6e50 165 printf("Error %d in setup.\r\n", ethErr);
mbedalvaro 40:3ba2b0ea9f33 166 return -1;
mbedalvaro 40:3ba2b0ea9f33 167 }
mbedalvaro 41:74e24a0e6e50 168 printf("Setup OK\r\n");
mbedalvaro 40:3ba2b0ea9f33 169
mbedalvaro 41:74e24a0e6e50 170 //(1) Sending message:
mbedalvaro 40:3ba2b0ea9f33 171 // Set IP and Port:
mbedalvaro 40:3ba2b0ea9f33 172 sendMes.setIp( destIp );
mbedalvaro 40:3ba2b0ea9f33 173 sendMes.setPort( destPort );
mbedalvaro 40:3ba2b0ea9f33 174 // Set data:
mbedalvaro 41:74e24a0e6e50 175 sendMes.setTopAddress(topAddress);
mbedalvaro 40:3ba2b0ea9f33 176
mbedalvaro 40:3ba2b0ea9f33 177 //setting osc functionnality:
mbedalvaro 40:3ba2b0ea9f33 178 //(2) Receiving:
mbedalvaro 42:5f21a710ebc5 179 recMes.setIp( serverIp ); // not needed?
mbedalvaro 40:3ba2b0ea9f33 180 osc.setReceiveMessage(&recMes); // this sets the receiver container for the OSC packets (we can avoid doing this if we use osc.getMessage() to get messages)
mbedalvaro 40:3ba2b0ea9f33 181 osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function
mbedalvaro 42:5f21a710ebc5 182 wait(1);
mbedalvaro 43:1dd4cfc30788 183 #endif
mbedalvaro 42:5f21a710ebc5 184
mbedalvaro 40:3ba2b0ea9f33 185 //===================================================================
mbedalvaro 40:3ba2b0ea9f33 186
mbedalvaro 40:3ba2b0ea9f33 187 /*
mbedalvaro 40:3ba2b0ea9f33 188 //EXAMPLE 1: simple geometry ======================================================
mbedalvaro 40:3ba2b0ea9f33 189 // (1) Calibration matrices (Projection, and extrinsics - if needed):
mbedalvaro 40:3ba2b0ea9f33 190 // Typically, the projection matrix is set from the PC side, or loaded by default (from file system).
mbedalvaro 40:3ba2b0ea9f33 191 lsr.loadProjMatrix(K1, scaleFactorProjector1); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 192
mbedalvaro 40:3ba2b0ea9f33 193 // (2) Create the scene in "local" coordinates:
mbedalvaro 40:3ba2b0ea9f33 194 createSceneTest(); // Create a default scene (for tests)
mbedalvaro 40:3ba2b0ea9f33 195
mbedalvaro 40:3ba2b0ea9f33 196 // (3) Set a default GLOBAL POSE and PROJECTION MATRIX (if we changed it) for rendering and start displaying:
mbedalvaro 40:3ba2b0ea9f33 197 // - Using the current K (that correct for the center of the camera too!):
mbedalvaro 40:3ba2b0ea9f33 198 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 199 //lsr.translate(0, 0, 2000);
mbedalvaro 40:3ba2b0ea9f33 200 // - or doing orthoprojection:
mbedalvaro 40:3ba2b0ea9f33 201 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 202 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 203 lsr.translate(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y, 0);
mbedalvaro 40:3ba2b0ea9f33 204 lsr.rotateZ(45);
mbedalvaro 40:3ba2b0ea9f33 205 drawScene();
mbedalvaro 40:3ba2b0ea9f33 206
mbedalvaro 40:3ba2b0ea9f33 207 // *** AND IMPORTANT *** the FIRST time, we need to set the display engine (ie, attach the interrupt). This is not needed afterwards, ONLY if we change the scene.
mbedalvaro 40:3ba2b0ea9f33 208 lsr.startDisplay();
mbedalvaro 40:3ba2b0ea9f33 209
mbedalvaro 40:3ba2b0ea9f33 210 // (4) Main loop:
mbedalvaro 40:3ba2b0ea9f33 211 // Change the POSE when necessary (also called "viewing transformation" or "global modelview" in OpenGL jargon), render and display:
mbedalvaro 40:3ba2b0ea9f33 212 while (1) {
mbedalvaro 40:3ba2b0ea9f33 213
mbedalvaro 40:3ba2b0ea9f33 214 if (pc.readable())
mbedalvaro 40:3ba2b0ea9f33 215 processSerial(); // here, the pose can be changed by a pc command
mbedalvaro 40:3ba2b0ea9f33 216 hardwareKnobs();
mbedalvaro 40:3ba2b0ea9f33 217
mbedalvaro 40:3ba2b0ea9f33 218 if (0) { //((t.read_ms()-lastTimeCreated)>10) {
mbedalvaro 40:3ba2b0ea9f33 219 // for tests:
mbedalvaro 40:3ba2b0ea9f33 220 myLed2 = !myLed2;
mbedalvaro 40:3ba2b0ea9f33 221
mbedalvaro 40:3ba2b0ea9f33 222 angle += 1;
mbedalvaro 40:3ba2b0ea9f33 223 if (angle > 360)
mbedalvaro 40:3ba2b0ea9f33 224 angle = 0;
mbedalvaro 40:3ba2b0ea9f33 225
mbedalvaro 40:3ba2b0ea9f33 226 // Set the current global pose:
mbedalvaro 40:3ba2b0ea9f33 227 // lsr.setIdentityPose(); // we set the identity - then we don't need to do push pop... we start from "scratch" here. Not incremental rotation...
mbedalvaro 40:3ba2b0ea9f33 228 // lsr.translate(0, 0, 1000);
mbedalvaro 40:3ba2b0ea9f33 229 // lsr.rotateZ(angle);
mbedalvaro 40:3ba2b0ea9f33 230 // lsr.rotateX(2.5 * angle);
mbedalvaro 40:3ba2b0ea9f33 231
mbedalvaro 40:3ba2b0ea9f33 232 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 233 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 234 lsr.translate(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y, 0);
mbedalvaro 40:3ba2b0ea9f33 235 lsr.rotateZ(angle);
mbedalvaro 40:3ba2b0ea9f33 236 // lsr.rotateY( angle);
mbedalvaro 40:3ba2b0ea9f33 237
mbedalvaro 40:3ba2b0ea9f33 238 // Then, render (and display) the whole scene (note: we DEFINITELY don't want to call this all the time, only when the RT matrix changes)
mbedalvaro 40:3ba2b0ea9f33 239 drawScene();
mbedalvaro 40:3ba2b0ea9f33 240
mbedalvaro 40:3ba2b0ea9f33 241 lastTimeCreated = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 242 } // end auto-change pose loop
mbedalvaro 40:3ba2b0ea9f33 243
mbedalvaro 40:3ba2b0ea9f33 244 if ((t.read_ms() - lastTimeSensed) > 50) { // check data sensing every xx ms
mbedalvaro 40:3ba2b0ea9f33 245 // Check objects and change colors or other properties as a function of the touch:
mbedalvaro 40:3ba2b0ea9f33 246 // NOTE: the testing #define debugDelayMirrors should not be defined in the laserSensingDisplay.h
mbedalvaro 40:3ba2b0ea9f33 247 // (note: we assume we are drawing the text).
mbedalvaro 40:3ba2b0ea9f33 248 // There are two ways to query for an object input: using the ID, or from its pointer (scene->objectArray[i]) if we know it. This is faster.
mbedalvaro 40:3ba2b0ea9f33 249 for (int i = 0; i < scene.totalObjects(); i++) {
mbedalvaro 40:3ba2b0ea9f33 250 BaseObject* ptrObj = scene.objectArray[i];
mbedalvaro 40:3ba2b0ea9f33 251 if (ptrObj->sense()) { // this calls to ptrObj->displaySensingBuffer.processSensedData()
mbedalvaro 40:3ba2b0ea9f33 252 ptrObj->setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 253
mbedalvaro 40:3ba2b0ea9f33 254 // char str[15];
mbedalvaro 40:3ba2b0ea9f33 255 // sprintf(str, "%d", touchedTimes);
mbedalvaro 40:3ba2b0ea9f33 256 // textToDisplay=string(str);//string(itoa(touchedTimes));
mbedalvaro 40:3ba2b0ea9f33 257 // touchedTimes++;
mbedalvaro 40:3ba2b0ea9f33 258 // createTextScene();
mbedalvaro 40:3ba2b0ea9f33 259
mbedalvaro 40:3ba2b0ea9f33 260 } else
mbedalvaro 40:3ba2b0ea9f33 261 ptrObj->setColor(0x01);
mbedalvaro 40:3ba2b0ea9f33 262 }
mbedalvaro 40:3ba2b0ea9f33 263 lastTimeSensed = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 264 } // end sensing loop
mbedalvaro 40:3ba2b0ea9f33 265
mbedalvaro 40:3ba2b0ea9f33 266 } // "end" infite loop
mbedalvaro 40:3ba2b0ea9f33 267 // =================================
mbedalvaro 40:3ba2b0ea9f33 268 */
mbedalvaro 40:3ba2b0ea9f33 269
mbedalvaro 40:3ba2b0ea9f33 270 // EXAMPLE 2: 3d text ======================================================
mbedalvaro 40:3ba2b0ea9f33 271
mbedalvaro 40:3ba2b0ea9f33 272 // (1) Calibration matrices:
mbedalvaro 40:3ba2b0ea9f33 273 // Typically, the projection and extrinsic matrix is set from the PC side, or loaded by default (from file system).
mbedalvaro 40:3ba2b0ea9f33 274 lsr.loadProjMatrix(K1, scaleFactorProjector1); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 275 lsr.loadExtrinsicsMatrix(E1);
mbedalvaro 40:3ba2b0ea9f33 276
mbedalvaro 40:3ba2b0ea9f33 277 // (2) Create the scene in "local" coordinates:
mbedalvaro 43:1dd4cfc30788 278 createTextScene(); // Clear scene, and create a default scene (for tests), and update scene (but not yet rendered)
mbedalvaro 42:5f21a710ebc5 279
mbedalvaro 43:1dd4cfc30788 280 // (3) Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 40:3ba2b0ea9f33 281 lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 40:3ba2b0ea9f33 282 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 283 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 284
mbedalvaro 40:3ba2b0ea9f33 285 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 40:3ba2b0ea9f33 286 lsr.translate(0, 0, 130);
mbedalvaro 40:3ba2b0ea9f33 287
mbedalvaro 43:1dd4cfc30788 288 drawScene(); // this will be called when we change the pose matrix - but needs to be called at least once to start displaying
mbedalvaro 43:1dd4cfc30788 289 updateScene(); // this is important: this will compute the number of objects, points, etc, to prepare the displaying engine (but rendering is NOT yet done,
mbedalvaro 43:1dd4cfc30788 290 // rendering is done in the drawScene() function.
