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@40:3ba2b0ea9f33, 2013-10-16 (annotated)

Committer:
mbedalvaro
Date:
Wed Oct 16 16:14:27 2013 +0000
Revision:
40:3ba2b0ea9f33
Parent:
37:fa6b1f15819f
Child:
41:74e24a0e6e50
ca compile

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 40:3ba2b0ea9f33 1 /*
mbedalvaro 40:3ba2b0ea9f33 2
mbedalvaro 40:3ba2b0ea9f33 3 - NOTE: I could instantiate at least 960 points! (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 40:3ba2b0ea9f33 6 */
mbedalvaro 40:3ba2b0ea9f33 7
mbedalvaro 40:3ba2b0ea9f33 8 #include "mbed.h"
mbedalvaro 40:3ba2b0ea9f33 9 #include "mbedOSC.h"
mbedalvaro 40:3ba2b0ea9f33 10
mbedalvaro 40:3ba2b0ea9f33 11 // Ethernet can be created with *either* an address assigned by DHCP or a static IP address. Uncomment the define line for DHCP
mbedalvaro 40:3ba2b0ea9f33 12 //#define DHCP
mbedalvaro 40:3ba2b0ea9f33 13 #ifdef DHCP
mbedalvaro 40:3ba2b0ea9f33 14 EthernetNetIf eth;
mbedalvaro 40:3ba2b0ea9f33 15 #else
mbedalvaro 40:3ba2b0ea9f33 16 EthernetNetIf eth(
mbedalvaro 40:3ba2b0ea9f33 17 IpAddr(10,0,0,2), //IP Address
mbedalvaro 40:3ba2b0ea9f33 18 IpAddr(255,255,255,0), //Network Mask
mbedalvaro 40:3ba2b0ea9f33 19 IpAddr(10,0,0,1), //Gateway
mbedalvaro 40:3ba2b0ea9f33 20 IpAddr(10,0,0,1) //DNS
mbedalvaro 40:3ba2b0ea9f33 21 );
mbedalvaro 40:3ba2b0ea9f33 22 #endif
mbedalvaro 40:3ba2b0ea9f33 23
mbedalvaro 40:3ba2b0ea9f33 24 //// OSC
mbedalvaro 40:3ba2b0ea9f33 25 // The message objects to send and receive with
mbedalvaro 40:3ba2b0ea9f33 26 OSCMessage recMes;
mbedalvaro 40:3ba2b0ea9f33 27 OSCMessage sendMes;
mbedalvaro 40:3ba2b0ea9f33 28
mbedalvaro 40:3ba2b0ea9f33 29 // Setting - The port we're listening to on the mbed for OSC messages
mbedalvaro 40:3ba2b0ea9f33 30 unsigned short serverPort = 10000;
mbedalvaro 40:3ba2b0ea9f33 31
mbedalvaro 40:3ba2b0ea9f33 32 // Setting - The address and port we're going to send to, from the mbed
mbedalvaro 40:3ba2b0ea9f33 33 uint8_t destIp[] = { 10, 0, 0, 1};
mbedalvaro 40:3ba2b0ea9f33 34 int destPort = 12000;
mbedalvaro 40:3ba2b0ea9f33 35
mbedalvaro 40:3ba2b0ea9f33 36 // The object to do the work of sending and receiving
mbedalvaro 40:3ba2b0ea9f33 37 OSCClass osc;
mbedalvaro 40:3ba2b0ea9f33 38 void processOSC(UDPSocketEvent e);
mbedalvaro 40:3ba2b0ea9f33 39
mbedalvaro 40:3ba2b0ea9f33 40
mbedalvaro 40:3ba2b0ea9f33 41 #include "WrapperFunctions.h"
mbedalvaro 40:3ba2b0ea9f33 42
mbedalvaro 40:3ba2b0ea9f33 43 // The following is because I still did not "wrap" the LaserRenderer methods (so we have to use the object lsr directly, for instance to set a matrix: lsr.setIdentityPose()...)
mbedalvaro 40:3ba2b0ea9f33 44 #include "LaserRenderer.h"
mbedalvaro 40:3ba2b0ea9f33 45 extern LaserRenderer lsr;
mbedalvaro 40:3ba2b0ea9f33 46
mbedalvaro 40:3ba2b0ea9f33 47 // for tests:
mbedalvaro 40:3ba2b0ea9f33 48 extern Scene scene;
mbedalvaro 40:3ba2b0ea9f33 49 extern laserSensingDisplay lsd;
mbedalvaro 40:3ba2b0ea9f33 50
mbedalvaro 40:3ba2b0ea9f33 51 // =======================================================
mbedalvaro 40:3ba2b0ea9f33 52
mbedalvaro 40:3ba2b0ea9f33 53 // Timers:
mbedalvaro 40:3ba2b0ea9f33 54 Timer t; // we can read in ms or us
mbedalvaro 40:3ba2b0ea9f33 55
mbedalvaro 40:3ba2b0ea9f33 56 // Tickers:
mbedalvaro 40:3ba2b0ea9f33 57 //Ticker timerForRendering; // now in the WrapperFunctions.cpp file
mbedalvaro 40:3ba2b0ea9f33 58 //Ticker timerForSendingData; // better use a timer, so as not to interrupt the exact laser display ticker
mbedalvaro 40:3ba2b0ea9f33 59 unsigned long lastTimeCreated;
mbedalvaro 40:3ba2b0ea9f33 60 unsigned long lastTimeSensed;
mbedalvaro 40:3ba2b0ea9f33 61
mbedalvaro 40:3ba2b0ea9f33 62 // ======================================================================================================================
mbedalvaro 40:3ba2b0ea9f33 63 // DEFAULT CALIBRATION MATRICES (Extrinsics and Intrinsics).
mbedalvaro 40:3ba2b0ea9f33 64 // -> would be better to load them from a system file!! (TO DO)
mbedalvaro 40:3ba2b0ea9f33 65 // Note: last row is completed automatically in the loadExtrinsicMatrix and loadProjMatrix methods
mbedalvaro 40:3ba2b0ea9f33 66 // Extrinsics of usb camera to projector (note: calibration was in cm, so the translation vector is in cm)
mbedalvaro 40:3ba2b0ea9f33 67 float E1[12] = {9.8946330287356954e-01, -5.0979372852926171e-03, -1.4469410251272136e-01, 5.8356271792647112e+00,
mbedalvaro 40:3ba2b0ea9f33 68 -4.7536907255693065e-03, 9.9769720674821438e-01, -6.7658599389111715e-02, -6.0821695799283804e+00,
mbedalvaro 40:3ba2b0ea9f33 69 1.4470582120637832e-01, 6.7633532232509466e-02, 9.8716053943963022e-01, -8.2545447546057940e+00
mbedalvaro 40:3ba2b0ea9f33 70 };
mbedalvaro 40:3ba2b0ea9f33 71
mbedalvaro 40:3ba2b0ea9f33 72 // 9.9540692993883650e-01, -8.5578652572728450e-03, -9.5350966287597705e-02, 2.2256570914518332e+00,
mbedalvaro 40:3ba2b0ea9f33 73 // 1.4872282274740087e-02, 9.9772789680840523e-01, 6.5710418886328711e-02, -6.9310510316834923e+00,
mbedalvaro 40:3ba2b0ea9f33 74 // 9.4571978141945845e-02, -6.6826692814433777e-02, 9.9327253766416224e-01, 1.0699927478132011e+01
mbedalvaro 40:3ba2b0ea9f33 75 //};
mbedalvaro 40:3ba2b0ea9f33 76
mbedalvaro 40:3ba2b0ea9f33 77
mbedalvaro 40:3ba2b0ea9f33 78 // INTRINSICS of laser projector:
mbedalvaro 40:3ba2b0ea9f33 79 float K1[6] = { 5.9957148864529627e+03, 0.0000000e+000, 2.8869455045867635e+03,
mbedalvaro 40:3ba2b0ea9f33 80 0.0000000e+000, 5.9647451141521778e+03, 2.9005238051336592e+03
mbedalvaro 40:3ba2b0ea9f33 81 };
mbedalvaro 40:3ba2b0ea9f33 82
mbedalvaro 40:3ba2b0ea9f33 83 // 7.0776317995422105e+03, 0., 2.4203185896583996e+03,
mbedalvaro 40:3ba2b0ea9f33 84 // 0., 7.2889265345161484e+03, 1.7718110988625751e+03};
mbedalvaro 40:3ba2b0ea9f33 85
mbedalvaro 40:3ba2b0ea9f33 86 // SCALE FACTOR for the SCAN:
mbedalvaro 40:3ba2b0ea9f33 87 float scaleFactorProjector1 = 1.0; //scale factor for the projector image (the scan is, say, 600x600, but the resolution is 4096x4096)
mbedalvaro 40:3ba2b0ea9f33 88
mbedalvaro 40:3ba2b0ea9f33 89 // ======================================================================================================================
mbedalvaro 40:3ba2b0ea9f33 90 // LASER TERMINAL:
mbedalvaro 40:3ba2b0ea9f33 91 // We assume that the "terminal" is operating on an a4 page. Units are in cm.
mbedalvaro 40:3ba2b0ea9f33 92 V2 cursorPosition(0,0);
mbedalvaro 40:3ba2b0ea9f33 93
mbedalvaro 40:3ba2b0ea9f33 94 void createTextScene();
mbedalvaro 40:3ba2b0ea9f33 95 float angle;
mbedalvaro 40:3ba2b0ea9f33 96 string textToDisplay = "HELLO";
mbedalvaro 40:3ba2b0ea9f33 97 float fontWidth = 2.5, fontHeight = 2.5; // if calibration is in cm, then this is in cm.
