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@46:e0dd2d1d07c1, 2014-03-30 (annotated)

Committer:
mbedalvaro
Date:
Sun Mar 30 08:58:59 2014 +0000
Revision:
46:e0dd2d1d07c1
Parent:
44:2432c218f191
Child:
47:199042980678
funciona. Publico para mostrarle a pablo la clase matrix;

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 46:e0dd2d1d07c1 382 //pc.printf("%d \n", ptrObj->ID());
mbedalvaro 46:e0dd2d1d07c1 383 pc.printf("%d", ptrObj->ID());
mbedalvaro 40:3ba2b0ea9f33 384 } else
mbedalvaro 40:3ba2b0ea9f33 385 ptrObj->setColor(0x01); // make it blue
mbedalvaro 40:3ba2b0ea9f33 386 }
mbedalvaro 40:3ba2b0ea9f33 387 break;
mbedalvaro 40:3ba2b0ea9f33 388 default:
mbedalvaro 40:3ba2b0ea9f33 389 break;
mbedalvaro 40:3ba2b0ea9f33 390 }
mbedalvaro 40:3ba2b0ea9f33 391 lastTimeSensed=t.read_ms();
mbedalvaro 40:3ba2b0ea9f33 392 } // end sensing
mbedalvaro 40:3ba2b0ea9f33 393
mbedalvaro 40:3ba2b0ea9f33 394 } // infinite while loop
mbedalvaro 40:3ba2b0ea9f33 395 // =================================
mbedalvaro 40:3ba2b0ea9f33 396 }
mbedalvaro 40:3ba2b0ea9f33 397
mbedalvaro 42:5f21a710ebc5 398 void setOrthographicView()
mbedalvaro 42:5f21a710ebc5 399 {
mbedalvaro 42:5f21a710ebc5 400 // clearScene();
mbedalvaro 42:5f21a710ebc5 401 // set color:
mbedalvaro 42:5f21a710ebc5 402 lsr.setColor(0x02); // green
mbedalvaro 42:5f21a710ebc5 403 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 42:5f21a710ebc5 404
mbedalvaro 42:5f21a710ebc5 405 lsr.setOrthoProjection();
mbedalvaro 42:5f21a710ebc5 406 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 41:74e24a0e6e50 407 }
mbedalvaro 41:74e24a0e6e50 408
mbedalvaro 40:3ba2b0ea9f33 409 void createSceneTest()
mbedalvaro 40:3ba2b0ea9f33 410 {
mbedalvaro 40:3ba2b0ea9f33 411 lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 412
mbedalvaro 40:3ba2b0ea9f33 413 // (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 414 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 415
mbedalvaro 40:3ba2b0ea9f33 416 // (2) Set displaying attributes (colors and local pose):
mbedalvaro 40:3ba2b0ea9f33 417 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 40:3ba2b0ea9f33 418 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 419 // (b) set color:
mbedalvaro 40:3ba2b0ea9f33 420 lsr.setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 421
mbedalvaro 40:3ba2b0ea9f33 422 // Add a first object: using openGL-like syntaxis (here, a closed square):
mbedalvaro 40:3ba2b0ea9f33 423 // begin(1); // start creating object with identifier = 1
mbedalvaro 40:3ba2b0ea9f33 424 // vertex(10,10,1);
mbedalvaro 40:3ba2b0ea9f33 425 // vertex(10,100,1);
mbedalvaro 40:3ba2b0ea9f33 426 // vertex(100,100,1);
mbedalvaro 40:3ba2b0ea9f33 427 // vertex(10,100,1);
mbedalvaro 40:3ba2b0ea9f33 428 // vertex(10,10,1); //
mbedalvaro 40:3ba2b0ea9f33 429 // end();
mbedalvaro 40:3ba2b0ea9f33 430
mbedalvaro 40:3ba2b0ea9f33 431 // Add another objects using "object primitives":
mbedalvaro 40:3ba2b0ea9f33 432 //begin(2);
mbedalvaro 40:3ba2b0ea9f33 433 //lsr.translate(-100,-100,0); // recenter the square
mbedalvaro 40:3ba2b0ea9f33 434 //square(200, 10); // this square has a corner in (0,0), and by default, z=0
mbedalvaro 40:3ba2b0ea9f33 435 //end();
mbedalvaro 40:3ba2b0ea9f33 436
mbedalvaro 40:3ba2b0ea9f33 437 // A "cube" (with one corner at the origin):
mbedalvaro 40:3ba2b0ea9f33 438 //begin(3);
mbedalvaro 40:3ba2b0ea9f33 439 //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 440 //lsr.translate(100,-100,-100); // recenter the cube (no need to push pop because we are seting the identity above)
mbedalvaro 40:3ba2b0ea9f33 441 //lsr.rotateY(30);
mbedalvaro 40:3ba2b0ea9f33 442 //cube(200,10); // cube(200, 20);
mbedalvaro 40:3ba2b0ea9f33 443 //end();
mbedalvaro 40:3ba2b0ea9f33 444
mbedalvaro 40:3ba2b0ea9f33 445 // A grid:
mbedalvaro 40:3ba2b0ea9f33 446 // IMPORTANT: a grid is a multi-object built, and DOES NOT NEED to be between a begin and end
mbedalvaro 40:3ba2b0ea9f33 447 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 448 lsr.translate(-500, -500, 0);
mbedalvaro 40:3ba2b0ea9f33 449 grid(1000, 1000, 5, 5, 1); //grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 450 //gridCircles(300, 250, 6, 5, 10, 6); // gridCircles(float sizeX, float sizeY, int nx, int ny, float radius, int nbpointsCircle)
mbedalvaro 40:3ba2b0ea9f33 451
mbedalvaro 40:3ba2b0ea9f33 452 // A circle:
mbedalvaro 40:3ba2b0ea9f33 453 //begin(4);
mbedalvaro 40:3ba2b0ea9f33 454 //circle(200, 100);
mbedalvaro 40:3ba2b0ea9f33 455 //end();
mbedalvaro 40:3ba2b0ea9f33 456
mbedalvaro 40:3ba2b0ea9f33 457 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 458 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 459
mbedalvaro 40:3ba2b0ea9f33 460 // pc.printf("Number of objects in the scene: %d\n", scene.totalObjects());
mbedalvaro 40:3ba2b0ea9f33 461 // pc.printf("Number of points in the scene: %d\n", scene.totalPoints());
mbedalvaro 40:3ba2b0ea9f33 462
mbedalvaro 40:3ba2b0ea9f33 463 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 464 }
mbedalvaro 40:3ba2b0ea9f33 465
mbedalvaro 40:3ba2b0ea9f33 466 void createTextScene()
mbedalvaro 40:3ba2b0ea9f33 467 {