mbedalvaro 43:1dd4cfc30788 291 // *** AND IMPORTANT *** the FIRST time, we need to set the display engine (ie, attach the interrupt). This is not needed afterwards, ONLY if we change the scene.
mbedalvaro 43:1dd4cfc30788 292
mbedalvaro 43:1dd4cfc30788 293 startDisplay();
mbedalvaro 40:3ba2b0ea9f33 294
mbedalvaro 43:1dd4cfc30788 295 // Add more text (testing):
mbedalvaro 43:1dd4cfc30788 296 // textToDisplay="1";
mbedalvaro 43:1dd4cfc30788 297 // addText();
mbedalvaro 43:1dd4cfc30788 298
mbedalvaro 43:1dd4cfc30788 299 // (3) Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 43:1dd4cfc30788 300 // lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 43:1dd4cfc30788 301 // lsr.setIdentityPose();
mbedalvaro 43:1dd4cfc30788 302 // lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 43:1dd4cfc30788 303 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 43:1dd4cfc30788 304 // lsr.translate(0, 0, 130);
mbedalvaro 43:1dd4cfc30788 305
mbedalvaro 43:1dd4cfc30788 306 // drawScene();
mbedalvaro 43:1dd4cfc30788 307 // updateScene();
mbedalvaro 40:3ba2b0ea9f33 308
mbedalvaro 40:3ba2b0ea9f33 309 // (4) Main loop:
mbedalvaro 40:3ba2b0ea9f33 310 while(true) {
mbedalvaro 42:5f21a710ebc5 311
mbedalvaro 40:3ba2b0ea9f33 312 // =========== Query hardware events (knobs, ethernet, serial port) ============
mbedalvaro 43:1dd4cfc30788 313 #ifdef WITH_OSC
mbedalvaro 40:3ba2b0ea9f33 314 Net::poll(); // This polls the network connection for new activity, without keeping on calling this you won't receive any OSC!
mbedalvaro 43:1dd4cfc30788 315 #endif
mbedalvaro 43:1dd4cfc30788 316
mbedalvaro 40:3ba2b0ea9f33 317 if (pc.readable()) processSerial(); // here, the pose can be changed by a pc command
mbedalvaro 40:3ba2b0ea9f33 318 hardwareKnobs();
mbedalvaro 40:3ba2b0ea9f33 319 // =============================================================================
mbedalvaro 40:3ba2b0ea9f33 320
mbedalvaro 40:3ba2b0ea9f33 321 // Automatic change of pose for tests
mbedalvaro 40:3ba2b0ea9f33 322 if (0) {//(t.read_ms()-lastTimeCreated)>20) {
mbedalvaro 40:3ba2b0ea9f33 323 angle+=.2;
mbedalvaro 40:3ba2b0ea9f33 324 if (angle>360) angle=0;
mbedalvaro 40:3ba2b0ea9f33 325
mbedalvaro 40:3ba2b0ea9f33 326 lsr.setIdentityPose(); // we set the identity - then we don't need to do push pop... we start from "scratch" here. Not incremental rotation...
mbedalvaro 40:3ba2b0ea9f33 327 lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 328 lsr.translate(0,0,1000);
mbedalvaro 40:3ba2b0ea9f33 329 lsr.rotateZ(angle);
mbedalvaro 40:3ba2b0ea9f33 330 //lsr.rotateX(angle);
mbedalvaro 40:3ba2b0ea9f33 331
mbedalvaro 40:3ba2b0ea9f33 332 drawScene();
mbedalvaro 40:3ba2b0ea9f33 333
mbedalvaro 40:3ba2b0ea9f33 334 lastTimeCreated=t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 335 }
mbedalvaro 40:3ba2b0ea9f33 336
mbedalvaro 43:1dd4cfc30788 337 if ((currentSensingMode!=NO_SENSING)&&((t.read_ms()-lastTimeSensed)>70)) { // check data sensing every xx ms
mbedalvaro 40:3ba2b0ea9f33 338 // Check objects and change colors or other properties as a function of the touch:
mbedalvaro 40:3ba2b0ea9f33 339 // NOTE: the testing #define debugDelayMirrors should not be defined in the laserSensingDisplay.h
mbedalvaro 40:3ba2b0ea9f33 340 // (note: we assume we are drawing the text).
mbedalvaro 40:3ba2b0ea9f33 341 // There are two ways to query for an object input: using the ID, or from its pointer (scene->objectArray[i]) if we know it. This is faster.
mbedalvaro 40:3ba2b0ea9f33 342 switch(currentSensingMode) {
mbedalvaro 40:3ba2b0ea9f33 343 case SENSING_WHOLE_SCENE: // Sensing whole scene ----------
mbedalvaro 40:3ba2b0ea9f33 344 if (scene.sense()) {
mbedalvaro 40:3ba2b0ea9f33 345
mbedalvaro 40:3ba2b0ea9f33 346 // COUNTING:
mbedalvaro 40:3ba2b0ea9f33 347 // char str[15];
mbedalvaro 40:3ba2b0ea9f33 348 // sprintf(str, "%d", touchedTimes);
mbedalvaro 40:3ba2b0ea9f33 349 // textToDisplay=string(str);//string(itoa(touchedTimes));
mbedalvaro 40:3ba2b0ea9f33 350 // touchedTimes++;
mbedalvaro 40:3ba2b0ea9f33 351 // createTextScene();
mbedalvaro 40:3ba2b0ea9f33 352 // (3) Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 40:3ba2b0ea9f33 353 // lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 40:3ba2b0ea9f33 354 // lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 355 // lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 356 // This means that the current coordinate frame is the CAMERA, and calibration was in cm:
mbedalvaro 40:3ba2b0ea9f33 357 // lsr.translate(0, 0, 100);
mbedalvaro 40:3ba2b0ea9f33 358 ////lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 359 // drawScene(); // this will be called when we change the pose matrix - but needs to be called at least once to start displaying
mbedalvaro 40:3ba2b0ea9f33 360 // }
mbedalvaro 40:3ba2b0ea9f33 361 }
mbedalvaro 40:3ba2b0ea9f33 362 break;
mbedalvaro 40:3ba2b0ea9f33 363 case SENSING_PER_OBJECT: // Per-object sensing and action:
mbedalvaro 43:1dd4cfc30788 364 for (int i=0; i<scene.totalObjects(); i++) {
mbedalvaro 40:3ba2b0ea9f33 365 BaseObject* ptrObj=scene.objectArray[i];
mbedalvaro 40:3ba2b0ea9f33 366 if (ptrObj->sense()) { // this calls to ptrObj->displaySensingBuffer.processSensedData()
mbedalvaro 40:3ba2b0ea9f33 367 ptrObj->setColor(0x02); // make it green
mbedalvaro 40:3ba2b0ea9f33 368
mbedalvaro 40:3ba2b0ea9f33 369 // for fun: let's rotate THIS letter:
mbedalvaro 40:3ba2b0ea9f33 370 //lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 371 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 372 //lsr.rotateX(180);
mbedalvaro 40:3ba2b0ea9f33 373 //transformObject(ptrObj);
mbedalvaro 40:3ba2b0ea9f33 374 //lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 375 // we need to redraw the scene (ie, reproject), or at least this object:
mbedalvaro 40:3ba2b0ea9f33 376 //lsr.renderObject(ptrObj, lsr.RT);
mbedalvaro 40:3ba2b0ea9f33 377
mbedalvaro 42:5f21a710ebc5 378 // or "highlight" the object by putting "cartouche" around it object (note: do this only if it did NOT have
mbedalvaro 40:3ba2b0ea9f33 379 //addCartoucheObject(ptrObj);
mbedalvaro 40:3ba2b0ea9f33 380
mbedalvaro 43:1dd4cfc30788 381 //pc.putc(ptrObj->ID());
mbedalvaro 43:1dd4cfc30788 382 pc.printf("%d \n", ptrObj->ID());
mbedalvaro 40:3ba2b0ea9f33 383 } else
mbedalvaro 40:3ba2b0ea9f33 384 ptrObj->setColor(0x01); // make it blue
mbedalvaro 40:3ba2b0ea9f33 385 }
mbedalvaro 40:3ba2b0ea9f33 386 break;
mbedalvaro 40:3ba2b0ea9f33 387 default:
mbedalvaro 40:3ba2b0ea9f33 388 break;
mbedalvaro 40:3ba2b0ea9f33 389 }
mbedalvaro 40:3ba2b0ea9f33 390 lastTimeSensed=t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 391 } // end sensing
mbedalvaro 40:3ba2b0ea9f33 392
mbedalvaro 40:3ba2b0ea9f33 393 } // infinite while loop
mbedalvaro 40:3ba2b0ea9f33 394 // =================================
mbedalvaro 40:3ba2b0ea9f33 395 }
mbedalvaro 40:3ba2b0ea9f33 396
mbedalvaro 42:5f21a710ebc5 397 void setOrthographicView()
mbedalvaro 42:5f21a710ebc5 398 {
mbedalvaro 42:5f21a710ebc5 399 // clearScene();
mbedalvaro 42:5f21a710ebc5 400 // set color:
mbedalvaro 42:5f21a710ebc5 401 lsr.setColor(0x02); // green
mbedalvaro 42:5f21a710ebc5 402 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 42:5f21a710ebc5 403
mbedalvaro 42:5f21a710ebc5 404 lsr.setOrthoProjection();
mbedalvaro 42:5f21a710ebc5 405 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 41:74e24a0e6e50 406 }
mbedalvaro 41:74e24a0e6e50 407
mbedalvaro 40:3ba2b0ea9f33 408 void createSceneTest()
mbedalvaro 40:3ba2b0ea9f33 409 {
mbedalvaro 40:3ba2b0ea9f33 410 lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 411
mbedalvaro 40:3ba2b0ea9f33 412 // (1) Clear the scene (this stops displaying, thus creating a "laser hot spot", but in principle it only happens in the setup)
mbedalvaro 40:3ba2b0ea9f33 413 clearScene(); // NOTE: in the future (and if we have enough RAM, we can have several indexed "scenes", instead of a unique global)
mbedalvaro 40:3ba2b0ea9f33 414
mbedalvaro 40:3ba2b0ea9f33 415 // (2) Set displaying attributes (colors and local pose):
mbedalvaro 40:3ba2b0ea9f33 416 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 40:3ba2b0ea9f33 417 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 418 // (b) set color:
mbedalvaro 40:3ba2b0ea9f33 419 lsr.setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 420
mbedalvaro 40:3ba2b0ea9f33 421 // Add a first object: using openGL-like syntaxis (here, a closed square):
mbedalvaro 40:3ba2b0ea9f33 422 // begin(1); // start creating object with identifier = 1
mbedalvaro 40:3ba2b0ea9f33 423 // vertex(10,10,1);
mbedalvaro 40:3ba2b0ea9f33 424 // vertex(10,100,1);
mbedalvaro 40:3ba2b0ea9f33 425 // vertex(100,100,1);
mbedalvaro 40:3ba2b0ea9f33 426 // vertex(10,100,1);
mbedalvaro 40:3ba2b0ea9f33 427 // vertex(10,10,1); //
mbedalvaro 40:3ba2b0ea9f33 428 // end();
mbedalvaro 40:3ba2b0ea9f33 429
mbedalvaro 40:3ba2b0ea9f33 430 // Add another objects using "object primitives":
mbedalvaro 40:3ba2b0ea9f33 431 //begin(2);
mbedalvaro 40:3ba2b0ea9f33 432 //lsr.translate(-100,-100,0); // recenter the square
mbedalvaro 40:3ba2b0ea9f33 433 //square(200, 10); // this square has a corner in (0,0), and by default, z=0
mbedalvaro 40:3ba2b0ea9f33 434 //end();
mbedalvaro 40:3ba2b0ea9f33 435
mbedalvaro 40:3ba2b0ea9f33 436 // A "cube" (with one corner at the origin):
mbedalvaro 40:3ba2b0ea9f33 437 //begin(3);
mbedalvaro 40:3ba2b0ea9f33 438 //lsr.setIdentityPose(); // we set the identity - then we don't need to do push pop... we start from "scratch" here. Not incremental rotation...