mbedalvaro 40:3ba2b0ea9f33 98
mbedalvaro 40:3ba2b0ea9f33 99
mbedalvaro 40:3ba2b0ea9f33 100 // ==============================================================================================================
mbedalvaro 40:3ba2b0ea9f33 101 // Some global functions and variables (find a better way to integrate this!)
mbedalvaro 40:3ba2b0ea9f33 102 extern "C" void mbed_reset();
mbedalvaro 40:3ba2b0ea9f33 103
mbedalvaro 40:3ba2b0ea9f33 104 void createSceneTest();
mbedalvaro 40:3ba2b0ea9f33 105
mbedalvaro 40:3ba2b0ea9f33 106 void interpretData();
mbedalvaro 40:3ba2b0ea9f33 107 void processOSC();
mbedalvaro 40:3ba2b0ea9f33 108 void processSerial();
mbedalvaro 40:3ba2b0ea9f33 109
mbedalvaro 40:3ba2b0ea9f33 110 int touchedTimes = 0;
mbedalvaro 40:3ba2b0ea9f33 111 enum sensingModes {NO_SENSING, SENSING_WHOLE_SCENE, SENSING_PER_OBJECT};
mbedalvaro 40:3ba2b0ea9f33 112 sensingModes currentSensingMode=SENSING_PER_OBJECT;//NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 113
mbedalvaro 40:3ba2b0ea9f33 114 // ==============================================================================================================
mbedalvaro 40:3ba2b0ea9f33 115 int main()
mbedalvaro 40:3ba2b0ea9f33 116 {
mbedalvaro 40:3ba2b0ea9f33 117
mbedalvaro 40:3ba2b0ea9f33 118 t.start();
mbedalvaro 40:3ba2b0ea9f33 119 lastTimeCreated = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 120 lastTimeSensed = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 121 angle = 0;
mbedalvaro 40:3ba2b0ea9f33 122
mbedalvaro 40:3ba2b0ea9f33 123 // Setup:
mbedalvaro 40:3ba2b0ea9f33 124 // (1) Hardware init (laser powers, positions...):
mbedalvaro 40:3ba2b0ea9f33 125 IO.init();
mbedalvaro 40:3ba2b0ea9f33 126
mbedalvaro 40:3ba2b0ea9f33 127 // OSC initialization:
mbedalvaro 40:3ba2b0ea9f33 128 // =====================================================
mbedalvaro 40:3ba2b0ea9f33 129 //// TASK: Set up the Ethernet port
mbedalvaro 40:3ba2b0ea9f33 130 printf("Setting up ethernet...\r\n");
mbedalvaro 40:3ba2b0ea9f33 131 EthernetErr ethErr = eth.setup();
mbedalvaro 40:3ba2b0ea9f33 132 if (ethErr) {
mbedalvaro 40:3ba2b0ea9f33 133 printf("Ethernet Failed to setup. Error: %d\r\n", ethErr);
mbedalvaro 40:3ba2b0ea9f33 134 return -1;
mbedalvaro 40:3ba2b0ea9f33 135 }
mbedalvaro 40:3ba2b0ea9f33 136 printf("Ethernet OK\r\n");
mbedalvaro 40:3ba2b0ea9f33 137
mbedalvaro 40:3ba2b0ea9f33 138 // SET OSC ===================================================================
mbedalvaro 40:3ba2b0ea9f33 139 //(1) Sending message:
mbedalvaro 40:3ba2b0ea9f33 140 // Set IP and Port:
mbedalvaro 40:3ba2b0ea9f33 141 sendMes.setIp( destIp );
mbedalvaro 40:3ba2b0ea9f33 142 sendMes.setPort( destPort );
mbedalvaro 40:3ba2b0ea9f33 143 // Set data:
mbedalvaro 40:3ba2b0ea9f33 144 // sendMes.setTopAddress(topAddress);
mbedalvaro 40:3ba2b0ea9f33 145
mbedalvaro 40:3ba2b0ea9f33 146 //setting osc functionnality:
mbedalvaro 40:3ba2b0ea9f33 147 //(2) Receiving:
mbedalvaro 40:3ba2b0ea9f33 148 // recMes.setIp( serverIp ); // not needed?
mbedalvaro 40:3ba2b0ea9f33 149 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 150 osc.begin(serverPort, &processOSC); // binds the upd (osc) messages to an arbitrary listening port ("server" port), and callback function
mbedalvaro 40:3ba2b0ea9f33 151 //===================================================================
mbedalvaro 40:3ba2b0ea9f33 152
mbedalvaro 40:3ba2b0ea9f33 153 /*
mbedalvaro 40:3ba2b0ea9f33 154 //EXAMPLE 1: simple geometry ======================================================
mbedalvaro 40:3ba2b0ea9f33 155 // (1) Calibration matrices (Projection, and extrinsics - if needed):
mbedalvaro 40:3ba2b0ea9f33 156 // Typically, the projection matrix is set from the PC side, or loaded by default (from file system).
mbedalvaro 40:3ba2b0ea9f33 157 lsr.loadProjMatrix(K1, scaleFactorProjector1); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 158
mbedalvaro 40:3ba2b0ea9f33 159 // (2) Create the scene in "local" coordinates:
mbedalvaro 40:3ba2b0ea9f33 160 createSceneTest(); // Create a default scene (for tests)
mbedalvaro 40:3ba2b0ea9f33 161
mbedalvaro 40:3ba2b0ea9f33 162 // (3) Set a default GLOBAL POSE and PROJECTION MATRIX (if we changed it) for rendering and start displaying:
mbedalvaro 40:3ba2b0ea9f33 163 // - Using the current K (that correct for the center of the camera too!):
mbedalvaro 40:3ba2b0ea9f33 164 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 165 //lsr.translate(0, 0, 2000);
mbedalvaro 40:3ba2b0ea9f33 166 // - or doing orthoprojection:
mbedalvaro 40:3ba2b0ea9f33 167 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 168 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 169 lsr.translate(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y, 0);
mbedalvaro 40:3ba2b0ea9f33 170 lsr.rotateZ(45);
mbedalvaro 40:3ba2b0ea9f33 171 drawScene();
mbedalvaro 40:3ba2b0ea9f33 172
mbedalvaro 40:3ba2b0ea9f33 173 // *** 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 174 lsr.startDisplay();
mbedalvaro 40:3ba2b0ea9f33 175
mbedalvaro 40:3ba2b0ea9f33 176 // (4) Main loop:
mbedalvaro 40:3ba2b0ea9f33 177 // Change the POSE when necessary (also called "viewing transformation" or "global modelview" in OpenGL jargon), render and display:
mbedalvaro 40:3ba2b0ea9f33 178 while (1) {
mbedalvaro 40:3ba2b0ea9f33 179
mbedalvaro 40:3ba2b0ea9f33 180 if (pc.readable())
mbedalvaro 40:3ba2b0ea9f33 181 processSerial(); // here, the pose can be changed by a pc command
mbedalvaro 40:3ba2b0ea9f33 182 hardwareKnobs();
mbedalvaro 40:3ba2b0ea9f33 183
mbedalvaro 40:3ba2b0ea9f33 184 if (0) { //((t.read_ms()-lastTimeCreated)>10) {
mbedalvaro 40:3ba2b0ea9f33 185 // for tests:
mbedalvaro 40:3ba2b0ea9f33 186 myLed2 = !myLed2;
mbedalvaro 40:3ba2b0ea9f33 187
mbedalvaro 40:3ba2b0ea9f33 188 angle += 1;
mbedalvaro 40:3ba2b0ea9f33 189 if (angle > 360)
mbedalvaro 40:3ba2b0ea9f33 190 angle = 0;
mbedalvaro 40:3ba2b0ea9f33 191
mbedalvaro 40:3ba2b0ea9f33 192 // Set the current global pose:
mbedalvaro 40:3ba2b0ea9f33 193 // 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 194 // lsr.translate(0, 0, 1000);
mbedalvaro 40:3ba2b0ea9f33 195 // lsr.rotateZ(angle);
mbedalvaro 40:3ba2b0ea9f33 196 // lsr.rotateX(2.5 * angle);
mbedalvaro 40:3ba2b0ea9f33 197
mbedalvaro 40:3ba2b0ea9f33 198 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 199 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 200 lsr.translate(CENTER_AD_MIRROR_X, CENTER_AD_MIRROR_Y, 0);
mbedalvaro 40:3ba2b0ea9f33 201 lsr.rotateZ(angle);
mbedalvaro 40:3ba2b0ea9f33 202 // lsr.rotateY( angle);
mbedalvaro 40:3ba2b0ea9f33 203
mbedalvaro 40:3ba2b0ea9f33 204 // 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 205 drawScene();
mbedalvaro 40:3ba2b0ea9f33 206
mbedalvaro 40:3ba2b0ea9f33 207 lastTimeCreated = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 208 } // end auto-change pose loop
mbedalvaro 40:3ba2b0ea9f33 209
mbedalvaro 40:3ba2b0ea9f33 210 if ((t.read_ms() - lastTimeSensed) > 50) { // check data sensing every xx ms
mbedalvaro 40:3ba2b0ea9f33 211 // Check objects and change colors or other properties as a function of the touch:
mbedalvaro 40:3ba2b0ea9f33 212 // NOTE: the testing #define debugDelayMirrors should not be defined in the laserSensingDisplay.h
mbedalvaro 40:3ba2b0ea9f33 213 // (note: we assume we are drawing the text).
