Laser Sensing Display for UI interfaces in the real world
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classLaserSensingTrajectory.cpp@30:d8af03f01cd4, 2012-09-21 (annotated)
- Committer:
- mbedalvaro
- Date:
- Fri Sep 21 10:02:35 2012 +0000
- Revision:
- 30:d8af03f01cd4
- Parent:
- 24:4e52031a495b
- Child:
- 32:52273c3291fe
first commit. Not yet functional. Added ghost and pacman game modes, but the behaviour of these "rigid spots" is not implemented yet
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedalvaro | 30:d8af03f01cd4 | 1 | #include "classLaserSensingTrajectory.h" |
mbedalvaro | 30:d8af03f01cd4 | 2 | |
mbedalvaro | 30:d8af03f01cd4 | 3 | LaserSensingTrajectory::LaserSensingTrajectory(): lightTouched(false) { |
mbedalvaro | 30:d8af03f01cd4 | 4 | } |
mbedalvaro | 30:d8af03f01cd4 | 5 | |
mbedalvaro | 30:d8af03f01cd4 | 6 | LaserSensingTrajectory::~LaserSensingTrajectory() { |
mbedalvaro | 30:d8af03f01cd4 | 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 | 30:d8af03f01cd4 | 8 | } |
mbedalvaro | 30:d8af03f01cd4 | 9 | |
mbedalvaro | 30:d8af03f01cd4 | 10 | |
mbedalvaro | 30:d8af03f01cd4 | 11 | void LaserSensingTrajectory::setDelayMirrors(int delay) { |
mbedalvaro | 30:d8af03f01cd4 | 12 | delayMirrorSamples=delay; |
mbedalvaro | 30:d8af03f01cd4 | 13 | } |
mbedalvaro | 30:d8af03f01cd4 | 14 | |
mbedalvaro | 30:d8af03f01cd4 | 15 | void LaserSensingTrajectory::addDelayMirrors(int add_delay) { |
mbedalvaro | 30:d8af03f01cd4 | 16 | delayMirrorSamples+=add_delay; |
mbedalvaro | 30:d8af03f01cd4 | 17 | } |
mbedalvaro | 30:d8af03f01cd4 | 18 | |
mbedalvaro | 30:d8af03f01cd4 | 19 | void LaserSensingTrajectory::processSensedData() { |
mbedalvaro | 30:d8af03f01cd4 | 20 | // Compute max and min intensity on the loop |
mbedalvaro | 30:d8af03f01cd4 | 21 | maxI=0; |
mbedalvaro | 30:d8af03f01cd4 | 22 | minI=255; // ratio has been normalized between 0 and 255 |
mbedalvaro | 30:d8af03f01cd4 | 23 | int auxSize=lsdTrajectory.size(); |
mbedalvaro | 30:d8af03f01cd4 | 24 | |
mbedalvaro | 30:d8af03f01cd4 | 25 | // Compute minimum and maximum intensities: |
mbedalvaro | 30:d8af03f01cd4 | 26 | for (int i = 0; i < lsdTrajectory.size(); i++) { |
mbedalvaro | 30:d8af03f01cd4 | 27 | unsigned char mesI=lsdTrajectory[i].intensity; |
mbedalvaro | 30:d8af03f01cd4 | 28 | if (maxI<mesI) maxI=mesI; |
mbedalvaro | 30:d8af03f01cd4 | 29 | if (minI>mesI) minI=mesI; |
mbedalvaro | 30:d8af03f01cd4 | 30 | } |
mbedalvaro | 30:d8af03f01cd4 | 31 | |
mbedalvaro | 30:d8af03f01cd4 | 32 | // Compute autoThreshold: |
mbedalvaro | 30:d8af03f01cd4 | 33 | if (minI==0) autoThreshold=0; // (we consider that the saccade is FULL on something white) |
mbedalvaro | 30:d8af03f01cd4 | 34 | else if (1.0*maxI/minI > MIN_CONTRAST_RATIO ) { |
mbedalvaro | 30:d8af03f01cd4 | 35 | autoThreshold = (unsigned char) (1.0 * (maxI-minI) * THRESHOLD_FACTOR + minI); // THRESHOLD_FACTOR = 2/3 or 1/2 is a good value. |
mbedalvaro | 30:d8af03f01cd4 | 36 | } else {// ... otherwise, we consider that the saccade is FULL on something white |
mbedalvaro | 30:d8af03f01cd4 | 37 | autoThreshold=0; |
mbedalvaro | 30:d8af03f01cd4 | 38 | } |
mbedalvaro | 30:d8af03f01cd4 | 39 | |
mbedalvaro | 30:d8af03f01cd4 | 40 | // 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 | 30:d8af03f01cd4 | 41 | // 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 | 30:d8af03f01cd4 | 42 | // 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 | 30:d8af03f01cd4 | 43 | // idea of the blob "constant" internal pressure... |
mbedalvaro | 30:d8af03f01cd4 | 44 | lightTouched=false; |
mbedalvaro | 30:d8af03f01cd4 | 45 | // int counterLight=0; |
mbedalvaro | 30:d8af03f01cd4 | 46 | for (int i = 0; i < lsdTrajectory.size(); i++) { |
mbedalvaro | 30:d8af03f01cd4 | 47 | int delayedpoint=(i+auxSize+delayMirrorSamples)%auxSize; // this way we can have negative delayMirrorSamples if required (would be absurd though) |
mbedalvaro | 30:d8af03f01cd4 | 48 | if (lsdTrajectory[delayedpoint].intensity>=autoThreshold) { // this means a WHITE zone: |
mbedalvaro | 30:d8af03f01cd4 | 49 | lsdTrajectory[i].lightZone= -1; |
mbedalvaro | 30:d8af03f01cd4 | 50 | // counterLight++; |
mbedalvaro | 30:d8af03f01cd4 | 51 | } else { // something touched: DARK ZONE |
mbedalvaro | 30:d8af03f01cd4 | 52 | lsdTrajectory[i].lightZone= 2; |
mbedalvaro | 30:d8af03f01cd4 | 53 | lightTouched=true; // (for the whole loop) |
mbedalvaro | 30:d8af03f01cd4 | 54 | } |
mbedalvaro | 30:d8af03f01cd4 | 55 | } |
mbedalvaro | 30:d8af03f01cd4 | 56 | //coko=counterLight; |
mbedalvaro | 30:d8af03f01cd4 | 57 | // lightRatio=1.0*counterLight/lsdTrajectory.size(); |
mbedalvaro | 30:d8af03f01cd4 | 58 | } |