mbedalvaro 40:3ba2b0ea9f33 468 lsr.pushPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 469 //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 470 // The first option is simpler now, we just use the wrapper function string3d(string _text, float totalWidth, float height):
mbedalvaro 40:3ba2b0ea9f33 471
mbedalvaro 40:3ba2b0ea9f33 472 // (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 473 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 474
mbedalvaro 40:3ba2b0ea9f33 475 // (2) Set displaying attributes (colors and pose):
mbedalvaro 40:3ba2b0ea9f33 476 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 40:3ba2b0ea9f33 477 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 40:3ba2b0ea9f33 478 //lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 479 //lsr.translate(2,6,0);
mbedalvaro 40:3ba2b0ea9f33 480
mbedalvaro 40:3ba2b0ea9f33 481 lsr.flipY();
mbedalvaro 40:3ba2b0ea9f33 482 lsr.flipX();
mbedalvaro 40:3ba2b0ea9f33 483 lsr.translate(-15,-10,0);
mbedalvaro 40:3ba2b0ea9f33 484
mbedalvaro 40:3ba2b0ea9f33 485 // (b) set current color:
mbedalvaro 40:3ba2b0ea9f33 486 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 487
mbedalvaro 40:3ba2b0ea9f33 488 // A string as a UNIQUE object:
mbedalvaro 40:3ba2b0ea9f33 489 // begin(1); // start creating an object with index 1
mbedalvaro 40:3ba2b0ea9f33 490 // no retouching of the modelview, meaning the text is in (0,0,0) in "local" coordinates
mbedalvaro 40:3ba2b0ea9f33 491 // string3d(textToDisplay, textToDisplay.size()*fontWidth, fontHeight);
mbedalvaro 40:3ba2b0ea9f33 492 //end();
mbedalvaro 40:3ba2b0ea9f33 493
mbedalvaro 40:3ba2b0ea9f33 494 // A string as a *collection* of object-letters:
mbedalvaro 40:3ba2b0ea9f33 495 //lsr.translate(-textToDisplay.length()*fontWidth/2,-fontHeight/2,0);
mbedalvaro 40:3ba2b0ea9f33 496 for (unsigned short i = 0; i < textToDisplay.length(); i++) {
mbedalvaro 40:3ba2b0ea9f33 497 char ch = textToDisplay.at(i);
mbedalvaro 40:3ba2b0ea9f33 498 if (ch != ' ') {
mbedalvaro 40:3ba2b0ea9f33 499 begin(i);
mbedalvaro 40:3ba2b0ea9f33 500 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 40:3ba2b0ea9f33 501 end();
mbedalvaro 40:3ba2b0ea9f33 502 }
mbedalvaro 40:3ba2b0ea9f33 503 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 40:3ba2b0ea9f33 504 }
mbedalvaro 40:3ba2b0ea9f33 505
mbedalvaro 40:3ba2b0ea9f33 506 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 507
mbedalvaro 40:3ba2b0ea9f33 508 }
mbedalvaro 40:3ba2b0ea9f33 509
mbedalvaro 43:1dd4cfc30788 510 void addText(string text, int id, float posx, float posy)
mbedalvaro 42:5f21a710ebc5 511 {
mbedalvaro 43:1dd4cfc30788 512 //clearScene();
mbedalvaro 42:5f21a710ebc5 513 lsr.pushPoseMatrix();
mbedalvaro 42:5f21a710ebc5 514 //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 515 // The first option is simpler now, we just use the wrapper function string3d(string _text, float totalWidth, float height):
mbedalvaro 42:5f21a710ebc5 516
mbedalvaro 42:5f21a710ebc5 517 // (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 518 // 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 519
mbedalvaro 42:5f21a710ebc5 520 // (2) Set displaying attributes (colors and pose):
mbedalvaro 42:5f21a710ebc5 521 // (a) Set the "local pose" (i.e., the MODELING TRANSFORMATION in OpenGL jargon):
mbedalvaro 42:5f21a710ebc5 522 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 42:5f21a710ebc5 523 //lsr.flipY();
mbedalvaro 42:5f21a710ebc5 524 //lsr.translate(2,6,0);
mbedalvaro 42:5f21a710ebc5 525
mbedalvaro 42:5f21a710ebc5 526 lsr.flipY();
mbedalvaro 43:1dd4cfc30788 527 // lsr.flipX();
mbedalvaro 43:1dd4cfc30788 528 lsr.translate(posx,posy,0);
mbedalvaro 42:5f21a710ebc5 529
mbedalvaro 42:5f21a710ebc5 530 // (b) set current color:
mbedalvaro 42:5f21a710ebc5 531 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 532
mbedalvaro 42:5f21a710ebc5 533 // A string as a UNIQUE object:
mbedalvaro 42:5f21a710ebc5 534 // begin(1); // start creating an object with index 1
mbedalvaro 42:5f21a710ebc5 535 // no retouching of the modelview, meaning the text is in (0,0,0) in "local" coordinates
mbedalvaro 42:5f21a710ebc5 536 // string3d(textToDisplay, textToDisplay.size()*fontWidth, fontHeight);
mbedalvaro 42:5f21a710ebc5 537 //end();
mbedalvaro 42:5f21a710ebc5 538
mbedalvaro 42:5f21a710ebc5 539 // A string as a *collection* of object-letters:
mbedalvaro 42:5f21a710ebc5 540 //lsr.translate(-textToDisplay.length()*fontWidth/2,-fontHeight/2,0);
mbedalvaro 43:1dd4cfc30788 541
mbedalvaro 43:1dd4cfc30788 542 for (unsigned short i = 0; i < text.length(); i++) {
mbedalvaro 43:1dd4cfc30788 543 char ch = text.at(i);
mbedalvaro 42:5f21a710ebc5 544 if (ch != ' ') {
mbedalvaro 43:1dd4cfc30788 545 begin(id);
mbedalvaro 42:5f21a710ebc5 546 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 43:1dd4cfc30788 547 end();
mbedalvaro 42:5f21a710ebc5 548 }
mbedalvaro 42:5f21a710ebc5 549 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 42:5f21a710ebc5 550 }
mbedalvaro 42:5f21a710ebc5 551 lsr.popPoseMatrix();
mbedalvaro 42:5f21a710ebc5 552
mbedalvaro 42:5f21a710ebc5 553 }
mbedalvaro 40:3ba2b0ea9f33 554
mbedalvaro 43:1dd4cfc30788 555 // ============ COMMUNICATION PROTOCOL ======================================
mbedalvaro 43:1dd4cfc30788 556 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC):
mbedalvaro 43:1dd4cfc30788 557 // TO DO: use string objects!