mbedalvaro 40:3ba2b0ea9f33 214 // 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 215 for (int i = 0; i < scene.totalObjects(); i++) {
mbedalvaro 40:3ba2b0ea9f33 216 BaseObject* ptrObj = scene.objectArray[i];
mbedalvaro 40:3ba2b0ea9f33 217 if (ptrObj->sense()) { // this calls to ptrObj->displaySensingBuffer.processSensedData()
mbedalvaro 40:3ba2b0ea9f33 218 ptrObj->setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 219
mbedalvaro 40:3ba2b0ea9f33 220 // char str[15];
mbedalvaro 40:3ba2b0ea9f33 221 // sprintf(str, "%d", touchedTimes);
mbedalvaro 40:3ba2b0ea9f33 222 // textToDisplay=string(str);//string(itoa(touchedTimes));
mbedalvaro 40:3ba2b0ea9f33 223 // touchedTimes++;
mbedalvaro 40:3ba2b0ea9f33 224 // createTextScene();
mbedalvaro 40:3ba2b0ea9f33 225
mbedalvaro 40:3ba2b0ea9f33 226 } else
mbedalvaro 40:3ba2b0ea9f33 227 ptrObj->setColor(0x01);
mbedalvaro 40:3ba2b0ea9f33 228 }
mbedalvaro 40:3ba2b0ea9f33 229 lastTimeSensed = t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 230 } // end sensing loop
mbedalvaro 40:3ba2b0ea9f33 231
mbedalvaro 40:3ba2b0ea9f33 232 } // "end" infite loop
mbedalvaro 40:3ba2b0ea9f33 233 // =================================
mbedalvaro 40:3ba2b0ea9f33 234 */
mbedalvaro 40:3ba2b0ea9f33 235
mbedalvaro 40:3ba2b0ea9f33 236 // EXAMPLE 2: 3d text ======================================================
mbedalvaro 40:3ba2b0ea9f33 237
mbedalvaro 40:3ba2b0ea9f33 238 // (1) Calibration matrices:
mbedalvaro 40:3ba2b0ea9f33 239 // Typically, the projection and extrinsic matrix is set from the PC side, or loaded by default (from file system).
mbedalvaro 40:3ba2b0ea9f33 240 lsr.loadProjMatrix(K1, scaleFactorProjector1); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 241 lsr.loadExtrinsicsMatrix(E1);
mbedalvaro 40:3ba2b0ea9f33 242
mbedalvaro 40:3ba2b0ea9f33 243 // (2) Create the scene in "local" coordinates:
mbedalvaro 40:3ba2b0ea9f33 244 createTextScene(); // Create a default scene (for tests)
mbedalvaro 40:3ba2b0ea9f33 245
mbedalvaro 40:3ba2b0ea9f33 246 // (3) Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 40:3ba2b0ea9f33 247 lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 40:3ba2b0ea9f33 248 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 249 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 250
mbedalvaro 40:3ba2b0ea9f33 251 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 40:3ba2b0ea9f33 252 lsr.translate(0, 0, 130);
mbedalvaro 40:3ba2b0ea9f33 253
mbedalvaro 40:3ba2b0ea9f33 254 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 255
mbedalvaro 40:3ba2b0ea9f33 256 // *** 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 257 startDisplay();
mbedalvaro 40:3ba2b0ea9f33 258
mbedalvaro 40:3ba2b0ea9f33 259 // (4) Main loop:
mbedalvaro 40:3ba2b0ea9f33 260 while(true) {
mbedalvaro 40:3ba2b0ea9f33 261
mbedalvaro 40:3ba2b0ea9f33 262 // =========== Query hardware events (knobs, ethernet, serial port) ============
mbedalvaro 40:3ba2b0ea9f33 263 Net::poll(); // This polls the network connection for new activity, without keeping on calling this you won't receive any OSC!
mbedalvaro 40:3ba2b0ea9f33 264 if (pc.readable()) processSerial(); // here, the pose can be changed by a pc command
mbedalvaro 40:3ba2b0ea9f33 265 hardwareKnobs();
mbedalvaro 40:3ba2b0ea9f33 266 // =============================================================================
mbedalvaro 40:3ba2b0ea9f33 267
mbedalvaro 40:3ba2b0ea9f33 268 // Automatic change of pose for tests
mbedalvaro 40:3ba2b0ea9f33 269 if (0) {//(t.read_ms()-lastTimeCreated)>20) {
mbedalvaro 40:3ba2b0ea9f33 270 angle+=.2;
mbedalvaro 40:3ba2b0ea9f33 271 if (angle>360) angle=0;
mbedalvaro 40:3ba2b0ea9f33 272
mbedalvaro 40:3ba2b0ea9f33 273 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 274 lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 275 lsr.translate(0,0,1000);
mbedalvaro 40:3ba2b0ea9f33 276 lsr.rotateZ(angle);
mbedalvaro 40:3ba2b0ea9f33 277 //lsr.rotateX(angle);
mbedalvaro 40:3ba2b0ea9f33 278
mbedalvaro 40:3ba2b0ea9f33 279 drawScene();
mbedalvaro 40:3ba2b0ea9f33 280
mbedalvaro 40:3ba2b0ea9f33 281 lastTimeCreated=t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 282 }
mbedalvaro 40:3ba2b0ea9f33 283
mbedalvaro 40:3ba2b0ea9f33 284 if ((currentSensingMode!=NO_SENSING)&&((t.read_ms()-lastTimeSensed)>80)) { // check data sensing every xx ms
mbedalvaro 40:3ba2b0ea9f33 285 // Check objects and change colors or other properties as a function of the touch:
mbedalvaro 40:3ba2b0ea9f33 286 // NOTE: the testing #define debugDelayMirrors should not be defined in the laserSensingDisplay.h
mbedalvaro 40:3ba2b0ea9f33 287 // (note: we assume we are drawing the text).
mbedalvaro 40:3ba2b0ea9f33 288 // 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 289 switch(currentSensingMode) {
mbedalvaro 40:3ba2b0ea9f33 290 case SENSING_WHOLE_SCENE: // Sensing whole scene ----------
mbedalvaro 40:3ba2b0ea9f33 291 if (scene.sense()) {
mbedalvaro 40:3ba2b0ea9f33 292
mbedalvaro 40:3ba2b0ea9f33 293 // COUNTING:
mbedalvaro 40:3ba2b0ea9f33 294 // char str[15];
mbedalvaro 40:3ba2b0ea9f33 295 // sprintf(str, "%d", touchedTimes);
mbedalvaro 40:3ba2b0ea9f33 296 // textToDisplay=string(str);//string(itoa(touchedTimes));
mbedalvaro 40:3ba2b0ea9f33 297 // touchedTimes++;
mbedalvaro 40:3ba2b0ea9f33 298 // createTextScene();
mbedalvaro 40:3ba2b0ea9f33 299 // (3) Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 40:3ba2b0ea9f33 300 // lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 40:3ba2b0ea9f33 301 // lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 302 // lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 303 // This means that the current coordinate frame is the CAMERA, and calibration was in cm:
mbedalvaro 40:3ba2b0ea9f33 304 // lsr.translate(0, 0, 100);
mbedalvaro 40:3ba2b0ea9f33 305 ////lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 306 // 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 307 // }
mbedalvaro 40:3ba2b0ea9f33 308 }
mbedalvaro 40:3ba2b0ea9f33 309 break;
mbedalvaro 40:3ba2b0ea9f33 310 case SENSING_PER_OBJECT: // Per-object sensing and action:
mbedalvaro 40:3ba2b0ea9f33 311 for (int i=0; i<textToDisplay.length(); i++) {
mbedalvaro 40:3ba2b0ea9f33 312 BaseObject* ptrObj=scene.objectArray[i];
mbedalvaro 40:3ba2b0ea9f33 313 if (ptrObj->sense()) { // this calls to ptrObj->displaySensingBuffer.processSensedData()
mbedalvaro 40:3ba2b0ea9f33 314 ptrObj->setColor(0x02); // make it green
mbedalvaro 40:3ba2b0ea9f33 315
mbedalvaro 40:3ba2b0ea9f33 316 // for fun: let's rotate THIS letter:
mbedalvaro 40:3ba2b0ea9f33 317 //lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 318 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 319 //lsr.rotateX(180);
mbedalvaro 40:3ba2b0ea9f33 320 //transformObject(ptrObj);
mbedalvaro 40:3ba2b0ea9f33 321 //lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 322 // we need to redraw the scene (ie, reproject), or at least this object:
mbedalvaro 40:3ba2b0ea9f33 323 //lsr.renderObject(ptrObj, lsr.RT);
mbedalvaro 40:3ba2b0ea9f33 324
mbedalvaro 40:3ba2b0ea9f33 325 // or "highlight" the object by putting "cartouche" around it object (note: do this only if it did NOT have
mbedalvaro 40:3ba2b0ea9f33 326 //addCartoucheObject(ptrObj);
mbedalvaro 40:3ba2b0ea9f33 327
mbedalvaro 40:3ba2b0ea9f33 328 //pc.putc(i+48);
mbedalvaro 40:3ba2b0ea9f33 329
mbedalvaro 40:3ba2b0ea9f33 330 } else
mbedalvaro 40:3ba2b0ea9f33 331 ptrObj->setColor(0x01); // make it blue
mbedalvaro 40:3ba2b0ea9f33 332 }
mbedalvaro 40:3ba2b0ea9f33 333 break;
mbedalvaro 40:3ba2b0ea9f33 334 default:
mbedalvaro 40:3ba2b0ea9f33 335 break;
mbedalvaro 40:3ba2b0ea9f33 336 }
mbedalvaro 40:3ba2b0ea9f33 337 lastTimeSensed=t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 338 } // end sensing
mbedalvaro 40:3ba2b0ea9f33 339
mbedalvaro 40:3ba2b0ea9f33 340 } // infinite while loop