mbedalvaro 40:3ba2b0ea9f33 439 //lsr.translate(100,-100,-100); // recenter the cube (no need to push pop because we are seting the identity above)
mbedalvaro 40:3ba2b0ea9f33 440 //lsr.rotateY(30);
mbedalvaro 40:3ba2b0ea9f33 441 //cube(200,10); // cube(200, 20);
mbedalvaro 40:3ba2b0ea9f33 442 //end();
mbedalvaro 40:3ba2b0ea9f33 443
mbedalvaro 40:3ba2b0ea9f33 444 // A grid:
mbedalvaro 40:3ba2b0ea9f33 445 // IMPORTANT: a grid is a multi-object built, and DOES NOT NEED to be between a begin and end
mbedalvaro 40:3ba2b0ea9f33 446 lsr.setIdentityPose(); // we set the identity - then we don't need to do push pop... we start from "scratch" here. Not incremental rotation...
mbedalvaro 40:3ba2b0ea9f33 447 lsr.translate(-500, -500, 0);
mbedalvaro 40:3ba2b0ea9f33 448 grid(1000, 1000, 5, 5, 1); //grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 449 //gridCircles(300, 250, 6, 5, 10, 6); // gridCircles(float sizeX, float sizeY, int nx, int ny, float radius, int nbpointsCircle)
mbedalvaro 40:3ba2b0ea9f33 450
mbedalvaro 40:3ba2b0ea9f33 451 // A circle:
mbedalvaro 40:3ba2b0ea9f33 452 //begin(4);
mbedalvaro 40:3ba2b0ea9f33 453 //circle(200, 100);
mbedalvaro 40:3ba2b0ea9f33 454 //end();
mbedalvaro 40:3ba2b0ea9f33 455
mbedalvaro 40:3ba2b0ea9f33 456 updateScene(); // this is important: this will compute the number of objects, points, etc, to prepare the displaying engine (but rendering is NOT yet done,
mbedalvaro 40:3ba2b0ea9f33 457 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 458
mbedalvaro 40:3ba2b0ea9f33 459 // pc.printf("Number of objects in the scene: %d\n", scene.totalObjects());
mbedalvaro 40:3ba2b0ea9f33 460 // pc.printf("Number of points in the scene: %d\n", scene.totalPoints());
mbedalvaro 40:3ba2b0ea9f33 461
mbedalvaro 40:3ba2b0ea9f33 462 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 463 }
mbedalvaro 40:3ba2b0ea9f33 464
mbedalvaro 40:3ba2b0ea9f33 465 void createTextScene()
mbedalvaro 40:3ba2b0ea9f33 466 {
mbedalvaro 40:3ba2b0ea9f33 467 lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 468 //This function just creates text in local coordinates. We have two options: to create it as a unique object, or as separate objects (one per letter).
mbedalvaro 40:3ba2b0ea9f33 469 // The first option is simpler now, we just use the wrapper function string3d(string _text, float totalWidth, float height):
mbedalvaro 40:3ba2b0ea9f33 470
mbedalvaro 40:3ba2b0ea9f33 471 // (1) Clear the scene (this stops displaying, thus creating a "laser hot spot", but in principle it only happens in the setup)
mbedalvaro 40:3ba2b0ea9f33 472 clearScene(); // NOTE: in the future (and if we have enough RAM, we can have several indexed "scenes", instead of a unique global)
mbedalvaro 40:3ba2b0ea9f33 473
mbedalvaro 40:3ba2b0ea9f33 474 // (2) Set displaying attributes (colors and pose):
mbedalvaro 40:3ba2b0ea9f33 475 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 40:3ba2b0ea9f33 476 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 477 //lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 478 //lsr.translate(2,6,0);
mbedalvaro 40:3ba2b0ea9f33 479
mbedalvaro 40:3ba2b0ea9f33 480 lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 481 lsr.flipX();
mbedalvaro 40:3ba2b0ea9f33 482 lsr.translate(-15,-10,0);
mbedalvaro 40:3ba2b0ea9f33 483
mbedalvaro 40:3ba2b0ea9f33 484 // (b) set current color:
mbedalvaro 40:3ba2b0ea9f33 485 lsr.setColor(0x04); // three LSB bits for RGB - so 0x02 is GREEN ON (note that the sensing laser, now red, is always on...).
mbedalvaro 40:3ba2b0ea9f33 486
mbedalvaro 40:3ba2b0ea9f33 487 // A string as a UNIQUE object:
mbedalvaro 40:3ba2b0ea9f33 488 // begin(1); // start creating an object with index 1
mbedalvaro 40:3ba2b0ea9f33 489 // no retouching of the modelview, meaning the text is in (0,0,0) in "local" coordinates
mbedalvaro 40:3ba2b0ea9f33 490 // string3d(textToDisplay, textToDisplay.size()*fontWidth, fontHeight);
mbedalvaro 40:3ba2b0ea9f33 491 //end();
mbedalvaro 40:3ba2b0ea9f33 492
mbedalvaro 40:3ba2b0ea9f33 493 // A string as a *collection* of object-letters:
mbedalvaro 40:3ba2b0ea9f33 494 //lsr.translate(-textToDisplay.length()*fontWidth/2,-fontHeight/2,0);
mbedalvaro 40:3ba2b0ea9f33 495 for (unsigned short i = 0; i < textToDisplay.length(); i++) {
mbedalvaro 40:3ba2b0ea9f33 496 char ch = textToDisplay.at(i);
mbedalvaro 40:3ba2b0ea9f33 497 if (ch != ' ') {
mbedalvaro 40:3ba2b0ea9f33 498 begin(i);
mbedalvaro 40:3ba2b0ea9f33 499 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 40:3ba2b0ea9f33 500 end();
mbedalvaro 40:3ba2b0ea9f33 501 }
mbedalvaro 40:3ba2b0ea9f33 502 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 40:3ba2b0ea9f33 503 }
mbedalvaro 40:3ba2b0ea9f33 504
mbedalvaro 40:3ba2b0ea9f33 505 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 506
mbedalvaro 40:3ba2b0ea9f33 507 }
mbedalvaro 40:3ba2b0ea9f33 508
mbedalvaro 43:1dd4cfc30788 509 void addText(string text, int id, float posx, float posy)
mbedalvaro 42:5f21a710ebc5 510 {
mbedalvaro 43:1dd4cfc30788 511 //clearScene();
mbedalvaro 42:5f21a710ebc5 512 lsr.pushPoseMatrix();
mbedalvaro 42:5f21a710ebc5 513 //This function just creates text in local coordinates. We have two options: to create it as a unique object, or as separate objects (one per letter).
mbedalvaro 42:5f21a710ebc5 514 // The first option is simpler now, we just use the wrapper function string3d(string _text, float totalWidth, float height):
mbedalvaro 42:5f21a710ebc5 515
mbedalvaro 42:5f21a710ebc5 516 // (1) Clear the scene (this stops displaying, thus creating a "laser hot spot", but in principle it only happens in the setup)
mbedalvaro 42:5f21a710ebc5 517 // clearScene(); // NOTE: in the future (and if we have enough RAM, we can have several indexed "scenes", instead of a unique global)
mbedalvaro 42:5f21a710ebc5 518
mbedalvaro 42:5f21a710ebc5 519 // (2) Set displaying attributes (colors and pose):
mbedalvaro 42:5f21a710ebc5 520 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 42:5f21a710ebc5 521 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 42:5f21a710ebc5 522 //lsr.flipY();
mbedalvaro 42:5f21a710ebc5 523 //lsr.translate(2,6,0);
mbedalvaro 42:5f21a710ebc5 524
mbedalvaro 42:5f21a710ebc5 525 lsr.flipY();
mbedalvaro 43:1dd4cfc30788 526 // lsr.flipX();
mbedalvaro 43:1dd4cfc30788 527 lsr.translate(posx,posy,0);
mbedalvaro 42:5f21a710ebc5 528
mbedalvaro 42:5f21a710ebc5 529 // (b) set current color:
mbedalvaro 42:5f21a710ebc5 530 lsr.setColor(0x04); // three LSB bits for RGB - so 0x02 is GREEN ON (note that the sensing laser, now red, is always on...).