mbedalvaro 43:1dd4cfc30788 558 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 559 int indexStringData = 0; //position of the byte in the string
mbedalvaro 43:1dd4cfc30788 560
mbedalvaro 43:1dd4cfc30788 561 // String to store COMMAND WORDS (not used yet):
mbedalvaro 43:1dd4cfc30788 562 char stringCommand[24];
mbedalvaro 43:1dd4cfc30788 563 int indexStringCommand = 0;
mbedalvaro 43:1dd4cfc30788 564 bool commandReady = false; // will become true when receiving the byte 0 (i.e. the '/0' string terminator)
mbedalvaro 43:1dd4cfc30788 565
mbedalvaro 43:1dd4cfc30788 566
mbedalvaro 43:1dd4cfc30788 567 #ifdef WITH_OSC
mbedalvaro 40:3ba2b0ea9f33 568 //============= RECEIVE OSC COMMANDS =========================
mbedalvaro 40:3ba2b0ea9f33 569 // This is the callback function called when there are packets on the listening socket. It is not nice to have it
mbedalvaro 40:3ba2b0ea9f33 570 // here, but for the time being having a "wrapping global" is the simplest solution (we cannot pass a member-function pointer
mbedalvaro 40:3ba2b0ea9f33 571 // as handler to the upd object).
mbedalvaro 42:5f21a710ebc5 572 void processOSC(UDPSocketEvent e)
mbedalvaro 42:5f21a710ebc5 573 {
mbedalvaro 40:3ba2b0ea9f33 574 osc.onUDPSocketEvent(e);
mbedalvaro 40:3ba2b0ea9f33 575
mbedalvaro 40:3ba2b0ea9f33 576 if (osc.newMessage) {
mbedalvaro 42:5f21a710ebc5 577
mbedalvaro 42:5f21a710ebc5 578 // pc.printf("RECEIVED NEW OSC MESSAGE ----\n");
mbedalvaro 42:5f21a710ebc5 579
mbedalvaro 43:1dd4cfc30788 580 // 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 581 command1="";
mbedalvaro 43:1dd4cfc30788 582 command2="";
mbedalvaro 42:5f21a710ebc5 583 for (int i=0; i<recMes.getAddressNum(); i++) {
mbedalvaro 42:5f21a710ebc5 584 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 585 // pc.printf("Address %d = %s \n",i, address[i]);
mbedalvaro 42:5f21a710ebc5 586 }
mbedalvaro 40:3ba2b0ea9f33 587 // Acquire data:
mbedalvaro 42:5f21a710ebc5 588
mbedalvaro 40:3ba2b0ea9f33 589 numArgs=recMes.getArgNum();
mbedalvaro 40:3ba2b0ea9f33 590 data[0]=-1;
mbedalvaro 40:3ba2b0ea9f33 591 data[1]=-1;
mbedalvaro 42:5f21a710ebc5 592 for (int i=0; i<numArgs; i++) {
mbedalvaro 42:5f21a710ebc5 593 data[i]=(int)recMes.getArgInt(i);//recMes.getArgFloat(i);
mbedalvaro 42:5f21a710ebc5 594 //pc.printf("%4.2f %4.2f \n", data[i], recMes.getArgFloat(i));
mbedalvaro 42:5f21a710ebc5 595 // pc.printf("%i %i \n", data[i], recMes.getArgInt(i));
mbedalvaro 42:5f21a710ebc5 596 }
mbedalvaro 40:3ba2b0ea9f33 597
mbedalvaro 40:3ba2b0ea9f33 598 // Finally, interpret the command or data:
mbedalvaro 43:1dd4cfc30788 599 interpretCommand();
mbedalvaro 42:5f21a710ebc5 600
mbedalvaro 42:5f21a710ebc5 601 }
mbedalvaro 40:3ba2b0ea9f33 602 }
mbedalvaro 43:1dd4cfc30788 603 #endif
mbedalvaro 40:3ba2b0ea9f33 604
mbedalvaro 40:3ba2b0ea9f33 605
mbedalvaro 43:1dd4cfc30788 606 //interpretCommand(const char& address[2][], const int& data[2]) {
mbedalvaro 43:1dd4cfc30788 607 void interpretCommand()
mbedalvaro 42:5f21a710ebc5 608 {
mbedalvaro 40:3ba2b0ea9f33 609 // ========== DATA (all this is a hack because my OSC class does not accept BUNDLES...) =============
mbedalvaro 40:3ba2b0ea9f33 610 // Add data to auxiliary data buffer:
mbedalvaro 43:1dd4cfc30788 611 if (command1 == "data") {
mbedalvaro 40:3ba2b0ea9f33 612 // numArgs is the number of arguments (in my OSC version this is max 2):
mbedalvaro 42:5f21a710ebc5 613 // pc.printf("--- Data pack: %d\n", numArgs);
mbedalvaro 42:5f21a710ebc5 614 for (int i=0; i<numArgs; i++) {
mbedalvaro 42:5f21a710ebc5 615 auxDataBuffer[auxDataBuffer_index+i] = 1.0*data[i];
mbedalvaro 42:5f21a710ebc5 616 // 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 617 // pc.printf("buffer index / data: %i %f \n", auxDataBuffer_index+i, auxDataBuffer[auxDataBuffer_index+i]);//data[i]);
mbedalvaro 42:5f21a710ebc5 618 }
mbedalvaro 42:5f21a710ebc5 619 auxDataBuffer_index+=numArgs;
mbedalvaro 42:5f21a710ebc5 620 //pc.putc('/n');
mbedalvaro 40:3ba2b0ea9f33 621 }
mbedalvaro 40:3ba2b0ea9f33 622 // ========== COMMANDS (using data on auxDataBuffer or directly as arguments =========================
mbedalvaro 42:5f21a710ebc5 623
mbedalvaro 43:1dd4cfc30788 624 else if (command1 == "objectID") { // ID of the object
mbedalvaro 43:1dd4cfc30788 625 receivedStringData[indexStringData] = 0;
mbedalvaro 43:1dd4cfc30788 626 indexStringData = 0;
mbedalvaro 43:1dd4cfc30788 627 objectID=atoi(receivedStringData);
mbedalvaro 43:1dd4cfc30788 628 }
mbedalvaro 43:1dd4cfc30788 629
mbedalvaro 43:1dd4cfc30788 630 else if (command1=="initialPosition") { // this is for setting the POSITION of the object to be created:
mbedalvaro 43:1dd4cfc30788 631 xx=auxDataBuffer[0]; yy=auxDataBuffer[1];
mbedalvaro 43:1dd4cfc30788 632 auxDataBuffer_index=0;
mbedalvaro 43:1dd4cfc30788 633 }
mbedalvaro 42:5f21a710ebc5 634
mbedalvaro 43:1dd4cfc30788 635 else if (command1 == "mbedReset" ) mbed_reset();
mbedalvaro 43:1dd4cfc30788 636