mbedalvaro 40:3ba2b0ea9f33 341 // =================================
mbedalvaro 40:3ba2b0ea9f33 342 }
mbedalvaro 40:3ba2b0ea9f33 343
mbedalvaro 40:3ba2b0ea9f33 344 void createSceneTest()
mbedalvaro 40:3ba2b0ea9f33 345 {
mbedalvaro 40:3ba2b0ea9f33 346 lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 347
mbedalvaro 40:3ba2b0ea9f33 348 // (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 349 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 350
mbedalvaro 40:3ba2b0ea9f33 351 // (2) Set displaying attributes (colors and local pose):
mbedalvaro 40:3ba2b0ea9f33 352 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 40:3ba2b0ea9f33 353 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 354 // (b) set color:
mbedalvaro 40:3ba2b0ea9f33 355 lsr.setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 356
mbedalvaro 40:3ba2b0ea9f33 357 // Add a first object: using openGL-like syntaxis (here, a closed square):
mbedalvaro 40:3ba2b0ea9f33 358 // begin(1); // start creating object with identifier = 1
mbedalvaro 40:3ba2b0ea9f33 359 // vertex(10,10,1);
mbedalvaro 40:3ba2b0ea9f33 360 // vertex(10,100,1);
mbedalvaro 40:3ba2b0ea9f33 361 // vertex(100,100,1);
mbedalvaro 40:3ba2b0ea9f33 362 // vertex(10,100,1);
mbedalvaro 40:3ba2b0ea9f33 363 // vertex(10,10,1); //
mbedalvaro 40:3ba2b0ea9f33 364 // end();
mbedalvaro 40:3ba2b0ea9f33 365
mbedalvaro 40:3ba2b0ea9f33 366 // Add another objects using "object primitives":
mbedalvaro 40:3ba2b0ea9f33 367 //begin(2);
mbedalvaro 40:3ba2b0ea9f33 368 //lsr.translate(-100,-100,0); // recenter the square
mbedalvaro 40:3ba2b0ea9f33 369 //square(200, 10); // this square has a corner in (0,0), and by default, z=0
mbedalvaro 40:3ba2b0ea9f33 370 //end();
mbedalvaro 40:3ba2b0ea9f33 371
mbedalvaro 40:3ba2b0ea9f33 372 // A "cube" (with one corner at the origin):
mbedalvaro 40:3ba2b0ea9f33 373 //begin(3);
mbedalvaro 40:3ba2b0ea9f33 374 //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 375 //lsr.translate(100,-100,-100); // recenter the cube (no need to push pop because we are seting the identity above)
mbedalvaro 40:3ba2b0ea9f33 376 //lsr.rotateY(30);
mbedalvaro 40:3ba2b0ea9f33 377 //cube(200,10); // cube(200, 20);
mbedalvaro 40:3ba2b0ea9f33 378 //end();
mbedalvaro 40:3ba2b0ea9f33 379
mbedalvaro 40:3ba2b0ea9f33 380 // A grid:
mbedalvaro 40:3ba2b0ea9f33 381 // IMPORTANT: a grid is a multi-object built, and DOES NOT NEED to be between a begin and end
mbedalvaro 40:3ba2b0ea9f33 382 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 383 lsr.translate(-500, -500, 0);
mbedalvaro 40:3ba2b0ea9f33 384 grid(1000, 1000, 5, 5, 1); //grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 385 //gridCircles(300, 250, 6, 5, 10, 6); // gridCircles(float sizeX, float sizeY, int nx, int ny, float radius, int nbpointsCircle)
mbedalvaro 40:3ba2b0ea9f33 386
mbedalvaro 40:3ba2b0ea9f33 387 // A circle:
mbedalvaro 40:3ba2b0ea9f33 388 //begin(4);
mbedalvaro 40:3ba2b0ea9f33 389 //circle(200, 100);
mbedalvaro 40:3ba2b0ea9f33 390 //end();
mbedalvaro 40:3ba2b0ea9f33 391
mbedalvaro 40:3ba2b0ea9f33 392 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 393 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 394
mbedalvaro 40:3ba2b0ea9f33 395 // pc.printf("Number of objects in the scene: %d\n", scene.totalObjects());
mbedalvaro 40:3ba2b0ea9f33 396 // pc.printf("Number of points in the scene: %d\n", scene.totalPoints());
mbedalvaro 40:3ba2b0ea9f33 397
mbedalvaro 40:3ba2b0ea9f33 398 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 399 }
mbedalvaro 40:3ba2b0ea9f33 400
mbedalvaro 40:3ba2b0ea9f33 401 void createTextScene()
mbedalvaro 40:3ba2b0ea9f33 402 {
mbedalvaro 40:3ba2b0ea9f33 403 lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 404 //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 405 // The first option is simpler now, we just use the wrapper function string3d(string _text, float totalWidth, float height):
mbedalvaro 40:3ba2b0ea9f33 406
mbedalvaro 40:3ba2b0ea9f33 407 // (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 408 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 409
mbedalvaro 40:3ba2b0ea9f33 410 // (2) Set displaying attributes (colors and pose):
mbedalvaro 40:3ba2b0ea9f33 411 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 40:3ba2b0ea9f33 412 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 413 //lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 414 //lsr.translate(2,6,0);
mbedalvaro 40:3ba2b0ea9f33 415
mbedalvaro 40:3ba2b0ea9f33 416 lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 417 lsr.flipX();
mbedalvaro 40:3ba2b0ea9f33 418 lsr.translate(-15,-10,0);
mbedalvaro 40:3ba2b0ea9f33 419
mbedalvaro 40:3ba2b0ea9f33 420 // (b) set current color:
mbedalvaro 40:3ba2b0ea9f33 421 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 422
mbedalvaro 40:3ba2b0ea9f33 423 // A string as a UNIQUE object:
mbedalvaro 40:3ba2b0ea9f33 424 // begin(1); // start creating an object with index 1
mbedalvaro 40:3ba2b0ea9f33 425 // no retouching of the modelview, meaning the text is in (0,0,0) in "local" coordinates
mbedalvaro 40:3ba2b0ea9f33 426 // string3d(textToDisplay, textToDisplay.size()*fontWidth, fontHeight);
mbedalvaro 40:3ba2b0ea9f33 427 //end();
mbedalvaro 40:3ba2b0ea9f33 428
mbedalvaro 40:3ba2b0ea9f33 429 // A string as a *collection* of object-letters:
mbedalvaro 40:3ba2b0ea9f33 430 //lsr.translate(-textToDisplay.length()*fontWidth/2,-fontHeight/2,0);
mbedalvaro 40:3ba2b0ea9f33 431 for (unsigned short i = 0; i < textToDisplay.length(); i++) {
mbedalvaro 40:3ba2b0ea9f33 432 char ch = textToDisplay.at(i);
mbedalvaro 40:3ba2b0ea9f33 433 if (ch != ' ') {
mbedalvaro 40:3ba2b0ea9f33 434 begin(i);
mbedalvaro 40:3ba2b0ea9f33 435 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 40:3ba2b0ea9f33 436 end();
mbedalvaro 40:3ba2b0ea9f33 437 }
mbedalvaro 40:3ba2b0ea9f33 438 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 40:3ba2b0ea9f33 439 }
mbedalvaro 40:3ba2b0ea9f33 440
mbedalvaro 40:3ba2b0ea9f33 441 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 442 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 443
mbedalvaro 40:3ba2b0ea9f33 444 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 445
mbedalvaro 40:3ba2b0ea9f33 446 }
mbedalvaro 40:3ba2b0ea9f33 447
mbedalvaro 40:3ba2b0ea9f33 448 // ================= INTERPRET COMMAND =========================
mbedalvaro 40:3ba2b0ea9f33 449 // NOTE: the following arrays are GLOBAL (used in processOSC and processSerial, as well as in interpretData function):
mbedalvaro 40:3ba2b0ea9f33 450 // max of two addresses (top and sub), of a max length of 24 characters:
mbedalvaro 40:3ba2b0ea9f33 451 char address[2][24];
mbedalvaro 40:3ba2b0ea9f33 452 //long auxdata[2]; // to store a max of two arguments (note: we will only use LONGs)
mbedalvaro 40:3ba2b0ea9f33 453 int data[2]; // this is to have -1 as NO DATA, to detect errors.
mbedalvaro 40:3ba2b0ea9f33 454 int numArgs;
mbedalvaro 40:3ba2b0ea9f33 455
mbedalvaro 40:3ba2b0ea9f33 456 // An auxiliary buffer to store parameters data, or matrices, or points to load as vertices.
mbedalvaro 40:3ba2b0ea9f33 457 // 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 40:3ba2b0ea9f33 458 // 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 40:3ba2b0ea9f33 459 float auxDataBuffer[128];
mbedalvaro 40:3ba2b0ea9f33 460 int auxDataBuffer_index=0;
mbedalvaro 40:3ba2b0ea9f33 461
mbedalvaro 40:3ba2b0ea9f33 462 //================== OSC messageReceivedCallback function =====================
mbedalvaro 40:3ba2b0ea9f33 463 //============= RECEIVE OSC COMMANDS =========================
mbedalvaro 40:3ba2b0ea9f33 464 // This is the callback function called when there are packets on the listening socket. It is not nice to have it
mbedalvaro 40:3ba2b0ea9f33 465 // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
mbedalvaro 40:3ba2b0ea9f33 466 // as handler to the upd object).