mbedalvaro 40:3ba2b0ea9f33 531
mbedalvaro 42:5f21a710ebc5 532 // A string as a UNIQUE object:
mbedalvaro 42:5f21a710ebc5 533 // begin(1); // start creating an object with index 1
mbedalvaro 42:5f21a710ebc5 534 // no retouching of the modelview, meaning the text is in (0,0,0) in "local" coordinates
mbedalvaro 42:5f21a710ebc5 535 // string3d(textToDisplay, textToDisplay.size()*fontWidth, fontHeight);
mbedalvaro 42:5f21a710ebc5 536 //end();
mbedalvaro 42:5f21a710ebc5 537
mbedalvaro 42:5f21a710ebc5 538 // A string as a *collection* of object-letters:
mbedalvaro 42:5f21a710ebc5 539 //lsr.translate(-textToDisplay.length()*fontWidth/2,-fontHeight/2,0);
mbedalvaro 43:1dd4cfc30788 540
mbedalvaro 43:1dd4cfc30788 541 for (unsigned short i = 0; i < text.length(); i++) {
mbedalvaro 43:1dd4cfc30788 542 char ch = text.at(i);
mbedalvaro 42:5f21a710ebc5 543 if (ch != ' ') {
mbedalvaro 43:1dd4cfc30788 544 begin(id);
mbedalvaro 42:5f21a710ebc5 545 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 43:1dd4cfc30788 546 end();
mbedalvaro 42:5f21a710ebc5 547 }
mbedalvaro 42:5f21a710ebc5 548 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 42:5f21a710ebc5 549 }
mbedalvaro 42:5f21a710ebc5 550 lsr.popPoseMatrix();
mbedalvaro 42:5f21a710ebc5 551
mbedalvaro 42:5f21a710ebc5 552 }
mbedalvaro 40:3ba2b0ea9f33 553
mbedalvaro 43:1dd4cfc30788 554 // ============ COMMUNICATION PROTOCOL ======================================
mbedalvaro 43:1dd4cfc30788 555 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC):
mbedalvaro 43:1dd4cfc30788 556 // TO DO: use string objects!
mbedalvaro 43:1dd4cfc30788 557 char receivedStringData[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int...
mbedalvaro 43:1dd4cfc30788 558 int indexStringData = 0; //position of the byte in the string
mbedalvaro 43:1dd4cfc30788 559
mbedalvaro 43:1dd4cfc30788 560 // String to store COMMAND WORDS (not used yet):
mbedalvaro 43:1dd4cfc30788 561 char stringCommand[24];
mbedalvaro 43:1dd4cfc30788 562 int indexStringCommand = 0;
mbedalvaro 43:1dd4cfc30788 563 bool commandReady = false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)
mbedalvaro 43:1dd4cfc30788 564
mbedalvaro 43:1dd4cfc30788 565
mbedalvaro 43:1dd4cfc30788 566 #ifdef WITH_OSC
mbedalvaro 40:3ba2b0ea9f33 567 //============= RECEIVE OSC COMMANDS =========================
mbedalvaro 40:3ba2b0ea9f33 568 // This is the callback function called when there are packets on the listening socket. It is not nice to have it
mbedalvaro 40:3ba2b0ea9f33 569 // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
mbedalvaro 40:3ba2b0ea9f33 570 // as handler to the upd object).
mbedalvaro 42:5f21a710ebc5 571 void processOSC(UDPSocketEvent e)
mbedalvaro 42:5f21a710ebc5 572 {
mbedalvaro 40:3ba2b0ea9f33 573 osc.onUDPSocketEvent(e);
mbedalvaro 40:3ba2b0ea9f33 574
mbedalvaro 40:3ba2b0ea9f33 575 if (osc.newMessage) {
mbedalvaro 42:5f21a710ebc5 576
mbedalvaro 42:5f21a710ebc5 577 // pc.printf("RECEIVED NEW OSC MESSAGE ----\n");
mbedalvaro 42:5f21a710ebc5 578
mbedalvaro 43:1dd4cfc30788 579 // Acquire the addresses and arguments and put them in the GLOBAL variables to be processed by the interpretCommand function (common to serial and OSC):
mbedalvaro 43:1dd4cfc30788 580 command1="";
mbedalvaro 43:1dd4cfc30788 581 command2="";
mbedalvaro 42:5f21a710ebc5 582 for (int i=0; i<recMes.getAddressNum(); i++) {
mbedalvaro 42:5f21a710ebc5 583 strcpy(address[i],recMes.getAddress(i)); // NOTE: up to the rest of the program to check if address[1] is really not null
mbedalvaro 42:5f21a710ebc5 584 // pc.printf("Address %d = %s \n",i, address[i]);
mbedalvaro 42:5f21a710ebc5 585 }
mbedalvaro 40:3ba2b0ea9f33 586 // Acquire data:
mbedalvaro 42:5f21a710ebc5 587
mbedalvaro 40:3ba2b0ea9f33 588 numArgs=recMes.getArgNum();
mbedalvaro 40:3ba2b0ea9f33 589 data[0]=-1;
mbedalvaro 40:3ba2b0ea9f33 590 data[1]=-1;
mbedalvaro 42:5f21a710ebc5 591 for (int i=0; i<numArgs; i++) {
mbedalvaro 42:5f21a710ebc5 592 data[i]=(int)recMes.getArgInt(i);//recMes.getArgFloat(i);
mbedalvaro 42:5f21a710ebc5 593 //pc.printf("%4.2f %4.2f \n", data[i], recMes.getArgFloat(i));
mbedalvaro 42:5f21a710ebc5 594 // pc.printf("%i %i \n", data[i], recMes.getArgInt(i));
mbedalvaro 42:5f21a710ebc5 595 }
mbedalvaro 40:3ba2b0ea9f33 596
mbedalvaro 40:3ba2b0ea9f33 597 // Finally, interpret the command or data:
mbedalvaro 43:1dd4cfc30788 598 interpretCommand();
mbedalvaro 42:5f21a710ebc5 599
mbedalvaro 42:5f21a710ebc5 600 }
mbedalvaro 40:3ba2b0ea9f33 601 }
mbedalvaro 43:1dd4cfc30788 602 #endif
mbedalvaro 40:3ba2b0ea9f33 603
mbedalvaro 40:3ba2b0ea9f33 604
mbedalvaro 43:1dd4cfc30788 605 //interpretCommand(const char& address[2][], const int& data[2]) {
mbedalvaro 43:1dd4cfc30788 606 void interpretCommand()
mbedalvaro 42:5f21a710ebc5 607 {
mbedalvaro 40:3ba2b0ea9f33 608 // ========== DATA (all this is a hack because my OSC class does not accept BUNDLES...) =============
mbedalvaro 40:3ba2b0ea9f33 609 // Add data to auxiliary data buffer:
mbedalvaro 43:1dd4cfc30788 610 if (command1 == "data") {
mbedalvaro 40:3ba2b0ea9f33 611 // numArgs is the number of arguments (in my OSC version this is max 2):
mbedalvaro 42:5f21a710ebc5 612 // pc.printf("--- Data pack: %d\n", numArgs);
mbedalvaro 42:5f21a710ebc5 613 for (int i=0; i<numArgs; i++) {
mbedalvaro 42:5f21a710ebc5 614 auxDataBuffer[auxDataBuffer_index+i] = 1.0*data[i];
mbedalvaro 42:5f21a710ebc5 615 // note: the index will be reset to 0 or whatever needed when a command USING data from the "d" message is received.
mbedalvaro 42:5f21a710ebc5 616 // pc.printf("buffer index / data: %i %f \n", auxDataBuffer_index+i, auxDataBuffer[auxDataBuffer_index+i]);//data[i]);
mbedalvaro 42:5f21a710ebc5 617 }
mbedalvaro 42:5f21a710ebc5 618 auxDataBuffer_index+=numArgs;
mbedalvaro 42:5f21a710ebc5 619 //pc.putc('/n');
mbedalvaro 40:3ba2b0ea9f33 620 }
mbedalvaro 40:3ba2b0ea9f33 621 // ========== COMMANDS (using data on auxDataBuffer or directly as arguments =========================
mbedalvaro 42:5f21a710ebc5 622
mbedalvaro 43:1dd4cfc30788 623 else if (command1 == "objectID") { // ID of the object
mbedalvaro 43:1dd4cfc30788 624 receivedStringData[indexStringData] = 0;
mbedalvaro 43:1dd4cfc30788 625 indexStringData = 0;
mbedalvaro 43:1dd4cfc30788 626 objectID=atoi(receivedStringData);
mbedalvaro 43:1dd4cfc30788 627 }
mbedalvaro 43:1dd4cfc30788 628
mbedalvaro 43:1dd4cfc30788 629 else if (command1=="initialPosition") { // this is for setting the POSITION of the object to be created:
mbedalvaro 43:1dd4cfc30788 630 xx=auxDataBuffer[0]; yy=auxDataBuffer[1];
mbedalvaro 43:1dd4cfc30788 631 auxDataBuffer_index=0;
mbedalvaro 43:1dd4cfc30788 632 }
mbedalvaro 42:5f21a710ebc5 633
mbedalvaro 43:1dd4cfc30788 634 else if (command1 == "mbedReset" ) mbed_reset();
mbedalvaro 43:1dd4cfc30788 635
mbedalvaro 43:1dd4cfc30788 636 else if (command1 == "testPower" ) {
mbedalvaro 41:74e24a0e6e50 637 // TO DO
mbedalvaro 41:74e24a0e6e50 638 }
mbedalvaro 42:5f21a710ebc5 639
mbedalvaro 42:5f21a710ebc5 640 // Enable/disable projection:
mbedalvaro 43:1dd4cfc30788 641 else if ( command1 == "stopDisplay" ) stopDisplay();
mbedalvaro 43:1dd4cfc30788 642 else if (command1 =="resumeDisplay") resumeDisplay();
mbedalvaro 43:1dd4cfc30788 643 else if (command1 =="showLimits") showLimitsMirrors(50, 1);
mbedalvaro 43:1dd4cfc30788 644 else if (command1 == "setSensingMode") {
mbedalvaro 40:3ba2b0ea9f33 645 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 646 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 40:3ba2b0ea9f33 647 switch(value) {
mbedalvaro 40:3ba2b0ea9f33 648 case 0:
mbedalvaro 40:3ba2b0ea9f33 649 currentSensingMode=NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 650 break;
mbedalvaro 40:3ba2b0ea9f33 651 case 1:
mbedalvaro 40:3ba2b0ea9f33 652 currentSensingMode=SENSING_WHOLE_SCENE;
mbedalvaro 40:3ba2b0ea9f33 653 break;
mbedalvaro 40:3ba2b0ea9f33 654 case 2:
mbedalvaro 40:3ba2b0ea9f33 655 currentSensingMode=SENSING_PER_OBJECT;
mbedalvaro 40:3ba2b0ea9f33 656 break;
mbedalvaro 40:3ba2b0ea9f33 657 default:
mbedalvaro 40:3ba2b0ea9f33 658 break;
mbedalvaro 40:3ba2b0ea9f33 659 }
mbedalvaro 40:3ba2b0ea9f33 660 }
mbedalvaro 42:5f21a710ebc5 661 }
mbedalvaro 40:3ba2b0ea9f33 662
mbedalvaro 42:5f21a710ebc5 663 // Change state machine color (objects created from this point on will have the state machine color)
mbedalvaro 43:1dd4cfc30788 664 else if (command1 == "setStateColor") { // example: 0( (all OFF), 1( blue ON, 2( green ON, 4( red ON, 3( blue and green ON; etc.