mbedalvaro 43:1dd4cfc30788 637 else if (command1 == "testPower" ) {
mbedalvaro 41:74e24a0e6e50 638 // TO DO
mbedalvaro 41:74e24a0e6e50 639 }
mbedalvaro 42:5f21a710ebc5 640
mbedalvaro 42:5f21a710ebc5 641 // Enable/disable projection:
mbedalvaro 43:1dd4cfc30788 642 else if ( command1 == "stopDisplay" ) stopDisplay();
mbedalvaro 43:1dd4cfc30788 643 else if (command1 =="resumeDisplay") resumeDisplay();
mbedalvaro 43:1dd4cfc30788 644 else if (command1 =="showLimits") showLimitsMirrors(50, 1);
mbedalvaro 43:1dd4cfc30788 645 else if (command1 == "setSensingMode") {
mbedalvaro 40:3ba2b0ea9f33 646 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 647 if (value!=-1) { // otherwise do nothing, this is a reception error (there was no data)
mbedalvaro 40:3ba2b0ea9f33 648 switch(value) {
mbedalvaro 40:3ba2b0ea9f33 649 case 0:
mbedalvaro 40:3ba2b0ea9f33 650 currentSensingMode=NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 651 break;
mbedalvaro 40:3ba2b0ea9f33 652 case 1:
mbedalvaro 40:3ba2b0ea9f33 653 currentSensingMode=SENSING_WHOLE_SCENE;
mbedalvaro 40:3ba2b0ea9f33 654 break;
mbedalvaro 40:3ba2b0ea9f33 655 case 2:
mbedalvaro 40:3ba2b0ea9f33 656 currentSensingMode=SENSING_PER_OBJECT;
mbedalvaro 40:3ba2b0ea9f33 657 break;
mbedalvaro 40:3ba2b0ea9f33 658 default:
mbedalvaro 40:3ba2b0ea9f33 659 break;
mbedalvaro 40:3ba2b0ea9f33 660 }
mbedalvaro 40:3ba2b0ea9f33 661 }
mbedalvaro 42:5f21a710ebc5 662 }
mbedalvaro 40:3ba2b0ea9f33 663
mbedalvaro 42:5f21a710ebc5 664 // Change state machine color (objects created from this point on will have the state machine color)
mbedalvaro 43:1dd4cfc30788 665 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 666 int value=data[0];
mbedalvaro 40:3ba2b0ea9f33 667 if (value!=-1) lsr.setColor(value);
mbedalvaro 42:5f21a710ebc5 668 }
mbedalvaro 40:3ba2b0ea9f33 669
mbedalvaro 42:5f21a710ebc5 670 // Real time change of color of ALL the objects in the CURRENT scene (state machine color not changed)
mbedalvaro 43:1dd4cfc30788 671 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 672 int value=data[0];
mbedalvaro 42:5f21a710ebc5 673 if (value!=-1) changeColorScene(value);
mbedalvaro 42:5f21a710ebc5 674 }
mbedalvaro 40:3ba2b0ea9f33 675
mbedalvaro 40:3ba2b0ea9f33 676
mbedalvaro 40:3ba2b0ea9f33 677 // =================== CREATION and DESTRUCTION of objects =========================================================
mbedalvaro 43:1dd4cfc30788 678 else if (command1 == "clearScene") {
mbedalvaro 42:5f21a710ebc5 679 clearScene();
mbedalvaro 42:5f21a710ebc5 680 }
mbedalvaro 42:5f21a710ebc5 681
mbedalvaro 43:1dd4cfc30788 682 else if (command1 =="deleteObject") { // second address is object identifier (a string that will be converted
mbedalvaro 43:1dd4cfc30788 683 deleteObject(objectID);
mbedalvaro 42:5f21a710ebc5 684 }
mbedalvaro 42:5f21a710ebc5 685
mbedalvaro 42:5f21a710ebc5 686 // 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 687 // been translated previously - this may be optional, we could first send the pose, then the points...)
mbedalvaro 42:5f21a710ebc5 688 // Note: orthographic projection can be achieved by simply setting the projection matrix to ID, while
mbedalvaro 42:5f21a710ebc5 689 // 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 690 // 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 691 // NOTE: the following string of ASCII characters is assumed to have been input:
mbedalvaro 42:5f21a710ebc5 692 // posX#posY#sizeX#sizeY#nx#ny#:
mbedalvaro 42:5f21a710ebc5 693 // 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 694 // the auxiliary array auxDataBuffer contains all that data (as floats), ex: auxDataBuffer[0] is just posX, and auxDataBuffer[5] is ny
mbedalvaro 43:1dd4cfc30788 695 else if (command1 =="gridScene") {
mbedalvaro 42:5f21a710ebc5 696 // Data is now ordered in the auxDataBuffer array:
mbedalvaro 42:5f21a710ebc5 697 float posX = auxDataBuffer[0], posY = auxDataBuffer[1], sizeX = auxDataBuffer[2], sizeY = auxDataBuffer[3], nx = auxDataBuffer[4], ny = auxDataBuffer[5];
mbedalvaro 42:5f21a710ebc5 698 auxDataBuffer_index=0; // to restart loading the auxiliary buffer 'auxDataBuffer'
mbedalvaro 42:5f21a710ebc5 699 clearScene();
mbedalvaro 42:5f21a710ebc5 700 // set color:
mbedalvaro 42:5f21a710ebc5 701 lsr.setColor(0x02); // green
mbedalvaro 42:5f21a710ebc5 702 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 703
mbedalvaro 42:5f21a710ebc5 704 // set local pose matrix to identity:
mbedalvaro 42:5f21a710ebc5 705 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 706 // translate to the required position:
mbedalvaro 42:5f21a710ebc5 707 lsr.translate(posX, posY, 0); // since the projection and pose are going to be set
mbedalvaro 42:5f21a710ebc5 708 // to Identity (projection identity will automatically make the projection orthographic), this means that these
mbedalvaro 42:5f21a710ebc5 709 // values are in "laser projector pixels" (in fact angles).