mbedalvaro 40:3ba2b0ea9f33 467 void processOSC(UDPSocketEvent e) {
mbedalvaro 40:3ba2b0ea9f33 468 osc.onUDPSocketEvent(e);
mbedalvaro 40:3ba2b0ea9f33 469
mbedalvaro 40:3ba2b0ea9f33 470 if (osc.newMessage) {
mbedalvaro 40:3ba2b0ea9f33 471 // Acquire the addresses and arguments and put them in the GLOBAL variables to be processed by the interpretData function (common to serial and OSC):
mbedalvaro 40:3ba2b0ea9f33 472 strcpy(address[0],"");
mbedalvaro 40:3ba2b0ea9f33 473 strcpy(address[1],"");
mbedalvaro 40:3ba2b0ea9f33 474 for (int i=0; i<recMes.getAddressNum(); i++) strcpy(address[i],recMes.getAddress(i)); // NOTE: up to the rest of the program to check if address[1] is really not null
mbedalvaro 40:3ba2b0ea9f33 475 // Acquire data:
mbedalvaro 40:3ba2b0ea9f33 476 numArgs=recMes.getArgNum();
mbedalvaro 40:3ba2b0ea9f33 477 data[0]=-1;
mbedalvaro 40:3ba2b0ea9f33 478 data[1]=-1;
mbedalvaro 40:3ba2b0ea9f33 479 for (int i=0; i<numArgs; i++) data[i]=(int)recMes.getArgInt(i);
mbedalvaro 40:3ba2b0ea9f33 480
mbedalvaro 40:3ba2b0ea9f33 481 // Finally, interpret the command or data:
mbedalvaro 40:3ba2b0ea9f33 482 interpretData();
mbedalvaro 40:3ba2b0ea9f33 483 }
mbedalvaro 40:3ba2b0ea9f33 484 }
mbedalvaro 40:3ba2b0ea9f33 485
mbedalvaro 40:3ba2b0ea9f33 486
mbedalvaro 40:3ba2b0ea9f33 487
mbedalvaro 40:3ba2b0ea9f33 488 //interpretData(const char& address[2][], const int& data[2]) {
mbedalvaro 40:3ba2b0ea9f33 489 void interpretData() {
mbedalvaro 40:3ba2b0ea9f33 490
mbedalvaro 40:3ba2b0ea9f33 491 // ========== DATA (all this is a hack because my OSC class does not accept BUNDLES...) =============
mbedalvaro 40:3ba2b0ea9f33 492 // Add data to auxiliary data buffer:
mbedalvaro 40:3ba2b0ea9f33 493 if (!strcmp(address[0], "data")) {
mbedalvaro 40:3ba2b0ea9f33 494 // numArgs is the number of arguments (in my OSC version this is max 2):
mbedalvaro 40:3ba2b0ea9f33 495 for (int i=0; i<numArgs; i++) auxDataBuffer[auxDataBuffer_index] = data[i];
mbedalvaro 40:3ba2b0ea9f33 496 auxDataBuffer_index+=numArgs;
mbedalvaro 40:3ba2b0ea9f33 497 // note: the index will be reset to 0 or whatever needed when a command USING data from the "d" message is received.
mbedalvaro 40:3ba2b0ea9f33 498 }
mbedalvaro 40:3ba2b0ea9f33 499
mbedalvaro 40:3ba2b0ea9f33 500 // ========== COMMANDS (using data on auxDataBuffer or directly as arguments =========================
mbedalvaro 40:3ba2b0ea9f33 501
mbedalvaro 40:3ba2b0ea9f33 502 else if ( !strcmp(address[0], "mbedReset" ) ) mbed_reset();
mbedalvaro 40:3ba2b0ea9f33 503
mbedalvaro 40:3ba2b0ea9f33 504 // Enable/disable projection:
mbedalvaro 40:3ba2b0ea9f33 505 else if ( !strcmp(address[0], "stopDisplay" )) stopDisplay();
mbedalvaro 40:3ba2b0ea9f33 506 else if (!strcmp(address[0], "resumeDisplay")) resumeDisplay();
mbedalvaro 40:3ba2b0ea9f33 507 else if (!strcmp(address[0], "showLimits")) {
mbedalvaro 40:3ba2b0ea9f33 508 int value=data[0]; // argument is the number of seconds for display
mbedalvaro 40:3ba2b0ea9f33 509 if (value!=-1) {
mbedalvaro 40:3ba2b0ea9f33 510 showLimitsMirrors(50, value);
mbedalvaro 40:3ba2b0ea9f33 511 }
mbedalvaro 40:3ba2b0ea9f33 512 }
mbedalvaro 40:3ba2b0ea9f33 513 else if (!strcmp(address[0], "setSensingMode")) {
mbedalvaro 40:3ba2b0ea9f33 514 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 515 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 40:3ba2b0ea9f33 516 switch(value) {
mbedalvaro 40:3ba2b0ea9f33 517 case 0:
mbedalvaro 40:3ba2b0ea9f33 518 currentSensingMode=NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 519 break;
mbedalvaro 40:3ba2b0ea9f33 520 case 1:
mbedalvaro 40:3ba2b0ea9f33 521 currentSensingMode=SENSING_WHOLE_SCENE;
mbedalvaro 40:3ba2b0ea9f33 522 break;
mbedalvaro 40:3ba2b0ea9f33 523 case 2:
mbedalvaro 40:3ba2b0ea9f33 524 currentSensingMode=SENSING_PER_OBJECT;
mbedalvaro 40:3ba2b0ea9f33 525 break;
mbedalvaro 40:3ba2b0ea9f33 526 default:
mbedalvaro 40:3ba2b0ea9f33 527 break;
mbedalvaro 40:3ba2b0ea9f33 528 }
mbedalvaro 40:3ba2b0ea9f33 529 }
mbedalvaro 40:3ba2b0ea9f33 530 }
mbedalvaro 40:3ba2b0ea9f33 531
mbedalvaro 40:3ba2b0ea9f33 532 // Change state machine color (objects created from this point on will have the state machine color)
mbedalvaro 40:3ba2b0ea9f33 533 else if (!strcmp(address[0], "setStateColor")) { // example: 0( (all OFF), 1( blue ON, 2( green ON, 4( red ON, 3( blue and green ON; etc.
mbedalvaro 40:3ba2b0ea9f33 534 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 535 if (value!=-1) lsr.setColor(value);
mbedalvaro 40:3ba2b0ea9f33 536 }
mbedalvaro 40:3ba2b0ea9f33 537
mbedalvaro 40:3ba2b0ea9f33 538 // Real time change of color of ALL the objects in the CURRENT scene (state machine color not changed)
mbedalvaro 40:3ba2b0ea9f33 539 else if (!strcmp(address[0], "setAllObjectsColor")) { // example: 0) (all OFF), 1) blue ON, 2) green ON, 4) red ON, 3) blue and green ON; etc.
mbedalvaro 40:3ba2b0ea9f33 540 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 541 if (value!=-1) changeColorScene(value);
mbedalvaro 40:3ba2b0ea9f33 542 }
mbedalvaro 40:3ba2b0ea9f33 543
mbedalvaro 40:3ba2b0ea9f33 544
mbedalvaro 40:3ba2b0ea9f33 545 // =================== CREATION and DESTRUCTION of objects =========================================================
mbedalvaro 40:3ba2b0ea9f33 546 else if (!strcmp(address[0], "clearScene")) {
mbedalvaro 40:3ba2b0ea9f33 547 clearScene();
mbedalvaro 40:3ba2b0ea9f33 548 }
mbedalvaro 40:3ba2b0ea9f33 549
mbedalvaro 40:3ba2b0ea9f33 550 else if (!strcmp(address[0], "deleteObject")) { // second address is object identifier (a string that will be converted
mbedalvaro 40:3ba2b0ea9f33 551 int idobject=atoi(address[1]);
mbedalvaro 40:3ba2b0ea9f33 552 deleteObject(idobject);
mbedalvaro 40:3ba2b0ea9f33 553 }
mbedalvaro 40:3ba2b0ea9f33 554
mbedalvaro 40:3ba2b0ea9f33 555 // 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 556 // been translated previously - this may be optional, we could first send the pose, then the points...)
mbedalvaro 40:3ba2b0ea9f33 557 // Note: orthographic projection can be achieved by simply setting the projection matrix to ID, while
mbedalvaro 40:3ba2b0ea9f33 558 // 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 559 // 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 560 // NOTE: the following string of ASCII characters is assumed to have been input:
mbedalvaro 40:3ba2b0ea9f33 561 // posX#posY#sizeX#sizeY#nx#ny#:
mbedalvaro 40:3ba2b0ea9f33 562 // 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 563 // the auxiliary array auxDataBuffer contains all that data (as floats), ex: auxDataBuffer[0] is just posX, and auxDataBuffer[5] is ny
mbedalvaro 40:3ba2b0ea9f33 564 else if (!strcmp(address[0], "gridScene")) {
mbedalvaro 40:3ba2b0ea9f33 565 // Data is now ordered in the auxDataBuffer array:
mbedalvaro 40:3ba2b0ea9f33 566 float posX = auxDataBuffer[0], posY = auxDataBuffer[1], sizeX = auxDataBuffer[2], sizeY = auxDataBuffer[3], nx = auxDataBuffer[4], ny = auxDataBuffer[5];
mbedalvaro 40:3ba2b0ea9f33 567 auxDataBuffer_index=0; // to restart loading the auxiliary buffer 'auxDataBuffer'
mbedalvaro 40:3ba2b0ea9f33 568 clearScene();
mbedalvaro 40:3ba2b0ea9f33 569 // set color:
mbedalvaro 40:3ba2b0ea9f33 570 lsr.setColor(0x02); // green
mbedalvaro 40:3ba2b0ea9f33 571 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 572
mbedalvaro 40:3ba2b0ea9f33 573 // set local pose matrix to identity:
mbedalvaro 40:3ba2b0ea9f33 574 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 575 // translate to the required position:
mbedalvaro 40:3ba2b0ea9f33 576 lsr.translate(posX, posY, 0); // since the projection and pose are going to be set
mbedalvaro 40:3ba2b0ea9f33 577 // to Identity (projection identity will automatically make the projection orthographic), this means that these
mbedalvaro 40:3ba2b0ea9f33 578 // values are in "laser projector pixels" (in fact angles).