mbedalvaro 42:5f21a710ebc5 665 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 666 if (value!=-1) lsr.setColor(value);
mbedalvaro 42:5f21a710ebc5 667 }
mbedalvaro 40:3ba2b0ea9f33 668
mbedalvaro 42:5f21a710ebc5 669 // Real time change of color of ALL the objects in the CURRENT scene (state machine color not changed)
mbedalvaro 43:1dd4cfc30788 670 else if (command1 == "setAllObjectsColor") { // example: 0) (all OFF), 1) blue ON, 2) green ON, 4) red ON, 3) blue and green ON; etc.
mbedalvaro 42:5f21a710ebc5 671 int value=data[0];
mbedalvaro 42:5f21a710ebc5 672 if (value!=-1) changeColorScene(value);
mbedalvaro 42:5f21a710ebc5 673 }
mbedalvaro 40:3ba2b0ea9f33 674
mbedalvaro 40:3ba2b0ea9f33 675
mbedalvaro 40:3ba2b0ea9f33 676 // =================== CREATION and DESTRUCTION of objects =========================================================
mbedalvaro 43:1dd4cfc30788 677 else if (command1 == "clearScene") {
mbedalvaro 42:5f21a710ebc5 678 clearScene();
mbedalvaro 42:5f21a710ebc5 679 }
mbedalvaro 42:5f21a710ebc5 680
mbedalvaro 43:1dd4cfc30788 681 else if (command1 =="deleteObject") { // second address is object identifier (a string that will be converted
mbedalvaro 43:1dd4cfc30788 682 deleteObject(objectID);
mbedalvaro 42:5f21a710ebc5 683 }
mbedalvaro 42:5f21a710ebc5 684
mbedalvaro 42:5f21a710ebc5 685 // Produce a grid of points. The projection is ORTHOGRAPHIC. Also, POSE is reset to identity (i.e., the sent points should have
mbedalvaro 42:5f21a710ebc5 686 // been translated previously - this may be optional, we could first send the pose, then the points...)
mbedalvaro 42:5f21a710ebc5 687 // Note: orthographic projection can be achieved by simply setting the projection matrix to ID, while
mbedalvaro 42:5f21a710ebc5 688 // setting Z to 1, or by setting the projection matrix to a unit diagonal but the last term in the diagonal is set to 0.
mbedalvaro 42:5f21a710ebc5 689 // Finally, if one wants to avoid an unnecessary matrix product, the laserRendering class provides a renderingMode that can be set to RAW.
mbedalvaro 42:5f21a710ebc5 690 // NOTE: the following string of ASCII characters is assumed to have been input:
mbedalvaro 42:5f21a710ebc5 691 // posX#posY#sizeX#sizeY#nx#ny#:
mbedalvaro 42:5f21a710ebc5 692 // where the names (ex: posX) is in fact an ASCII string representing the number in decimal base. This means that when we arrive here,
mbedalvaro 42:5f21a710ebc5 693 // the auxiliary array auxDataBuffer contains all that data (as floats), ex: auxDataBuffer[0] is just posX, and auxDataBuffer[5] is ny
mbedalvaro 43:1dd4cfc30788 694 else if (command1 =="gridScene") {
mbedalvaro 42:5f21a710ebc5 695 // Data is now ordered in the auxDataBuffer array:
mbedalvaro 42:5f21a710ebc5 696 float posX = auxDataBuffer[0], posY = auxDataBuffer[1], sizeX = auxDataBuffer[2], sizeY = auxDataBuffer[3], nx = auxDataBuffer[4], ny = auxDataBuffer[5];
mbedalvaro 42:5f21a710ebc5 697 auxDataBuffer_index=0; // to restart loading the auxiliary buffer 'auxDataBuffer'
mbedalvaro 42:5f21a710ebc5 698 clearScene();
mbedalvaro 42:5f21a710ebc5 699 // set color:
mbedalvaro 42:5f21a710ebc5 700 lsr.setColor(0x02); // green
mbedalvaro 42:5f21a710ebc5 701 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 702
mbedalvaro 42:5f21a710ebc5 703 // set local pose matrix to identity:
mbedalvaro 42:5f21a710ebc5 704 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 705 // translate to the required position:
mbedalvaro 42:5f21a710ebc5 706 lsr.translate(posX, posY, 0); // since the projection and pose are going to be set
mbedalvaro 42:5f21a710ebc5 707 // to Identity (projection identity will automatically make the projection orthographic), this means that these
mbedalvaro 42:5f21a710ebc5 708 // values are in "laser projector pixels" (in fact angles).
mbedalvaro 42:5f21a710ebc5 709 // Create the collection of dot objects:
mbedalvaro 42:5f21a710ebc5 710 // void grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 42:5f21a710ebc5 711 grid(sizeX, sizeY, nx, ny, 1);
mbedalvaro 42:5f21a710ebc5 712 updateScene(); // this is important: this will compute the number of objects, points, etc, to prepare the displaying engine (but rendering is NOT yet done,
mbedalvaro 42:5f21a710ebc5 713 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 714
mbedalvaro 42:5f21a710ebc5 715 // Now we can render the scene once:
mbedalvaro 42:5f21a710ebc5 716 // Set a default GLOBAL POSE and orthographic projection for rendering and start displaying:
mbedalvaro 42:5f21a710ebc5 717 lsr.setOrthoProjection();
mbedalvaro 42:5f21a710ebc5 718 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 42:5f21a710ebc5 719 drawScene(); // this will be called when we change the pose matrix - but needs to be called at least one to start displaying
mbedalvaro 42:5f21a710ebc5 720 }
mbedalvaro 42:5f21a710ebc5 721 // NOTE: now that the grid is set, we don't need to do it again when changing the pose: JUST SEND THE POSE MATRIX and things will be re-rendered!
mbedalvaro 42:5f21a710ebc5 722
mbedalvaro 42:5f21a710ebc5 723 // This means we received "2D" vertex data (z assumed 0) to create A SINGLE SCENE out of these points (we will create a single object)
mbedalvaro 42:5f21a710ebc5 724 // using orthographic projection.
mbedalvaro 42:5f21a710ebc5 725 // This is in particular useful to create "structured light" grids - such the grid of planar points for calibration.
mbedalvaro 42:5f21a710ebc5 726 // In the future, we can have functions to add objects, etc. Basically, every wrapped function should be call-able by the PC.
mbedalvaro 42:5f21a710ebc5 727 // NOTE: the POSE is reset to ID, but we could use the current pose (i.e., send it first by the computer). But for the time being, and in order to modify the
mbedalvaro 42:5f21a710ebc5 728 // cameraProjectorCalibration Xcode project as little as possible, I will perform the transformations on the computer.
mbedalvaro 43:1dd4cfc30788 729 else if (command1 == "arbitraryGridScene") {
mbedalvaro 42:5f21a710ebc5 730 // Data is now ordered in the auxDataBuffer array as PAIRS (X,Y). The argument to this message is the IDENTIFIER of the object:
mbedalvaro 42:5f21a710ebc5 731 // The present value of auxDataBuffer_index contains the number of points x 2
mbedalvaro 42:5f21a710ebc5 732 clearScene();
mbedalvaro 42:5f21a710ebc5 733 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 734 //lsr.setColor(0x02); // fixed color, or use the current color (in which case, we need to call lsr.pushColor() and then pop it again).
mbedalvaro 42:5f21a710ebc5 735 lsr.setColor(0x03); // blue+green
mbedalvaro 42:5f21a710ebc5 736 IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 737
mbedalvaro 42:5f21a710ebc5 738 // begin(1) // we can create a single object, or one object per position (with repetition of the point if needed)
mbedalvaro 42:5f21a710ebc5 739 for (unsigned char i = 0; i < auxDataBuffer_index / 2; i++) {
mbedalvaro 42:5f21a710ebc5 740 begin(i);
mbedalvaro 42:5f21a710ebc5 741 for (unsigned char k=0; k<1; k++) // fixed repetition of points - we can send this as a parameter if we want.