mbedalvaro 42:5f21a710ebc5 710 // Create the collection of dot objects:
mbedalvaro 42:5f21a710ebc5 711 // void grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 42:5f21a710ebc5 712 grid(sizeX, sizeY, nx, ny, 1);
mbedalvaro 42:5f21a710ebc5 713 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 714 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 715
mbedalvaro 42:5f21a710ebc5 716 // Now we can render the scene once:
mbedalvaro 42:5f21a710ebc5 717 // Set a default GLOBAL POSE and orthographic projection for rendering and start displaying:
mbedalvaro 42:5f21a710ebc5 718 lsr.setOrthoProjection();
mbedalvaro 42:5f21a710ebc5 719 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 42:5f21a710ebc5 720 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 721 }
mbedalvaro 42:5f21a710ebc5 722 // 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 723
mbedalvaro 42:5f21a710ebc5 724 // 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 725 // using orthographic projection.
mbedalvaro 42:5f21a710ebc5 726 // This is in particular useful to create "structured light" grids - such the grid of planar points for calibration.
mbedalvaro 42:5f21a710ebc5 727 // 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 728 // 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 729 // cameraProjectorCalibration Xcode project as little as possible, I will perform the transformations on the computer.
mbedalvaro 43:1dd4cfc30788 730 else if (command1 == "arbitraryGridScene") {
mbedalvaro 42:5f21a710ebc5 731 // 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 732 // The present value of auxDataBuffer_index contains the number of points x 2
mbedalvaro 42:5f21a710ebc5 733 clearScene();
mbedalvaro 42:5f21a710ebc5 734 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 735 //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 736 lsr.setColor(0x03); // blue+green
mbedalvaro 42:5f21a710ebc5 737 IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 40:3ba2b0ea9f33 738
mbedalvaro 42:5f21a710ebc5 739 // begin(1) // we can create a single object, or one object per position (with repetition of the point if needed)
mbedalvaro 42:5f21a710ebc5 740 for (unsigned char i = 0; i < auxDataBuffer_index / 2; i++) {
mbedalvaro 42:5f21a710ebc5 741 begin(i);
mbedalvaro 42:5f21a710ebc5 742 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 743 vertex(auxDataBuffer[2 * i], auxDataBuffer[2 * i + 1], 0);
mbedalvaro 42:5f21a710ebc5 744 end();
mbedalvaro 40:3ba2b0ea9f33 745 }
mbedalvaro 42:5f21a710ebc5 746 updateScene();
mbedalvaro 42:5f21a710ebc5 747 // 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 748 // properly called lsr.pushPoseMatrix())
mbedalvaro 42:5f21a710ebc5 749 lsr.setOrthoProjection();
mbedalvaro 42:5f21a710ebc5 750 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 751 drawScene();
mbedalvaro 42:5f21a710ebc5 752 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 42:5f21a710ebc5 753 }
mbedalvaro 42:5f21a710ebc5 754
mbedalvaro 42:5f21a710ebc5 755 // 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 756 else if (command1 == "createObject2D") {
mbedalvaro 43:1dd4cfc30788 757 unsigned char numPoints= auxDataBuffer_index/2;
mbedalvaro 43:1dd4cfc30788 758 if (objectID!=-1) {
mbedalvaro 42:5f21a710ebc5 759
mbedalvaro 42:5f21a710ebc5 760 // First, create the object:
mbedalvaro 42:5f21a710ebc5 761 lsr.pushPoseMatrix();
mbedalvaro 42:5f21a710ebc5 762 lsr.setIdentityPose();
mbedalvaro 43:1dd4cfc30788 763 lsr.translate(xx,yy,0);
mbedalvaro 42:5f21a710ebc5 764
mbedalvaro 42:5f21a710ebc5 765 lsr.setColor(0x02); // we will render in current color
mbedalvaro 42:5f21a710ebc5 766
mbedalvaro 43:1dd4cfc30788 767 begin(objectID);
mbedalvaro 42:5f21a710ebc5 768 for (unsigned char i = 0; i < numPoints; i++) {
mbedalvaro 42:5f21a710ebc5 769 begin(i);
mbedalvaro 43:1dd4cfc30788 770 vertex(auxDataBuffer[2 * i], auxDataBuffer[2 * i + 1],0); // z=0 for 2d objects (in current pose)
mbedalvaro 42:5f21a710ebc5 771 //letter3d('A', fontWidth, fontHeight);
mbedalvaro 43:1dd4cfc30788 772 //vertex(10*cos(2*PI/numPoints*i), 10*sin(2*PI/numPoints*i), 0);
mbedalvaro 43:1dd4cfc30788 773 //vertex(5*cos(2*PI/numPoints*i+.1), 5*sin(2*PI/numPoints*i+.1), 0);
mbedalvaro 42:5f21a710ebc5 774 //pc.printf("local (x,y): %f, %f \n", auxDataBuffer[2 * i], auxDataBuffer[2 * i+1]);
mbedalvaro 42:5f21a710ebc5 775 // lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 42:5f21a710ebc5 776 }
mbedalvaro 43:1dd4cfc30788 777 end();
mbedalvaro 42:5f21a710ebc5 778 lsr.popPoseMatrix();
mbedalvaro 42:5f21a710ebc5 779
mbedalvaro 42:5f21a710ebc5 780 // Set the global projection and modelview:
mbedalvaro 42:5f21a710ebc5 781 lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 42:5f21a710ebc5 782 lsr.setIdentityPose();
mbedalvaro 42:5f21a710ebc5 783 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 42:5f21a710ebc5 784 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 42:5f21a710ebc5 785 lsr.translate(0, 0, 130);
mbedalvaro 42:5f21a710ebc5 786
mbedalvaro 42:5f21a710ebc5 787 // RENDER the scene:
mbedalvaro 43:1dd4cfc30788 788 // update the scene for display
mbedalvaro 43:1dd4cfc30788 789 drawScene();
mbedalvaro 43:1dd4cfc30788 790 updateScene();
mbedalvaro 40:3ba2b0ea9f33 791 }
mbedalvaro 42:5f21a710ebc5 792 }
mbedalvaro 40:3ba2b0ea9f33 793
mbedalvaro 42:5f21a710ebc5 794 // This means we received 3D vertex data to create an object.
mbedalvaro 42:5f21a710ebc5 795 // It will be rendered in the CURRENT pose.