mbedalvaro 40:3ba2b0ea9f33 579 // Create the collection of dot objects:
mbedalvaro 40:3ba2b0ea9f33 580 // void grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 581 grid(sizeX, sizeY, nx, ny, 1);
mbedalvaro 40:3ba2b0ea9f33 582 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 583 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 584
mbedalvaro 40:3ba2b0ea9f33 585 // Now we can render the scene once:
mbedalvaro 40:3ba2b0ea9f33 586 // Set a default GLOBAL POSE and orthographic projection for rendering and start displaying:
mbedalvaro 40:3ba2b0ea9f33 587 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 588 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 589 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 590 }
mbedalvaro 40:3ba2b0ea9f33 591 // 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 592
mbedalvaro 40:3ba2b0ea9f33 593 // 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 594 // using orthographic projection.
mbedalvaro 40:3ba2b0ea9f33 595 // This is in particular useful to create "structured light" grids - such the grid of planar points for calibration.
mbedalvaro 40:3ba2b0ea9f33 596 // 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 597 // 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 598 // cameraProjectorCalibration Xcode project as little as possible, I will perform the transformations on the computer.
mbedalvaro 40:3ba2b0ea9f33 599 else if (!strcmp(address[0], "arbitraryGridScene")) {
mbedalvaro 40:3ba2b0ea9f33 600 // Data is now ordered in the auxDataBuffer array as PAIRS (X,Y). The argument to this message is the IDENTIFIER of the object:
mbedalvaro 40:3ba2b0ea9f33 601 // The present value of auxDataBuffer_index contains the number of points x 2
mbedalvaro 40:3ba2b0ea9f33 602 clearScene();
mbedalvaro 40:3ba2b0ea9f33 603 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 604 //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 40:3ba2b0ea9f33 605 lsr.setColor(0x03); // blue+green
mbedalvaro 40:3ba2b0ea9f33 606 IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 607
mbedalvaro 40:3ba2b0ea9f33 608 // begin(1) // we can create a single object, or one object per position (with repetition of the point if needed)
mbedalvaro 40:3ba2b0ea9f33 609 for (unsigned char i = 0; i < auxDataBuffer_index / 2; i++) {
mbedalvaro 40:3ba2b0ea9f33 610 begin(i);
mbedalvaro 40:3ba2b0ea9f33 611 for (unsigned char k=0; k<1; k++) // fixed repetition of points - we can send this as a parameter if we want.
mbedalvaro 40:3ba2b0ea9f33 612 vertex(auxDataBuffer[2 * i], auxDataBuffer[2 * i + 1], 0);
mbedalvaro 40:3ba2b0ea9f33 613 end();
mbedalvaro 40:3ba2b0ea9f33 614 }
mbedalvaro 40:3ba2b0ea9f33 615 updateScene();
mbedalvaro 40:3ba2b0ea9f33 616 // 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 617 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 618 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 619 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 620 drawScene();
mbedalvaro 40:3ba2b0ea9f33 621 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 622 }
mbedalvaro 40:3ba2b0ea9f33 623
mbedalvaro 40:3ba2b0ea9f33 624 // 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 40:3ba2b0ea9f33 625 else if (!strcmp(address[0], "createObject2d")) {
mbedalvaro 40:3ba2b0ea9f33 626 int IDObject=data[1];
mbedalvaro 40:3ba2b0ea9f33 627 if (IDObject!=-1) {
mbedalvaro 40:3ba2b0ea9f33 628 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 629 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 630 //lsr.pushPoseMatrix(); // we will render on the current pose
mbedalvaro 40:3ba2b0ea9f33 631 //clearScene();
mbedalvaro 40:3ba2b0ea9f33 632 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 633 //lsr.setColor(0x02); // we will render in current color
mbedalvaro 40:3ba2b0ea9f33 634 begin(IDObject);
mbedalvaro 40:3ba2b0ea9f33 635 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 636 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],0); // z=0 for 2d objects (in current pose)
mbedalvaro 40:3ba2b0ea9f33 637 }
mbedalvaro 40:3ba2b0ea9f33 638 end();
mbedalvaro 40:3ba2b0ea9f33 639 updateScene();
mbedalvaro 40:3ba2b0ea9f33 640 // 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 641 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 642 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 643 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 644 //lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 645 drawScene();
mbedalvaro 40:3ba2b0ea9f33 646 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 647 }
mbedalvaro 40:3ba2b0ea9f33 648 }
mbedalvaro 40:3ba2b0ea9f33 649
mbedalvaro 40:3ba2b0ea9f33 650 // This means we received 3D vertex data to create an object.
mbedalvaro 40:3ba2b0ea9f33 651 // It will be rendered in the CURRENT pose.
mbedalvaro 40:3ba2b0ea9f33 652 else if (!strcmp(address[0], "createObject3d")) {
mbedalvaro 40:3ba2b0ea9f33 653 int IDObject=data[1];
mbedalvaro 40:3ba2b0ea9f33 654 if (IDObject!=-1) {
mbedalvaro 40:3ba2b0ea9f33 655 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 656 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 657 //lsr.pushPoseMatrix(); // we will render on the current pose
mbedalvaro 40:3ba2b0ea9f33 658 //clearScene();
mbedalvaro 40:3ba2b0ea9f33 659 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 660 //lsr.setColor(0x02); // we will render in current color
mbedalvaro 40:3ba2b0ea9f33 661 begin(IDObject);
mbedalvaro 40:3ba2b0ea9f33 662 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 663 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],
mbedalvaro 40:3ba2b0ea9f33 664 auxDataBuffer[3 * i + 2]);
mbedalvaro 40:3ba2b0ea9f33 665 }
mbedalvaro 40:3ba2b0ea9f33 666 end();
mbedalvaro 40:3ba2b0ea9f33 667 updateScene();
mbedalvaro 40:3ba2b0ea9f33 668 // 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 669 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 670 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 671 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 672 //lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 673 drawScene();
mbedalvaro 40:3ba2b0ea9f33 674 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 675 }
mbedalvaro 40:3ba2b0ea9f33 676 }
mbedalvaro 40:3ba2b0ea9f33 677
mbedalvaro 40:3ba2b0ea9f33 678 // Create text:
mbedalvaro 40:3ba2b0ea9f33 679 else if (!strcmp(address[0], "createTextObject")) {
mbedalvaro 40:3ba2b0ea9f33 680 //NOTE: the actual text will be in the second address, and the argument will be the ID of this new text object:
mbedalvaro 40:3ba2b0ea9f33 681 textToDisplay = address[1];
mbedalvaro 40:3ba2b0ea9f33 682 int IDObject=data[1];
mbedalvaro 40:3ba2b0ea9f33 683 if (IDObject!=-1) {
mbedalvaro 40:3ba2b0ea9f33 684 begin(IDObject);
mbedalvaro 40:3ba2b0ea9f33 685 string3d(textToDisplay, fontWidth*textToDisplay.length(), fontHeight);
mbedalvaro 40:3ba2b0ea9f33 686 end();
mbedalvaro 40:3ba2b0ea9f33 687 updateScene();
mbedalvaro 40:3ba2b0ea9f33 688 drawScene();
mbedalvaro 40:3ba2b0ea9f33 689 }
mbedalvaro 40:3ba2b0ea9f33 690 }
mbedalvaro 40:3ba2b0ea9f33 691
mbedalvaro 40:3ba2b0ea9f33 692
mbedalvaro 40:3ba2b0ea9f33 693 // (d) TERMINATOR indicating data was for the POSE MATRIX of the object (Mp) (with respect to the CAMERA):
mbedalvaro 40:3ba2b0ea9f33 694 else if (!strcmp(address[0], "poseMatrix")) { // when receiving this, it means that the WHOLE matrix data (4x4 values) have been sent in row/column format
mbedalvaro 40:3ba2b0ea9f33 695 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer'
mbedalvaro 40:3ba2b0ea9f33 696 // Now, auxDataBuffer is a buffer with 12 values (4x3), corresponding to the pose of the object in CAMERA coordinartes (RT')
mbedalvaro 40:3ba2b0ea9f33 697 lsr.setIdentityPose(); // RT=ID
mbedalvaro 40:3ba2b0ea9f33 698 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 699 lsr.multPoseMatrix(auxDataBuffer); // RT=ExRT' : this sets RT as the current object pose in PROJECTOR coordinates
mbedalvaro 40:3ba2b0ea9f33 700
mbedalvaro 40:3ba2b0ea9f33 701 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 40:3ba2b0ea9f33 702 }
mbedalvaro 40:3ba2b0ea9f33 703
mbedalvaro 40:3ba2b0ea9f33 704 // (d) TERMINATOR indicating data was for the projection matrix (will probably be saved in "hard" in the microcontroller code):
mbedalvaro 40:3ba2b0ea9f33 705 else if (!strcmp(address[0], "projectionMatrix")) {// 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 706 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 707 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 708 lsr.loadProjMatrix(auxDataBuffer, 1.0);
mbedalvaro 40:3ba2b0ea9f33 709
mbedalvaro 40:3ba2b0ea9f33 710 drawScene(); // needed because we changed the PROJECTION matrix (but there is no need to re-create all the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 711 }
mbedalvaro 40:3ba2b0ea9f33 712
mbedalvaro 40:3ba2b0ea9f33 713 //(e) TERMINATOR indicating the data was for the extrinsic matrix:
mbedalvaro 40:3ba2b0ea9f33 714 else if (!strcmp(address[0], "extrinsicMatrix")) { // 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 715 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 716 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 717 lsr.loadExtrinsicsMatrix(auxDataBuffer);
mbedalvaro 40:3ba2b0ea9f33 718
mbedalvaro 40:3ba2b0ea9f33 719 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 720 }
mbedalvaro 40:3ba2b0ea9f33 721 }
mbedalvaro 40:3ba2b0ea9f33 722
mbedalvaro 40:3ba2b0ea9f33 723 //============= RECEIVE SERIAL COMMANDS =========================
mbedalvaro 40:3ba2b0ea9f33 724 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC):
mbedalvaro 40:3ba2b0ea9f33 725 // TO DO: use string objects!