mbedalvaro 42:5f21a710ebc5 742 vertex(auxDataBuffer[2 * i], auxDataBuffer[2 * i + 1], 0);
mbedalvaro 42:5f21a710ebc5 743 end();
mbedalvaro 40:3ba2b0ea9f33 744 }
mbedalvaro 42:5f21a710ebc5 745 updateScene();
mbedalvaro 42:5f21a710ebc5 746 // Set a default GLOBAL POSE and ORTHO projection matrix for start displaying, or use the CURRENT ONE (for that, we should have
mbedalvaro 42:5f21a710ebc5 747 // properly called lsr.pushPoseMatrix())
mbedalvaro 42:5f21a710ebc5 748 lsr.setOrthoProjection();
mbedalvaro 42:5f21a710ebc5 749 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 750 drawScene();
mbedalvaro 42:5f21a710ebc5 751 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 42:5f21a710ebc5 752 }
mbedalvaro 42:5f21a710ebc5 753
mbedalvaro 42:5f21a710ebc5 754 // This means we received 2D vertex array to add an object assuming it's planar (we will create an object with all points having z=0 in current pose):
mbedalvaro 43:1dd4cfc30788 755 else if (command1 == "createObject2D") {
mbedalvaro 43:1dd4cfc30788 756 unsigned char numPoints= auxDataBuffer_index/2;
mbedalvaro 43:1dd4cfc30788 757 if (objectID!=-1) {
mbedalvaro 42:5f21a710ebc5 758
mbedalvaro 42:5f21a710ebc5 759 // First, create the object:
mbedalvaro 42:5f21a710ebc5 760 lsr.pushPoseMatrix();
mbedalvaro 42:5f21a710ebc5 761 lsr.setIdentityPose();
mbedalvaro 43:1dd4cfc30788 762 lsr.translate(xx,yy,0);
mbedalvaro 42:5f21a710ebc5 763
mbedalvaro 42:5f21a710ebc5 764 lsr.setColor(0x02); // we will render in current color
mbedalvaro 42:5f21a710ebc5 765
mbedalvaro 43:1dd4cfc30788 766 begin(objectID);
mbedalvaro 42:5f21a710ebc5 767 for (unsigned char i = 0; i < numPoints; i++) {
mbedalvaro 42:5f21a710ebc5 768 begin(i);
mbedalvaro 43:1dd4cfc30788 769 vertex(auxDataBuffer[2 * i], auxDataBuffer[2 * i + 1],0); // z=0 for 2d objects (in current pose)
mbedalvaro 42:5f21a710ebc5 770 //letter3d('A', fontWidth, fontHeight);
mbedalvaro 43:1dd4cfc30788 771 //vertex(10*cos(2*PI/numPoints*i), 10*sin(2*PI/numPoints*i), 0);
mbedalvaro 43:1dd4cfc30788 772 //vertex(5*cos(2*PI/numPoints*i+.1), 5*sin(2*PI/numPoints*i+.1), 0);
mbedalvaro 42:5f21a710ebc5 773 //pc.printf("local (x,y): %f, %f \n", auxDataBuffer[2 * i], auxDataBuffer[2 * i+1]);
mbedalvaro 42:5f21a710ebc5 774 // lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 42:5f21a710ebc5 775 }
mbedalvaro 43:1dd4cfc30788 776 end();
mbedalvaro 42:5f21a710ebc5 777 lsr.popPoseMatrix();
mbedalvaro 42:5f21a710ebc5 778
mbedalvaro 42:5f21a710ebc5 779 // Set the global projection and modelview:
mbedalvaro 42:5f21a710ebc5 780 lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 42:5f21a710ebc5 781 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 782 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 42:5f21a710ebc5 783 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 42:5f21a710ebc5 784 lsr.translate(0, 0, 130);
mbedalvaro 42:5f21a710ebc5 785
mbedalvaro 42:5f21a710ebc5 786 // RENDER the scene:
mbedalvaro 43:1dd4cfc30788 787 // update the scene for display
mbedalvaro 43:1dd4cfc30788 788 drawScene();
mbedalvaro 43:1dd4cfc30788 789 updateScene();
mbedalvaro 40:3ba2b0ea9f33 790 }
mbedalvaro 42:5f21a710ebc5 791 }
mbedalvaro 40:3ba2b0ea9f33 792
mbedalvaro 42:5f21a710ebc5 793 // This means we received 3D vertex data to create an object.
mbedalvaro 42:5f21a710ebc5 794 // It will be rendered in the CURRENT pose.
mbedalvaro 43:1dd4cfc30788 795 else if (command1 == "createObject3D") {
mbedalvaro 43:1dd4cfc30788 796 int objectID=data[1];
mbedalvaro 43:1dd4cfc30788 797 if (objectID!=-1) {
mbedalvaro 40:3ba2b0ea9f33 798 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 799 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 800 //lsr.pushPoseMatrix(); // we will render on the current pose
mbedalvaro 40:3ba2b0ea9f33 801 //clearScene();
mbedalvaro 40:3ba2b0ea9f33 802 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 803 //lsr.setColor(0x02); // we will render in current color
mbedalvaro 43:1dd4cfc30788 804 begin(objectID);
mbedalvaro 40:3ba2b0ea9f33 805 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 806 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],
mbedalvaro 40:3ba2b0ea9f33 807 auxDataBuffer[3 * i + 2]);
mbedalvaro 40:3ba2b0ea9f33 808 }
mbedalvaro 40:3ba2b0ea9f33 809 end();
mbedalvaro 40:3ba2b0ea9f33 810 updateScene();
mbedalvaro 40:3ba2b0ea9f33 811 // Set a default GLOBAL POSE and ORTHO projection matrix for start displaying, or use the CURRENT ONE (for that, we should have
mbedalvaro 40:3ba2b0ea9f33 812 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 813 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 814 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 815 //lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 816 drawScene();
mbedalvaro 40:3ba2b0ea9f33 817 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 818 }
mbedalvaro 42:5f21a710ebc5 819 }
mbedalvaro 43:1dd4cfc30788 820
mbedalvaro 43:1dd4cfc30788 821 else if (command1=="createText") {
mbedalvaro 43:1dd4cfc30788 822 receivedStringData[indexStringData] = 0; // termination for the string
mbedalvaro 43:1dd4cfc30788 823 indexStringData = 0;
mbedalvaro 43:1dd4cfc30788 824 // Serial.println(receivedStringData);
mbedalvaro 43:1dd4cfc30788 825 textToDisplay = string(receivedStringData);
mbedalvaro 43:1dd4cfc30788 826
mbedalvaro 43:1dd4cfc30788 827 if (firstTimeDisplay) {clearScene(); firstTimeDisplay=false;}
mbedalvaro 43:1dd4cfc30788 828
mbedalvaro 43:1dd4cfc30788 829 addText(textToDisplay, objectID, xx, yy);
mbedalvaro 43:1dd4cfc30788 830 drawScene();
mbedalvaro 43:1dd4cfc30788 831 updateScene();
mbedalvaro 43:1dd4cfc30788 832 }
mbedalvaro 42:5f21a710ebc5 833
mbedalvaro 42:5f21a710ebc5 834 // Create text:
mbedalvaro 43:1dd4cfc30788 835 else if (command1 == "createTextObject") {
mbedalvaro 40:3ba2b0ea9f33 836
mbedalvaro 43:1dd4cfc30788 837 if (objectID!=-1) {
mbedalvaro 42:5f21a710ebc5 838
mbedalvaro 42:5f21a710ebc5 839 // CREATE OBJECT:
mbedalvaro 42:5f21a710ebc5 840 lsr.pushPoseMatrix();
mbedalvaro 42:5f21a710ebc5 841 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 42:5f21a710ebc5 842 lsr.flipY();
mbedalvaro 42:5f21a710ebc5 843 //lsr.flipX();
mbedalvaro 43:1dd4cfc30788 844 lsr.translate(xx,yy,0);
mbedalvaro 42:5f21a710ebc5 845
mbedalvaro 43:1dd4cfc30788 846 begin(objectID);
mbedalvaro 42:5f21a710ebc5 847 for (unsigned short i = 0; i < textToDisplay.length(); i++) {
mbedalvaro 42:5f21a710ebc5 848 char ch = textToDisplay.at(i);
mbedalvaro 42:5f21a710ebc5 849 if (ch != ' ') {
mbedalvaro 43:1dd4cfc30788 850 // begin(i);
mbedalvaro 42:5f21a710ebc5 851 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 43:1dd4cfc30788 852 // end();
mbedalvaro 42:5f21a710ebc5 853 }
mbedalvaro 42:5f21a710ebc5 854 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 42:5f21a710ebc5 855 }
mbedalvaro 43:1dd4cfc30788 856 end();
mbedalvaro 42:5f21a710ebc5 857
mbedalvaro 42:5f21a710ebc5 858 lsr.popPoseMatrix();
mbedalvaro 42:5f21a710ebc5 859
mbedalvaro 42:5f21a710ebc5 860 // Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 42:5f21a710ebc5 861 lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 42:5f21a710ebc5 862 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 863 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 42:5f21a710ebc5 864 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 42:5f21a710ebc5 865 lsr.translate(0, 0, 130);
mbedalvaro 40:3ba2b0ea9f33 866
mbedalvaro 42:5f21a710ebc5 867 drawScene(); // this will be called when we change the pose matrix - but needs to be called at least once to start displaying
mbedalvaro 43:1dd4cfc30788 868 updateScene();
mbedalvaro 40:3ba2b0ea9f33 869 }
mbedalvaro 42:5f21a710ebc5 870 }
mbedalvaro 42:5f21a710ebc5 871
mbedalvaro 40:3ba2b0ea9f33 872
mbedalvaro 42:5f21a710ebc5 873 // (d) TERMINATOR indicating data was for the POSE MATRIX of the object (Mp) (with respect to the CAMERA):
mbedalvaro 43:1dd4cfc30788 874 else if (command1 == "poseMatrix") { // when receiving this, it means that the WHOLE matrix data (4x4 values) have been sent in row/column format
mbedalvaro 42:5f21a710ebc5 875 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer'
mbedalvaro 42:5f21a710ebc5 876 // Now, auxDataBuffer is a buffer with 12 values (4x3), corresponding to the pose of the object in CAMERA coordinartes (RT')
mbedalvaro 42:5f21a710ebc5 877 lsr.setIdentityPose(); // RT=ID
mbedalvaro 42:5f21a710ebc5 878 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 42:5f21a710ebc5 879 lsr.multPoseMatrix(auxDataBuffer); // RT=ExRT' : this sets RT as the current object pose in PROJECTOR coordinates
mbedalvaro 40:3ba2b0ea9f33 880
mbedalvaro 42:5f21a710ebc5 881 drawScene(); // needed because we changed the POSE (but there is no need to re-create the geometry nor update the renderer (updateScene), just project)
mbedalvaro 42:5f21a710ebc5 882 }
mbedalvaro 40:3ba2b0ea9f33 883
mbedalvaro 42:5f21a710ebc5 884 // (d) TERMINATOR indicating data was for the projection matrix (will probably be saved in "hard" in the microcontroller code):
mbedalvaro 43:1dd4cfc30788 885 else if (command1 == "projectionMatrix") {// when receiving this character, it means that the WHOLE matrix data (3x3 values) have been sent (with '#' separator), in row/column format
mbedalvaro 42:5f21a710ebc5 886 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 42:5f21a710ebc5 887 // store in projection matrix:
mbedalvaro 42:5f21a710ebc5 888 lsr.loadProjMatrix(auxDataBuffer, 1.0);
mbedalvaro 42:5f21a710ebc5 889
mbedalvaro 42:5f21a710ebc5 890 drawScene(); // needed because we changed the PROJECTION matrix (but there is no need to re-create all the geometry, just project)
mbedalvaro 42:5f21a710ebc5 891 }
mbedalvaro 40:3ba2b0ea9f33 892
mbedalvaro 42:5f21a710ebc5 893 //(e) TERMINATOR indicating the data was for the extrinsic matrix:
mbedalvaro 43:1dd4cfc30788 894 else if (command1 == "extrinsicMatrix") { // when receiving this character, it means that the WHOLE matrix data (3x3 values) have been sent (with '#' separator), in row/column format
mbedalvaro 42:5f21a710ebc5 895 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 42:5f21a710ebc5 896 // store in projection matrix:
mbedalvaro 42:5f21a710ebc5 897 lsr.loadExtrinsicsMatrix(auxDataBuffer);
mbedalvaro 42:5f21a710ebc5 898
mbedalvaro 42:5f21a710ebc5 899 drawScene(); // needed because we changed the EXTRINSICS (hence the pose), but there is no need to re-create the geometry, just project.