mbedalvaro 43:1dd4cfc30788 796 else if (command1 == "createObject3D") {
mbedalvaro 43:1dd4cfc30788 797 int objectID=data[1];
mbedalvaro 43:1dd4cfc30788 798 if (objectID!=-1) {
mbedalvaro 40:3ba2b0ea9f33 799 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 800 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 801 //lsr.pushPoseMatrix(); // we will render on the current pose
mbedalvaro 40:3ba2b0ea9f33 802 //clearScene();
mbedalvaro 40:3ba2b0ea9f33 803 //lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 804 //lsr.setColor(0x02); // we will render in current color
mbedalvaro 43:1dd4cfc30788 805 begin(objectID);
mbedalvaro 40:3ba2b0ea9f33 806 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 807 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],
mbedalvaro 40:3ba2b0ea9f33 808 auxDataBuffer[3 * i + 2]);
mbedalvaro 40:3ba2b0ea9f33 809 }
mbedalvaro 40:3ba2b0ea9f33 810 end();
mbedalvaro 40:3ba2b0ea9f33 811 updateScene();
mbedalvaro 40:3ba2b0ea9f33 812 // 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 813 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 814 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 815 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 816 //lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 817 drawScene();
mbedalvaro 40:3ba2b0ea9f33 818 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 819 }
mbedalvaro 42:5f21a710ebc5 820 }
mbedalvaro 43:1dd4cfc30788 821
mbedalvaro 43:1dd4cfc30788 822 else if (command1=="createText") {
mbedalvaro 43:1dd4cfc30788 823 receivedStringData[indexStringData] = 0; // termination for the string
mbedalvaro 43:1dd4cfc30788 824 indexStringData = 0;
mbedalvaro 43:1dd4cfc30788 825 // Serial.println(receivedStringData);
mbedalvaro 43:1dd4cfc30788 826 textToDisplay = string(receivedStringData);
mbedalvaro 43:1dd4cfc30788 827
mbedalvaro 43:1dd4cfc30788 828 if (firstTimeDisplay) {clearScene(); firstTimeDisplay=false;}
mbedalvaro 43:1dd4cfc30788 829
mbedalvaro 43:1dd4cfc30788 830 addText(textToDisplay, objectID, xx, yy);
mbedalvaro 43:1dd4cfc30788 831 drawScene();
mbedalvaro 43:1dd4cfc30788 832 updateScene();
mbedalvaro 43:1dd4cfc30788 833 }
mbedalvaro 42:5f21a710ebc5 834
mbedalvaro 42:5f21a710ebc5 835 // Create text:
mbedalvaro 43:1dd4cfc30788 836 else if (command1 == "createTextObject") {
mbedalvaro 40:3ba2b0ea9f33 837
mbedalvaro 43:1dd4cfc30788 838 if (objectID!=-1) {
mbedalvaro 42:5f21a710ebc5 839
mbedalvaro 42:5f21a710ebc5 840 // CREATE OBJECT:
mbedalvaro 42:5f21a710ebc5 841 lsr.pushPoseMatrix();
mbedalvaro 42:5f21a710ebc5 842 lsr.setIdentityPose(); // we could use a wrapper, but I won't for the time being.
mbedalvaro 42:5f21a710ebc5 843 lsr.flipY();
mbedalvaro 42:5f21a710ebc5 844 //lsr.flipX();
mbedalvaro 43:1dd4cfc30788 845 lsr.translate(xx,yy,0);
mbedalvaro 42:5f21a710ebc5 846
mbedalvaro 43:1dd4cfc30788 847 begin(objectID);
mbedalvaro 42:5f21a710ebc5 848 for (unsigned short i = 0; i < textToDisplay.length(); i++) {
mbedalvaro 42:5f21a710ebc5 849 char ch = textToDisplay.at(i);
mbedalvaro 42:5f21a710ebc5 850 if (ch != ' ') {
mbedalvaro 43:1dd4cfc30788 851 // begin(i);
mbedalvaro 42:5f21a710ebc5 852 letter3d(ch, fontWidth, fontHeight);
mbedalvaro 43:1dd4cfc30788 853 // end();
mbedalvaro 42:5f21a710ebc5 854 }
mbedalvaro 42:5f21a710ebc5 855 lsr.translate(1.1*fontWidth, 0, 0);
mbedalvaro 42:5f21a710ebc5 856 }
mbedalvaro 43:1dd4cfc30788 857 end();
mbedalvaro 42:5f21a710ebc5 858
mbedalvaro 42:5f21a710ebc5 859 lsr.popPoseMatrix();
mbedalvaro 42:5f21a710ebc5 860
mbedalvaro 42:5f21a710ebc5 861 // Set a default PERSPECTIVE and GLOBAL POSE for start displaying:
mbedalvaro 42:5f21a710ebc5 862 lsr.loadProjMatrix(K1, scaleFactorProjector1);
mbedalvaro 42:5f21a710ebc5 863 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 864 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 42:5f21a710ebc5 865 // DEFAULT position in CAMERA coordinates (calibration was in cm):
mbedalvaro 42:5f21a710ebc5 866 lsr.translate(0, 0, 130);
mbedalvaro 40:3ba2b0ea9f33 867
mbedalvaro 42:5f21a710ebc5 868 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 869 updateScene();
mbedalvaro 40:3ba2b0ea9f33 870 }
mbedalvaro 42:5f21a710ebc5 871 }
mbedalvaro 42:5f21a710ebc5 872
mbedalvaro 40:3ba2b0ea9f33 873
mbedalvaro 42:5f21a710ebc5 874 // (d) TERMINATOR indicating data was for the POSE MATRIX of the object (Mp) (with respect to the CAMERA):
mbedalvaro 43:1dd4cfc30788 875 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 876 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer'
mbedalvaro 42:5f21a710ebc5 877 // Now, auxDataBuffer is a buffer with 12 values (4x3), corresponding to the pose of the object in CAMERA coordinartes (RT')
mbedalvaro 42:5f21a710ebc5 878 lsr.setIdentityPose(); // RT=ID
mbedalvaro 42:5f21a710ebc5 879 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 42:5f21a710ebc5 880 lsr.multPoseMatrix(auxDataBuffer); // RT=ExRT' : this sets RT as the current object pose in PROJECTOR coordinates
mbedalvaro 40:3ba2b0ea9f33 881
mbedalvaro 42:5f21a710ebc5 882 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 883 }
mbedalvaro 40:3ba2b0ea9f33 884
mbedalvaro 42:5f21a710ebc5 885 // (d) TERMINATOR indicating data was for the projection matrix (will probably be saved in "hard" in the microcontroller code):
mbedalvaro 43:1dd4cfc30788 886 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 887 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 42:5f21a710ebc5 888 // store in projection matrix:
mbedalvaro 42:5f21a710ebc5 889 lsr.loadProjMatrix(auxDataBuffer, 1.0);
mbedalvaro 42:5f21a710ebc5 890
mbedalvaro 42:5f21a710ebc5 891 drawScene(); // needed because we changed the PROJECTION matrix (but there is no need to re-create all the geometry, just project)
mbedalvaro 42:5f21a710ebc5 892 }
mbedalvaro 40:3ba2b0ea9f33 893
mbedalvaro 42:5f21a710ebc5 894 //(e) TERMINATOR indicating the data was for the extrinsic matrix:
mbedalvaro 43:1dd4cfc30788 895 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 896 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 42:5f21a710ebc5 897 // store in projection matrix:
mbedalvaro 42:5f21a710ebc5 898 lsr.loadExtrinsicsMatrix(auxDataBuffer);
mbedalvaro 42:5f21a710ebc5 899
mbedalvaro 42:5f21a710ebc5 900 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 901 }
mbedalvaro 40:3ba2b0ea9f33 902 }
mbedalvaro 40:3ba2b0ea9f33 903
mbedalvaro 40:3ba2b0ea9f33 904 void processSerial()
mbedalvaro 40:3ba2b0ea9f33 905 {
mbedalvaro 40:3ba2b0ea9f33 906 while (pc.readable() > 0) {
mbedalvaro 40:3ba2b0ea9f33 907 char incomingByte = pc.getc();
mbedalvaro 40:3ba2b0ea9f33 908
mbedalvaro 40:3ba2b0ea9f33 909 // For test:
mbedalvaro 40:3ba2b0ea9f33 910 // pc.putc(incomingByte);
mbedalvaro 40:3ba2b0ea9f33 911
mbedalvaro 40:3ba2b0ea9f33 912 // (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 913 // Note: numbers are float, so we need also the "." and "-"
mbedalvaro 40:3ba2b0ea9f33 914 if ( (incomingByte >= '0' && incomingByte <= '9') // numbers
mbedalvaro 42:5f21a710ebc5 915 || (incomingByte >= 'A' && incomingByte <= 'Z') // capital letters
mbedalvaro 42:5f21a710ebc5 916 || (incomingByte >= 'a' && incomingByte <= 'z') // small letters (in fact, will be used for other symbols)
mbedalvaro 42:5f21a710ebc5 917 || (incomingByte == ' ') // space
mbedalvaro 42:5f21a710ebc5 918 || (incomingByte == '-') // minus sign
mbedalvaro 42:5f21a710ebc5 919 || (incomingByte == '.') // decimal point
mbedalvaro 42:5f21a710ebc5 920 ) {
mbedalvaro 40:3ba2b0ea9f33 921 receivedStringData[indexStringData] = incomingByte;
mbedalvaro 40:3ba2b0ea9f33 922 indexStringData++;
mbedalvaro 40:3ba2b0ea9f33 923 }
mbedalvaro 40:3ba2b0ea9f33 924
mbedalvaro 43:1dd4cfc30788 925 // (b) a NUMBER to convert to float and to add to the auxiliary data buffer:
mbedalvaro 43:1dd4cfc30788 926 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 927 // the modelview, the projection matrix or some other data):
mbedalvaro 43:1dd4cfc30788 928 receivedStringData[indexStringData] = 0;
mbedalvaro 43:1dd4cfc30788 929 indexStringData = 0;
mbedalvaro 43:1dd4cfc30788 930 // Serial.println(receivedStringData); // for tests
mbedalvaro 43:1dd4cfc30788 931 // convert to float and store in auxiliary "matrix" array:
mbedalvaro 43:1dd4cfc30788 932 auxDataBuffer[auxDataBuffer_index] = atof(receivedStringData);
mbedalvaro 43:1dd4cfc30788 933 //Serial.println( auxDataBuffer[auxDataBuffer_index]); // for tests
mbedalvaro 43:1dd4cfc30788 934 auxDataBuffer_index++;
mbedalvaro 43:1dd4cfc30788 935 }
mbedalvaro 43:1dd4cfc30788 936
mbedalvaro 40:3ba2b0ea9f33 937 // Enable/disable projection:
mbedalvaro 40:3ba2b0ea9f33 938 else if (incomingByte == '}') {
mbedalvaro 40:3ba2b0ea9f33 939 stopDisplay();
mbedalvaro 40:3ba2b0ea9f33 940 } else if (incomingByte == '{') {
mbedalvaro 40:3ba2b0ea9f33 941 resumeDisplay();
mbedalvaro 40:3ba2b0ea9f33 942 }
mbedalvaro 40:3ba2b0ea9f33 943
mbedalvaro 40:3ba2b0ea9f33 944 // Show maximum excursion of mirrors:
mbedalvaro 40:3ba2b0ea9f33 945 else if (incomingByte == '*') {
mbedalvaro 43:1dd4cfc30788 946 showLimitsMirrors(50, 1);
mbedalvaro 40:3ba2b0ea9f33 947 }
mbedalvaro 42:5f21a710ebc5 948
mbedalvaro 43:1dd4cfc30788 949 else if (incomingByte=='_') {
mbedalvaro 43:1dd4cfc30788 950 clearScene();
mbedalvaro 43:1dd4cfc30788 951 }
mbedalvaro 40:3ba2b0ea9f33 952
mbedalvaro 40:3ba2b0ea9f33 953 else if (incomingByte == '+') {
mbedalvaro 40:3ba2b0ea9f33 954 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 955 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 956 switch(atoi(receivedStringData)) {
mbedalvaro 40:3ba2b0ea9f33 957 case 0:
mbedalvaro 40:3ba2b0ea9f33 958 currentSensingMode=NO_SENSING;
mbedalvaro 40:3ba2b0ea9f33 959 break;
mbedalvaro 40:3ba2b0ea9f33 960 case 1:
mbedalvaro 40:3ba2b0ea9f33 961 currentSensingMode=SENSING_WHOLE_SCENE;
mbedalvaro 40:3ba2b0ea9f33 962 break;
mbedalvaro 40:3ba2b0ea9f33 963 case 2:
mbedalvaro 40:3ba2b0ea9f33 964 currentSensingMode=SENSING_PER_OBJECT;
mbedalvaro 40:3ba2b0ea9f33 965 break;
mbedalvaro 40:3ba2b0ea9f33 966 default:
mbedalvaro 40:3ba2b0ea9f33 967 break;
mbedalvaro 40:3ba2b0ea9f33 968 }
mbedalvaro 40:3ba2b0ea9f33 969 }
mbedalvaro 40:3ba2b0ea9f33 970
mbedalvaro 40:3ba2b0ea9f33 971 // Performs a scan of the surface and send all the data serially (N>, with N the resolution of the scan)
mbedalvaro 40:3ba2b0ea9f33 972 else if (incomingByte == '>') {
mbedalvaro 40:3ba2b0ea9f33 973 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 974 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 975 //pc.printf("scan command issued¥n");
mbedalvaro 40:3ba2b0ea9f33 976 scanSerial(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 977 }
mbedalvaro 40:3ba2b0ea9f33 978
mbedalvaro 40:3ba2b0ea9f33 979 // Recompute the LUT table
mbedalvaro 40:3ba2b0ea9f33 980 else if (incomingByte == '<') {
mbedalvaro 40:3ba2b0ea9f33 981 recomputeLookUpTable();
