Laser Sensing Display for UI interfaces in the real world
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classLaserSensingTrajectory.cpp@0:345b3bc7a0ea, 2012-03-28 (annotated)
- Committer:
- mbedalvaro
- Date:
- Wed Mar 28 14:40:01 2012 +0000
- Revision:
- 0:345b3bc7a0ea
- Child:
- 3:b44ff6de81bd
This version (using rigid frame, base and child classes, etc) works, but the blob is strangely smaller. Need to check this.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedalvaro | 0:345b3bc7a0ea | 1 | #include "classLaserSensingTrajectory.h" |
mbedalvaro | 0:345b3bc7a0ea | 2 | |
mbedalvaro | 0:345b3bc7a0ea | 3 | LaserSensingTrajectory::LaserSensingTrajectory(): lightTouched(false) { |
mbedalvaro | 0:345b3bc7a0ea | 4 | } |
mbedalvaro | 0:345b3bc7a0ea | 5 | |
mbedalvaro | 0:345b3bc7a0ea | 6 | LaserSensingTrajectory::~LaserSensingTrajectory() { |
mbedalvaro | 0:345b3bc7a0ea | 7 | // lsdTrajectory.clear(); // there is no need to clear the vector, the destructor of this vector is called by default (and it's NOT a vector of pointers) |
mbedalvaro | 0:345b3bc7a0ea | 8 | } |
mbedalvaro | 0:345b3bc7a0ea | 9 | |
mbedalvaro | 0:345b3bc7a0ea | 10 | void LaserSensingTrajectory::processSensedData() { |
mbedalvaro | 0:345b3bc7a0ea | 11 | // Compute max and min intensity on the loop |
mbedalvaro | 0:345b3bc7a0ea | 12 | maxI=0; |
mbedalvaro | 0:345b3bc7a0ea | 13 | minI=4096; |
mbedalvaro | 0:345b3bc7a0ea | 14 | for (int i = 0; i < lsdTrajectory.size(); i++) { |
mbedalvaro | 0:345b3bc7a0ea | 15 | float mesI=lsdTrajectory[i].intensity; |
mbedalvaro | 0:345b3bc7a0ea | 16 | if (maxI<mesI) maxI=mesI; |
mbedalvaro | 0:345b3bc7a0ea | 17 | if (minI>mesI) minI=mesI; |
mbedalvaro | 0:345b3bc7a0ea | 18 | } |
mbedalvaro | 0:345b3bc7a0ea | 19 | |
mbedalvaro | 0:345b3bc7a0ea | 20 | // Compute autoThreshold: |
mbedalvaro | 0:345b3bc7a0ea | 21 | if (1.0*maxI/(minI+0.1) > MIN_CONTRAST_RATIO ) { |
mbedalvaro | 0:345b3bc7a0ea | 22 | autoThreshold = 1.0 * (maxI-minI) * THRESHOLD_FACTOR + minI; // THRESHOLD_FACTOR = 2/3 or 1/2 is a good value. |
mbedalvaro | 0:345b3bc7a0ea | 23 | } else {// ... otherwise, we consider that the saccade is FULL on something white |
mbedalvaro | 0:345b3bc7a0ea | 24 | autoThreshold=-1; |
mbedalvaro | 0:345b3bc7a0ea | 25 | } |
mbedalvaro | 0:345b3bc7a0ea | 26 | |
mbedalvaro | 0:345b3bc7a0ea | 27 | // Segment the trajectory (only two levels for the time being, but we can have more - meaning different forces, real or even complex values to have different angle forces...): |
mbedalvaro | 0:345b3bc7a0ea | 28 | // NOTE: if using 1 and -1 instead of 1 and 0, we can avoid having to add a "blob internal pressure"! -1 means a force towards the interior, and +1 outwards... |
mbedalvaro | 0:345b3bc7a0ea | 29 | // This means that the loop will naturally become inside-out depending on the color of the main surface! (but will mantain its normal size). Much better and elegant solution than the |
mbedalvaro | 0:345b3bc7a0ea | 30 | // idea of the blob "constant" internal pressure... |
mbedalvaro | 0:345b3bc7a0ea | 31 | lightTouched=false; |
mbedalvaro | 0:345b3bc7a0ea | 32 | for (int i = 0; i < lsdTrajectory.size(); i++) { |
mbedalvaro | 0:345b3bc7a0ea | 33 | if (lsdTrajectory[i].intensity>autoThreshold) { // this means a WHITE zone: |
mbedalvaro | 0:345b3bc7a0ea | 34 | lsdTrajectory[i].lightZone= -1;//1; |
mbedalvaro | 0:345b3bc7a0ea | 35 | } else { // something touched: DARK ZONE |
mbedalvaro | 0:345b3bc7a0ea | 36 | lsdTrajectory[i].lightZone= 2;//0; |
mbedalvaro | 0:345b3bc7a0ea | 37 | lightTouched=true; // (for the whole loop) |
mbedalvaro | 0:345b3bc7a0ea | 38 | } |
mbedalvaro | 0:345b3bc7a0ea | 39 | } |
mbedalvaro | 0:345b3bc7a0ea | 40 | } |