mbedalvaro 42:5f21a710ebc5 900 }
mbedalvaro 40:3ba2b0ea9f33 901 }
mbedalvaro 40:3ba2b0ea9f33 902
mbedalvaro 40:3ba2b0ea9f33 903 void processSerial()
mbedalvaro 40:3ba2b0ea9f33 904 {
mbedalvaro 40:3ba2b0ea9f33 905 while (pc.readable() > 0) {
mbedalvaro 40:3ba2b0ea9f33 906 char incomingByte = pc.getc();
mbedalvaro 40:3ba2b0ea9f33 907
mbedalvaro 40:3ba2b0ea9f33 908 // For test:
mbedalvaro 40:3ba2b0ea9f33 909 // pc.putc(incomingByte);
mbedalvaro 40:3ba2b0ea9f33 910
mbedalvaro 40:3ba2b0ea9f33 911 // (a) TEXT to display or NUMBERS (in ASCII) to convert to numerical value (rem: limited set of characters for the time being):
mbedalvaro 40:3ba2b0ea9f33 912 // Note: numbers are float, so we need also the "." and "-"
mbedalvaro 40:3ba2b0ea9f33 913 if ( (incomingByte >= '0' && incomingByte <= '9') // numbers
mbedalvaro 42:5f21a710ebc5 914 || (incomingByte >= 'A' && incomingByte <= 'Z') // capital letters
mbedalvaro 42:5f21a710ebc5 915 || (incomingByte >= 'a' && incomingByte <= 'z') // small letters (in fact, will be used for other symbols)
mbedalvaro 42:5f21a710ebc5 916 || (incomingByte == ' ') // space
mbedalvaro 42:5f21a710ebc5 917 || (incomingByte == '-') // minus sign
mbedalvaro 42:5f21a710ebc5 918 || (incomingByte == '.') // decimal point
mbedalvaro 42:5f21a710ebc5 919 ) {
mbedalvaro 40:3ba2b0ea9f33 920 receivedStringData[indexStringData] = incomingByte;
mbedalvaro 40:3ba2b0ea9f33 921 indexStringData++;
mbedalvaro 40:3ba2b0ea9f33 922 }
mbedalvaro 40:3ba2b0ea9f33 923
mbedalvaro 43:1dd4cfc30788 924 // (b) a NUMBER to convert to float and to add to the auxiliary data buffer:
mbedalvaro 43:1dd4cfc30788 925 else if (incomingByte == '#') { // this means that we received a whole number to convert to float (but we don't know yet if it's for
mbedalvaro 43:1dd4cfc30788 926 // the modelview, the projection matrix or some other data):
mbedalvaro 43:1dd4cfc30788 927 receivedStringData[indexStringData] = 0;
mbedalvaro 43:1dd4cfc30788 928 indexStringData = 0;
mbedalvaro 43:1dd4cfc30788 929 // Serial.println(receivedStringData); // for tests
mbedalvaro 43:1dd4cfc30788 930 // convert to float and store in auxiliary "matrix" array:
mbedalvaro 43:1dd4cfc30788 931 auxDataBuffer[auxDataBuffer_index] = atof(receivedStringData);
mbedalvaro 43:1dd4cfc30788 932 //Serial.println( auxDataBuffer[auxDataBuffer_index]); // for tests
mbedalvaro 43:1dd4cfc30788 933 auxDataBuffer_index++;
mbedalvaro 43:1dd4cfc30788 934 }
mbedalvaro 43:1dd4cfc30788 935
mbedalvaro 40:3ba2b0ea9f33 936 // Enable/disable projection:
mbedalvaro 40:3ba2b0ea9f33 937 else if (incomingByte == '}') {
mbedalvaro 40:3ba2b0ea9f33 938 stopDisplay();
mbedalvaro 40:3ba2b0ea9f33 939 } else if (incomingByte == '{') {
mbedalvaro 40:3ba2b0ea9f33 940 resumeDisplay();
mbedalvaro 40:3ba2b0ea9f33 941 }
mbedalvaro 40:3ba2b0ea9f33 942
mbedalvaro 40:3ba2b0ea9f33 943 // Show maximum excursion of mirrors:
mbedalvaro 40:3ba2b0ea9f33 944 else if (incomingByte == '*') {
mbedalvaro 43:1dd4cfc30788 945 showLimitsMirrors(50, 1);
mbedalvaro 40:3ba2b0ea9f33 946 }
mbedalvaro 42:5f21a710ebc5 947
mbedalvaro 43:1dd4cfc30788 948 else if (incomingByte=='_') {
mbedalvaro 43:1dd4cfc30788 949 clearScene();
mbedalvaro 43:1dd4cfc30788 950 }
mbedalvaro 40:3ba2b0ea9f33 951
mbedalvaro 40:3ba2b0ea9f33 952 else if (incomingByte == '+') {
mbedalvaro 40:3ba2b0ea9f33 953 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 954 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 955 switch(atoi(receivedStringData)) {
mbedalvaro 40:3ba2b0ea9f33 956 case 0:
mbedalvaro 40:3ba2b0ea9f33 957 currentSensingMode=NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 958 break;
mbedalvaro 40:3ba2b0ea9f33 959 case 1:
mbedalvaro 40:3ba2b0ea9f33 960 currentSensingMode=SENSING_WHOLE_SCENE;
mbedalvaro 40:3ba2b0ea9f33 961 break;
mbedalvaro 40:3ba2b0ea9f33 962 case 2:
mbedalvaro 40:3ba2b0ea9f33 963 currentSensingMode=SENSING_PER_OBJECT;
mbedalvaro 40:3ba2b0ea9f33 964 break;
mbedalvaro 40:3ba2b0ea9f33 965 default:
mbedalvaro 40:3ba2b0ea9f33 966 break;
mbedalvaro 40:3ba2b0ea9f33 967 }
mbedalvaro 40:3ba2b0ea9f33 968 }
mbedalvaro 40:3ba2b0ea9f33 969
mbedalvaro 40:3ba2b0ea9f33 970 // Performs a scan of the surface and send all the data serially (N>, with N the resolution of the scan)
mbedalvaro 40:3ba2b0ea9f33 971 else if (incomingByte == '>') {
mbedalvaro 40:3ba2b0ea9f33 972 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 973 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 974 //pc.printf("scan command issued¥n");
mbedalvaro 40:3ba2b0ea9f33 975 scanSerial(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 976 }
mbedalvaro 40:3ba2b0ea9f33 977
mbedalvaro 40:3ba2b0ea9f33 978 // Recompute the LUT table
mbedalvaro 40:3ba2b0ea9f33 979 else if (incomingByte == '<') {
mbedalvaro 40:3ba2b0ea9f33 980 recomputeLookUpTable();
mbedalvaro 40:3ba2b0ea9f33 981 }
mbedalvaro 40:3ba2b0ea9f33 982
mbedalvaro 40:3ba2b0ea9f33 983 // Change state machine color (objects created from this point on will have the state machine color)
mbedalvaro 40:3ba2b0ea9f33 984 else if (incomingByte == '(') { // example: 0( (all OFF), 1( blue ON, 2( green ON, 4( red ON, 3( blue and green ON; etc.
mbedalvaro 40:3ba2b0ea9f33 985 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 986 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 987 // convert to integer and set the state machine color:
mbedalvaro 40:3ba2b0ea9f33 988 lsr.setColor(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 989 }
mbedalvaro 40:3ba2b0ea9f33 990
mbedalvaro 40:3ba2b0ea9f33 991 // Real time change of color of ALL the objects in the CURRENT scene (state machine color not changed)
mbedalvaro 40:3ba2b0ea9f33 992 else if (incomingByte == ')') { // example: 0) (all OFF), 1) blue ON, 2) green ON, 4) red ON, 3) blue and green ON; etc.
mbedalvaro 40:3ba2b0ea9f33 993 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 994 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 995 // convert to integer and set the color:
mbedalvaro 40:3ba2b0ea9f33 996 changeColorScene(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 997 }
mbedalvaro 40:3ba2b0ea9f33 998
mbedalvaro 40:3ba2b0ea9f33 999
mbedalvaro 40:3ba2b0ea9f33 1000 // Produce a grid of points. The projection is ORTHOGRAPHIC. Also, POSE is reset to identity (i.e., the sent points should have
mbedalvaro 40:3ba2b0ea9f33 1001 // been translated previously - this may be optional, we could first send the pose, then the points...)
mbedalvaro 40:3ba2b0ea9f33 1002 // Note: orthographic projection can be achieved by simply setting the projection matrix to ID, while
mbedalvaro 40:3ba2b0ea9f33 1003 // setting Z to 1, or by setting the projection matrix to a unit diagonal but the last term in the diagonal is set to 0.
mbedalvaro 40:3ba2b0ea9f33 1004 // Finally, if one wants to avoid an unnecessary matrix product, the laserRendering class provides a renderingMode that can be set to RAW.
mbedalvaro 40:3ba2b0ea9f33 1005 // NOTE: the following string of ASCII characters is assumed to have been input:
mbedalvaro 40:3ba2b0ea9f33 1006 // posX#posY#sizeX#sizeY#nx#ny#:
mbedalvaro 40:3ba2b0ea9f33 1007 // where the names (ex: posX) is in fact an ASCII string representing the number in decimal base. This means that when we arrive here,
mbedalvaro 40:3ba2b0ea9f33 1008 // the auxiliary array auxDataBuffer contains all that data (as floats), ex: auxDataBuffer[0] is just posX, and auxDataBuffer[5] is ny
mbedalvaro 40:3ba2b0ea9f33 1009 else if (incomingByte == ':') {
mbedalvaro 40:3ba2b0ea9f33 1010 // Data is now ordered in the auxDataBuffer array:
mbedalvaro 40:3ba2b0ea9f33 1011 float posX = auxDataBuffer[0], posY = auxDataBuffer[1], sizeX = auxDataBuffer[2], sizeY = auxDataBuffer[3], nx = auxDataBuffer[4], ny = auxDataBuffer[5];
mbedalvaro 40:3ba2b0ea9f33 1012 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1013 clearScene();
mbedalvaro 40:3ba2b0ea9f33 1014 // set color:
mbedalvaro 40:3ba2b0ea9f33 1015 lsr.setColor(0x02); // green
mbedalvaro 40:3ba2b0ea9f33 1016 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 42:5f21a710ebc5 1017
mbedalvaro 40:3ba2b0ea9f33 1018 // set local pose matrix to identity:
mbedalvaro 40:3ba2b0ea9f33 1019 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 1020 // translate to the required position:
mbedalvaro 40:3ba2b0ea9f33 1021 lsr.translate(posX, posY, 0); // since the projection and pose are going to be set
mbedalvaro 40:3ba2b0ea9f33 1022 // to Identity (projection identity will automatically make the projection orthographic), this means that these
mbedalvaro 40:3ba2b0ea9f33 1023 // values are in "laser projector pixels" (in fact angles).