mbedalvaro 40:3ba2b0ea9f33 726 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 40:3ba2b0ea9f33 727 int indexStringData = 0; //position of the byte in the string
mbedalvaro 40:3ba2b0ea9f33 728
mbedalvaro 40:3ba2b0ea9f33 729 // String to store COMMAND WORDS (not used yet):
mbedalvaro 40:3ba2b0ea9f33 730 char stringCommand[24];
mbedalvaro 40:3ba2b0ea9f33 731 int indexStringCommand = 0;
mbedalvaro 40:3ba2b0ea9f33 732 bool commandReady = false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)
mbedalvaro 40:3ba2b0ea9f33 733
mbedalvaro 40:3ba2b0ea9f33 734 void processSerial()
mbedalvaro 40:3ba2b0ea9f33 735 {
mbedalvaro 40:3ba2b0ea9f33 736 while (pc.readable() > 0) {
mbedalvaro 40:3ba2b0ea9f33 737 char incomingByte = pc.getc();
mbedalvaro 40:3ba2b0ea9f33 738
mbedalvaro 40:3ba2b0ea9f33 739 // For test:
mbedalvaro 40:3ba2b0ea9f33 740 // pc.putc(incomingByte);
mbedalvaro 40:3ba2b0ea9f33 741
mbedalvaro 40:3ba2b0ea9f33 742 // (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 743 // Note: numbers are float, so we need also the "." and "-"
mbedalvaro 40:3ba2b0ea9f33 744 if ( (incomingByte >= '0' && incomingByte <= '9') // numbers
mbedalvaro 40:3ba2b0ea9f33 745 || (incomingByte >= 'A' && incomingByte <= 'Z') // capital letters
mbedalvaro 40:3ba2b0ea9f33 746 || (incomingByte >= 'a' && incomingByte <= 'z') // small letters (in fact, will be used for other symbols)
mbedalvaro 40:3ba2b0ea9f33 747 || (incomingByte == ' ') // space
mbedalvaro 40:3ba2b0ea9f33 748 || (incomingByte == '-') // minus sign
mbedalvaro 40:3ba2b0ea9f33 749 || (incomingByte == '.') // decimal point
mbedalvaro 40:3ba2b0ea9f33 750 ) {
mbedalvaro 40:3ba2b0ea9f33 751 receivedStringData[indexStringData] = incomingByte;
mbedalvaro 40:3ba2b0ea9f33 752 indexStringData++;
mbedalvaro 40:3ba2b0ea9f33 753 }
mbedalvaro 40:3ba2b0ea9f33 754
mbedalvaro 40:3ba2b0ea9f33 755 // Enable/disable projection:
mbedalvaro 40:3ba2b0ea9f33 756 else if (incomingByte == '}') {
mbedalvaro 40:3ba2b0ea9f33 757 stopDisplay();
mbedalvaro 40:3ba2b0ea9f33 758 } else if (incomingByte == '{') {
mbedalvaro 40:3ba2b0ea9f33 759 resumeDisplay();
mbedalvaro 40:3ba2b0ea9f33 760 }
mbedalvaro 40:3ba2b0ea9f33 761
mbedalvaro 40:3ba2b0ea9f33 762 // Show maximum excursion of mirrors:
mbedalvaro 40:3ba2b0ea9f33 763 else if (incomingByte == '*') {
mbedalvaro 40:3ba2b0ea9f33 764 showLimitsMirrors(50, 120);
mbedalvaro 40:3ba2b0ea9f33 765 }
mbedalvaro 40:3ba2b0ea9f33 766
mbedalvaro 40:3ba2b0ea9f33 767
mbedalvaro 40:3ba2b0ea9f33 768 else if (incomingByte == '+') {
mbedalvaro 40:3ba2b0ea9f33 769 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 770 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 771 switch(atoi(receivedStringData)) {
mbedalvaro 40:3ba2b0ea9f33 772 case 0:
mbedalvaro 40:3ba2b0ea9f33 773 currentSensingMode=NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 774 break;
mbedalvaro 40:3ba2b0ea9f33 775 case 1:
mbedalvaro 40:3ba2b0ea9f33 776 currentSensingMode=SENSING_WHOLE_SCENE;
mbedalvaro 40:3ba2b0ea9f33 777 break;
mbedalvaro 40:3ba2b0ea9f33 778 case 2:
mbedalvaro 40:3ba2b0ea9f33 779 currentSensingMode=SENSING_PER_OBJECT;
mbedalvaro 40:3ba2b0ea9f33 780 break;
mbedalvaro 40:3ba2b0ea9f33 781 default:
mbedalvaro 40:3ba2b0ea9f33 782 break;
mbedalvaro 40:3ba2b0ea9f33 783 }
mbedalvaro 40:3ba2b0ea9f33 784 }
mbedalvaro 40:3ba2b0ea9f33 785
mbedalvaro 40:3ba2b0ea9f33 786 // Performs a scan of the surface and send all the data serially (N>, with N the resolution of the scan)
mbedalvaro 40:3ba2b0ea9f33 787 else if (incomingByte == '>') {
mbedalvaro 40:3ba2b0ea9f33 788 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 789 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 790 //pc.printf("scan command issued¥n");
mbedalvaro 40:3ba2b0ea9f33 791 scanSerial(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 792 }
mbedalvaro 40:3ba2b0ea9f33 793
mbedalvaro 40:3ba2b0ea9f33 794 // Recompute the LUT table
mbedalvaro 40:3ba2b0ea9f33 795 else if (incomingByte == '<') {
mbedalvaro 40:3ba2b0ea9f33 796 recomputeLookUpTable();
mbedalvaro 40:3ba2b0ea9f33 797 }
mbedalvaro 40:3ba2b0ea9f33 798
mbedalvaro 40:3ba2b0ea9f33 799 // Change state machine color (objects created from this point on will have the state machine color)
mbedalvaro 40:3ba2b0ea9f33 800 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 801 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 802 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 803 // convert to integer and set the state machine color:
mbedalvaro 40:3ba2b0ea9f33 804 lsr.setColor(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 805 }
mbedalvaro 40:3ba2b0ea9f33 806
mbedalvaro 40:3ba2b0ea9f33 807 // Real time change of color of ALL the objects in the CURRENT scene (state machine color not changed)
mbedalvaro 40:3ba2b0ea9f33 808 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 809 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 810 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 811 // convert to integer and set the color:
mbedalvaro 40:3ba2b0ea9f33 812 changeColorScene(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 813 }
mbedalvaro 40:3ba2b0ea9f33 814
mbedalvaro 40:3ba2b0ea9f33 815
mbedalvaro 40:3ba2b0ea9f33 816 // 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 817 // been translated previously - this may be optional, we could first send the pose, then the points...)
mbedalvaro 40:3ba2b0ea9f33 818 // Note: orthographic projection can be achieved by simply setting the projection matrix to ID, while
mbedalvaro 40:3ba2b0ea9f33 819 // 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 820 // 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 821 // NOTE: the following string of ASCII characters is assumed to have been input:
mbedalvaro 40:3ba2b0ea9f33 822 // posX#posY#sizeX#sizeY#nx#ny#:
mbedalvaro 40:3ba2b0ea9f33 823 // 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 824 // the auxiliary array auxDataBuffer contains all that data (as floats), ex: auxDataBuffer[0] is just posX, and auxDataBuffer[5] is ny
mbedalvaro 40:3ba2b0ea9f33 825 else if (incomingByte == ':') {
mbedalvaro 40:3ba2b0ea9f33 826 // Data is now ordered in the auxDataBuffer array:
mbedalvaro 40:3ba2b0ea9f33 827 float posX = auxDataBuffer[0], posY = auxDataBuffer[1], sizeX = auxDataBuffer[2], sizeY = auxDataBuffer[3], nx = auxDataBuffer[4], ny = auxDataBuffer[5];
mbedalvaro 40:3ba2b0ea9f33 828 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 829 clearScene();
mbedalvaro 40:3ba2b0ea9f33 830 // set color:
mbedalvaro 40:3ba2b0ea9f33 831 lsr.setColor(0x02); // green
mbedalvaro 40:3ba2b0ea9f33 832 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 833
mbedalvaro 40:3ba2b0ea9f33 834 // set local pose matrix to identity:
mbedalvaro 40:3ba2b0ea9f33 835 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 836 // translate to the required position:
mbedalvaro 40:3ba2b0ea9f33 837 lsr.translate(posX, posY, 0); // since the projection and pose are going to be set
mbedalvaro 40:3ba2b0ea9f33 838 // to Identity (projection identity will automatically make the projection orthographic), this means that these
mbedalvaro 40:3ba2b0ea9f33 839 // values are in "laser projector pixels" (in fact angles).
mbedalvaro 40:3ba2b0ea9f33 840 // Create the collection of dot objects:
mbedalvaro 40:3ba2b0ea9f33 841 // void grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 842 grid(sizeX, sizeY, nx, ny, 1);
mbedalvaro 40:3ba2b0ea9f33 843 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 844 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 845
mbedalvaro 40:3ba2b0ea9f33 846 // Now we can render the scene once:
mbedalvaro 40:3ba2b0ea9f33 847 // Set a default GLOBAL POSE and orthographic projection for rendering and start displaying:
mbedalvaro 40:3ba2b0ea9f33 848 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 849 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 850 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 851 }
mbedalvaro 40:3ba2b0ea9f33 852 // 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 853
mbedalvaro 40:3ba2b0ea9f33 854 // 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 855 // using orthographic projection.
mbedalvaro 40:3ba2b0ea9f33 856 // This is in particular useful to create "structured light" grids - such the grid of planar points for calibration.
mbedalvaro 40:3ba2b0ea9f33 857 // 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 858 // 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 859 // cameraProjectorCalibration Xcode project as little as possible, I will perform the transformations on the computer.
mbedalvaro 40:3ba2b0ea9f33 860 else if (incomingByte == '=') {
mbedalvaro 40:3ba2b0ea9f33 861 // Data is now ordered in the auxDataBuffer array as PAIRS (X,Y)
mbedalvaro 40:3ba2b0ea9f33 862 // The present value of auxDataBuffer_index contains the number of points x 2
mbedalvaro 40:3ba2b0ea9f33 863 clearScene();
mbedalvaro 40:3ba2b0ea9f33 864 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 865 //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 40:3ba2b0ea9f33 866 lsr.setColor(0x03); // blue+green
mbedalvaro 40:3ba2b0ea9f33 867 IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 868
mbedalvaro 40:3ba2b0ea9f33 869 // begin(1) // we can create a single object, or one object per position (with repetition of the point if needed)
mbedalvaro 40:3ba2b0ea9f33 870 for (unsigned char i = 0; i < auxDataBuffer_index / 2; i++) {
mbedalvaro 40:3ba2b0ea9f33 871 begin(i);
mbedalvaro 40:3ba2b0ea9f33 872 for (unsigned char k=0; k<1; k++) // fixed repetition of points - we can send this as a parameter if we want.
mbedalvaro 40:3ba2b0ea9f33 873 vertex(auxDataBuffer[2 * i], auxDataBuffer[2 * i + 1], 0);
mbedalvaro 40:3ba2b0ea9f33 874 end();
mbedalvaro 40:3ba2b0ea9f33 875 }
mbedalvaro 40:3ba2b0ea9f33 876 updateScene();
mbedalvaro 40:3ba2b0ea9f33 877 // 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 878 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 879 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 880 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 881 drawScene();
mbedalvaro 40:3ba2b0ea9f33 882 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 883 }
mbedalvaro 40:3ba2b0ea9f33 884
mbedalvaro 40:3ba2b0ea9f33 885 // 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 886 // It will be rendered in the CURRENT pose.
mbedalvaro 40:3ba2b0ea9f33 887 else if (incomingByte == ';') {
mbedalvaro 40:3ba2b0ea9f33 888 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 889 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 890 lsr.pushPoseMatrix(); // we will render on the current pose...
mbedalvaro 40:3ba2b0ea9f33 891 clearScene();
mbedalvaro 40:3ba2b0ea9f33 892 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 893 //lsr.setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 894 begin(1);
mbedalvaro 40:3ba2b0ea9f33 895 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 896 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],
mbedalvaro 40:3ba2b0ea9f33 897 auxDataBuffer[3 * i + 2]);
mbedalvaro 40:3ba2b0ea9f33 898 }
mbedalvaro 40:3ba2b0ea9f33 899 end();
mbedalvaro 40:3ba2b0ea9f33 900 updateScene();
mbedalvaro 40:3ba2b0ea9f33 901 // 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 902 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 903 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 904 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 905 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 906 drawScene();
mbedalvaro 40:3ba2b0ea9f33 907 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 908 }
mbedalvaro 40:3ba2b0ea9f33 909
mbedalvaro 40:3ba2b0ea9f33 910 // (b) a NUMBER to convert to float and to add to the auxiliary data buffer:
mbedalvaro 40:3ba2b0ea9f33 911 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 40:3ba2b0ea9f33 912 // the modelview, the projection matrix or some other data):
mbedalvaro 40:3ba2b0ea9f33 913 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 914 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 915 // Serial.println(receivedStringData); // for tests
mbedalvaro 40:3ba2b0ea9f33 916 // convert to float and store in auxiliary "matrix" array:
mbedalvaro 40:3ba2b0ea9f33 917 auxDataBuffer[auxDataBuffer_index] = atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 918 //Serial.println( auxDataBuffer[auxDataBuffer_index]); // for tests
mbedalvaro 40:3ba2b0ea9f33 919 auxDataBuffer_index++;
mbedalvaro 40:3ba2b0ea9f33 920 }
mbedalvaro 40:3ba2b0ea9f33 921
mbedalvaro 40:3ba2b0ea9f33 922 /*
mbedalvaro 40:3ba2b0ea9f33 923 else if (incomingByte=='!') { // sets the width of the letter
mbedalvaro 40:3ba2b0ea9f33 924 receivedStringData[indexStringData]=0;
mbedalvaro 40:3ba2b0ea9f33 925 indexStringData=0;
mbedalvaro 40:3ba2b0ea9f33 926 fontWidth=atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 927 createTextScene(); // needed because we changed the geometry
mbedalvaro 40:3ba2b0ea9f33 928 }
mbedalvaro 40:3ba2b0ea9f33 929
mbedalvaro 40:3ba2b0ea9f33 930 else if (incomingByte=='"') { // sets the height of the letter
mbedalvaro 40:3ba2b0ea9f33 931 receivedStringData[indexStringData]=0;
mbedalvaro 40:3ba2b0ea9f33 932 indexStringData=0;
mbedalvaro 40:3ba2b0ea9f33 933 fontHeight=atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 934 createTextScene(); // needed because we changed the geometry
mbedalvaro 40:3ba2b0ea9f33 935 }
mbedalvaro 40:3ba2b0ea9f33 936 */
mbedalvaro 40:3ba2b0ea9f33 937
mbedalvaro 40:3ba2b0ea9f33 938 // (c) TERMINATOR indicating the data was text to display:
mbedalvaro 40:3ba2b0ea9f33 939 else if (incomingByte == '"') { // this means that the previous data was TEXT to display
mbedalvaro 40:3ba2b0ea9f33 940 receivedStringData[indexStringData] = 0; // termination for the string
mbedalvaro 40:3ba2b0ea9f33 941 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 942 // Serial.println(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 943 textToDisplay = string(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 944 createTextScene();
mbedalvaro 40:3ba2b0ea9f33 945 drawScene(); // needed because we changed the geometry, and we need to compute the projection once for display (of course, this will
mbedalvaro 40:3ba2b0ea9f33 946 // happens anyway when the computer send the pose matrix).
mbedalvaro 40:3ba2b0ea9f33 947
mbedalvaro 40:3ba2b0ea9f33 948 }
mbedalvaro 40:3ba2b0ea9f33 949
mbedalvaro 40:3ba2b0ea9f33 950 // (d) TERMINATOR indicating data was for the POSE MATRIX of the object (Mp) (with respect to the CAMERA):
mbedalvaro 40:3ba2b0ea9f33 951 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 952 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 953 // Now, auxDataBuffer is a buffer with 12 values (4x3), corresponding to the pose of the object in CAMERA coordinartes (RT')
mbedalvaro 40:3ba2b0ea9f33 954 lsr.setIdentityPose(); // RT=ID
mbedalvaro 40:3ba2b0ea9f33 955 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 956 lsr.multPoseMatrix(auxDataBuffer); // RT=ExRT' : this sets RT as the current object pose in PROJECTOR coordinates
mbedalvaro 40:3ba2b0ea9f33 957
mbedalvaro 40:3ba2b0ea9f33 958 drawScene(); // needed because we changed the POSE (but there is no need to re-create the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 959
mbedalvaro 40:3ba2b0ea9f33 960 // Handshake:
mbedalvaro 40:3ba2b0ea9f33 961 pc.putc(13);
mbedalvaro 40:3ba2b0ea9f33 962 }
mbedalvaro 40:3ba2b0ea9f33 963
mbedalvaro 40:3ba2b0ea9f33 964 // (d) TERMINATOR indicating data was for the projection matrix (will probably be saved in "hard" in the microcontroller code):
mbedalvaro 40:3ba2b0ea9f33 965 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 966 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 967 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 968 lsr.loadProjMatrix(auxDataBuffer, 1.0);
mbedalvaro 40:3ba2b0ea9f33 969
mbedalvaro 40:3ba2b0ea9f33 970 drawScene(); // needed because we changed the PROJECTION matrix (but there is no need to re-create all the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 971 }
mbedalvaro 40:3ba2b0ea9f33 972
mbedalvaro 40:3ba2b0ea9f33 973 //(e) TERMINATOR indicating the data was for the extrinsic matrix:
mbedalvaro 40:3ba2b0ea9f33 974 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 975 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 976 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 977 lsr.loadExtrinsicsMatrix(auxDataBuffer);
mbedalvaro 40:3ba2b0ea9f33 978
mbedalvaro 40:3ba2b0ea9f33 979 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 980 }
mbedalvaro 40:3ba2b0ea9f33 981
mbedalvaro 40:3ba2b0ea9f33 982 }
mbedalvaro 40:3ba2b0ea9f33 983 }