mbedalvaro 40:3ba2b0ea9f33 1024 // Create the collection of dot objects:
mbedalvaro 40:3ba2b0ea9f33 1025 // void grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 1026 grid(sizeX, sizeY, nx, ny, 1);
mbedalvaro 40:3ba2b0ea9f33 1027 updateScene(); // this is important: this will compute the number of objects, points, etc, to prepare the displaying engine (but rendering is NOT yet done,
mbedalvaro 40:3ba2b0ea9f33 1028 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 1029
mbedalvaro 40:3ba2b0ea9f33 1030 // Now we can render the scene once:
mbedalvaro 40:3ba2b0ea9f33 1031 // Set a default GLOBAL POSE and orthographic projection for rendering and start displaying:
mbedalvaro 40:3ba2b0ea9f33 1032 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 1033 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 1034 drawScene(); // this will be called when we change the pose matrix - but needs to be called at least one to start displaying
mbedalvaro 40:3ba2b0ea9f33 1035 }
mbedalvaro 40:3ba2b0ea9f33 1036 // NOTE: now that the grid is set, we don't need to do it again when changing the pose: JUST SEND THE POSE MATRIX and things will be re-rendered!
mbedalvaro 40:3ba2b0ea9f33 1037
mbedalvaro 40:3ba2b0ea9f33 1038 // This means we received "2D" vertex data (z assumed 0) to create a single scene out of these points (we will create a single object)
mbedalvaro 40:3ba2b0ea9f33 1039 // using orthographic projection.
mbedalvaro 40:3ba2b0ea9f33 1040 // This is in particular useful to create "structured light" grids - such the grid of planar points for calibration.
mbedalvaro 40:3ba2b0ea9f33 1041 // In the future, we can have functions to add objects, etc. Basically, every wrapped function should be call-able by the PC.
mbedalvaro 40:3ba2b0ea9f33 1042 // NOTE: the POSE is reset to ID, but we could use the current pose (i.e., send it first by the computer). But for the time being, and in order to modify the
mbedalvaro 40:3ba2b0ea9f33 1043 // cameraProjectorCalibration Xcode project as little as possible, I will perform the transformations on the computer.
mbedalvaro 43:1dd4cfc30788 1044 else if (incomingByte == '@') { // ID of the object
mbedalvaro 43:1dd4cfc30788 1045 command1="objectID";
mbedalvaro 43:1dd4cfc30788 1046 interpretCommand();
mbedalvaro 43:1dd4cfc30788 1047 }
mbedalvaro 43:1dd4cfc30788 1048
mbedalvaro 43:1dd4cfc30788 1049 else if (incomingByte == '~') { // this is for setting the POSITION of the object to be created:
mbedalvaro 43:1dd4cfc30788 1050 command1="initialPosition";
mbedalvaro 43:1dd4cfc30788 1051 interpretCommand();
mbedalvaro 43:1dd4cfc30788 1052
mbedalvaro 43:1dd4cfc30788 1053 }
mbedalvaro 43:1dd4cfc30788 1054
mbedalvaro 43:1dd4cfc30788 1055
mbedalvaro 43:1dd4cfc30788 1056 else if (incomingByte == '=') { // Create 2d object:
mbedalvaro 43:1dd4cfc30788 1057 command1 = "createObject2D";
mbedalvaro 43:1dd4cfc30788 1058 interpretCommand();
mbedalvaro 40:3ba2b0ea9f33 1059 }
mbedalvaro 40:3ba2b0ea9f33 1060
mbedalvaro 40:3ba2b0ea9f33 1061 // This means we received 3D vertex data to create a single scene out of these points (we will create a single object).
mbedalvaro 40:3ba2b0ea9f33 1062 // It will be rendered in the CURRENT pose.
mbedalvaro 40:3ba2b0ea9f33 1063 else if (incomingByte == ';') {
mbedalvaro 40:3ba2b0ea9f33 1064 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 1065 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 1066 lsr.pushPoseMatrix(); // we will render on the current pose...
mbedalvaro 40:3ba2b0ea9f33 1067 clearScene();
mbedalvaro 40:3ba2b0ea9f33 1068 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 1069 //lsr.setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 1070 begin(1);
mbedalvaro 40:3ba2b0ea9f33 1071 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 1072 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],
mbedalvaro 40:3ba2b0ea9f33 1073 auxDataBuffer[3 * i + 2]);
mbedalvaro 40:3ba2b0ea9f33 1074 }
mbedalvaro 40:3ba2b0ea9f33 1075 end();
mbedalvaro 40:3ba2b0ea9f33 1076 updateScene();
mbedalvaro 40:3ba2b0ea9f33 1077 // Set a default GLOBAL POSE and ORTHO projection matrix for start displaying, or use the CURRENT ONE (for that, we should have
mbedalvaro 40:3ba2b0ea9f33 1078 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 1079 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 1080 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 1081 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 1082 drawScene();
mbedalvaro 40:3ba2b0ea9f33 1083 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1084 }
mbedalvaro 40:3ba2b0ea9f33 1085
mbedalvaro 40:3ba2b0ea9f33 1086
mbedalvaro 40:3ba2b0ea9f33 1087 /*
mbedalvaro 40:3ba2b0ea9f33 1088 else if (incomingByte=='!') { // sets the width of the letter
mbedalvaro 40:3ba2b0ea9f33 1089 receivedStringData[indexStringData]=0;
mbedalvaro 40:3ba2b0ea9f33 1090 indexStringData=0;
mbedalvaro 40:3ba2b0ea9f33 1091 fontWidth=atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 1092 createTextScene(); // needed because we changed the geometry
mbedalvaro 40:3ba2b0ea9f33 1093 }
mbedalvaro 40:3ba2b0ea9f33 1094
mbedalvaro 40:3ba2b0ea9f33 1095 else if (incomingByte=='"') { // sets the height of the letter
mbedalvaro 40:3ba2b0ea9f33 1096 receivedStringData[indexStringData]=0;
mbedalvaro 40:3ba2b0ea9f33 1097 indexStringData=0;
mbedalvaro 40:3ba2b0ea9f33 1098 fontHeight=atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 1099 createTextScene(); // needed because we changed the geometry
mbedalvaro 40:3ba2b0ea9f33 1100 }
mbedalvaro 40:3ba2b0ea9f33 1101 */
mbedalvaro 40:3ba2b0ea9f33 1102
mbedalvaro 40:3ba2b0ea9f33 1103 // (c) TERMINATOR indicating the data was text to display:
mbedalvaro 40:3ba2b0ea9f33 1104 else if (incomingByte == '"') { // this means that the previous data was TEXT to display
mbedalvaro 43:1dd4cfc30788 1105 command1="createText";
mbedalvaro 43:1dd4cfc30788 1106 interpretCommand();
mbedalvaro 43:1dd4cfc30788 1107 }
mbedalvaro 40:3ba2b0ea9f33 1108
mbedalvaro 40:3ba2b0ea9f33 1109 // (d) TERMINATOR indicating data was for the POSE MATRIX of the object (Mp) (with respect to the CAMERA):
mbedalvaro 40:3ba2b0ea9f33 1110 else if (incomingByte == '$') { // when receiving this character, it means that the WHOLE matrix data (4x4 values) have been sent (with '#' separator), in row/column format
mbedalvaro 40:3ba2b0ea9f33 1111 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1112 // Now, auxDataBuffer is a buffer with 12 values (4x3), corresponding to the pose of the object in CAMERA coordinartes (RT')
mbedalvaro 40:3ba2b0ea9f33 1113 lsr.setIdentityPose(); // RT=ID
mbedalvaro 40:3ba2b0ea9f33 1114 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 1115 lsr.multPoseMatrix(auxDataBuffer); // RT=ExRT' : this sets RT as the current object pose in PROJECTOR coordinates
mbedalvaro 40:3ba2b0ea9f33 1116
mbedalvaro 40:3ba2b0ea9f33 1117 drawScene(); // needed because we changed the POSE (but there is no need to re-create the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 1118
mbedalvaro 40:3ba2b0ea9f33 1119 // Handshake:
mbedalvaro 40:3ba2b0ea9f33 1120 pc.putc(13);
mbedalvaro 40:3ba2b0ea9f33 1121 }
mbedalvaro 40:3ba2b0ea9f33 1122
mbedalvaro 40:3ba2b0ea9f33 1123 // (d) TERMINATOR indicating data was for the projection matrix (will probably be saved in "hard" in the microcontroller code):
mbedalvaro 40:3ba2b0ea9f33 1124 else if (incomingByte == '%') { // when receiving this character, it means that the WHOLE matrix data (3x3 values) have been sent (with '#' separator), in row/column format
mbedalvaro 40:3ba2b0ea9f33 1125 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1126 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 1127 lsr.loadProjMatrix(auxDataBuffer, 1.0);
mbedalvaro 40:3ba2b0ea9f33 1128
mbedalvaro 40:3ba2b0ea9f33 1129 drawScene(); // needed because we changed the PROJECTION matrix (but there is no need to re-create all the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 1130 }
mbedalvaro 40:3ba2b0ea9f33 1131
mbedalvaro 40:3ba2b0ea9f33 1132 //(e) TERMINATOR indicating the data was for the extrinsic matrix:
mbedalvaro 40:3ba2b0ea9f33 1133 else if (incomingByte == '&') { // when receiving this character, it means that the WHOLE matrix data (3x3 values) have been sent (with '#' separator), in row/column format
mbedalvaro 40:3ba2b0ea9f33 1134 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1135 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 1136 lsr.loadExtrinsicsMatrix(auxDataBuffer);
mbedalvaro 40:3ba2b0ea9f33 1137
mbedalvaro 40:3ba2b0ea9f33 1138 drawScene(); // needed because we changed the EXTRINSICS (hence the pose), but there is no need to re-create the geometry, just project.
mbedalvaro 40:3ba2b0ea9f33 1139 }
mbedalvaro 40:3ba2b0ea9f33 1140
mbedalvaro 40:3ba2b0ea9f33 1141 }
mbedalvaro 40:3ba2b0ea9f33 1142 }