mbedalvaro 40:3ba2b0ea9f33 982 }
mbedalvaro 40:3ba2b0ea9f33 983
mbedalvaro 40:3ba2b0ea9f33 984 // Change state machine color (objects created from this point on will have the state machine color)
mbedalvaro 40:3ba2b0ea9f33 985 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 986 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 987 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 988 // convert to integer and set the state machine color:
mbedalvaro 40:3ba2b0ea9f33 989 lsr.setColor(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 990 }
mbedalvaro 40:3ba2b0ea9f33 991
mbedalvaro 40:3ba2b0ea9f33 992 // Real time change of color of ALL the objects in the CURRENT scene (state machine color not changed)
mbedalvaro 40:3ba2b0ea9f33 993 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 994 receivedStringData[indexStringData] = 0;
mbedalvaro 40:3ba2b0ea9f33 995 indexStringData = 0;
mbedalvaro 40:3ba2b0ea9f33 996 // convert to integer and set the color:
mbedalvaro 40:3ba2b0ea9f33 997 changeColorScene(atoi(receivedStringData));
mbedalvaro 40:3ba2b0ea9f33 998 }
mbedalvaro 40:3ba2b0ea9f33 999
mbedalvaro 40:3ba2b0ea9f33 1000
mbedalvaro 40:3ba2b0ea9f33 1001 // 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 1002 // been translated previously - this may be optional, we could first send the pose, then the points...)
mbedalvaro 40:3ba2b0ea9f33 1003 // Note: orthographic projection can be achieved by simply setting the projection matrix to ID, while
mbedalvaro 40:3ba2b0ea9f33 1004 // 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 1005 // 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 1006 // NOTE: the following string of ASCII characters is assumed to have been input:
mbedalvaro 40:3ba2b0ea9f33 1007 // posX#posY#sizeX#sizeY#nx#ny#:
mbedalvaro 40:3ba2b0ea9f33 1008 // 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 1009 // the auxiliary array auxDataBuffer contains all that data (as floats), ex: auxDataBuffer[0] is just posX, and auxDataBuffer[5] is ny
mbedalvaro 40:3ba2b0ea9f33 1010 else if (incomingByte == ':') {
mbedalvaro 40:3ba2b0ea9f33 1011 // Data is now ordered in the auxDataBuffer array:
mbedalvaro 40:3ba2b0ea9f33 1012 float posX = auxDataBuffer[0], posY = auxDataBuffer[1], sizeX = auxDataBuffer[2], sizeY = auxDataBuffer[3], nx = auxDataBuffer[4], ny = auxDataBuffer[5];
mbedalvaro 40:3ba2b0ea9f33 1013 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1014 clearScene();
mbedalvaro 40:3ba2b0ea9f33 1015 // set color:
mbedalvaro 40:3ba2b0ea9f33 1016 lsr.setColor(0x02); // green
mbedalvaro 40:3ba2b0ea9f33 1017 //IO.setLaserLockinPower(0); // DISABLING SENSING LASER! (here the red). This is FOR CALIBRATION laser-camera
mbedalvaro 42:5f21a710ebc5 1018
mbedalvaro 40:3ba2b0ea9f33 1019 // set local pose matrix to identity:
mbedalvaro 40:3ba2b0ea9f33 1020 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 1021 // translate to the required position:
mbedalvaro 40:3ba2b0ea9f33 1022 lsr.translate(posX, posY, 0); // since the projection and pose are going to be set
mbedalvaro 40:3ba2b0ea9f33 1023 // to Identity (projection identity will automatically make the projection orthographic), this means that these
mbedalvaro 40:3ba2b0ea9f33 1024 // values are in "laser projector pixels" (in fact angles).
mbedalvaro 40:3ba2b0ea9f33 1025 // Create the collection of dot objects:
mbedalvaro 40:3ba2b0ea9f33 1026 // void grid(float sizeX, float sizeY, int nx, int ny, int repeatpoint);
mbedalvaro 40:3ba2b0ea9f33 1027 grid(sizeX, sizeY, nx, ny, 1);
mbedalvaro 40:3ba2b0ea9f33 1028 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 1029 // rendering is done in the drawScene() function.
mbedalvaro 40:3ba2b0ea9f33 1030
mbedalvaro 40:3ba2b0ea9f33 1031 // Now we can render the scene once:
mbedalvaro 40:3ba2b0ea9f33 1032 // Set a default GLOBAL POSE and orthographic projection for rendering and start displaying:
mbedalvaro 40:3ba2b0ea9f33 1033 lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 1034 lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 1035 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 1036 }
mbedalvaro 40:3ba2b0ea9f33 1037 // 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 1038
mbedalvaro 40:3ba2b0ea9f33 1039 // 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 1040 // using orthographic projection.
mbedalvaro 40:3ba2b0ea9f33 1041 // This is in particular useful to create "structured light" grids - such the grid of planar points for calibration.
mbedalvaro 40:3ba2b0ea9f33 1042 // 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 1043 // 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 1044 // cameraProjectorCalibration Xcode project as little as possible, I will perform the transformations on the computer.
mbedalvaro 43:1dd4cfc30788 1045 else if (incomingByte == '@') { // ID of the object
mbedalvaro 43:1dd4cfc30788 1046 command1="objectID";
mbedalvaro 43:1dd4cfc30788 1047 interpretCommand();
mbedalvaro 43:1dd4cfc30788 1048 }
mbedalvaro 43:1dd4cfc30788 1049
mbedalvaro 43:1dd4cfc30788 1050 else if (incomingByte == '~') { // this is for setting the POSITION of the object to be created:
mbedalvaro 43:1dd4cfc30788 1051 command1="initialPosition";
mbedalvaro 43:1dd4cfc30788 1052 interpretCommand();
mbedalvaro 43:1dd4cfc30788 1053
mbedalvaro 43:1dd4cfc30788 1054 }
mbedalvaro 43:1dd4cfc30788 1055
mbedalvaro 43:1dd4cfc30788 1056
mbedalvaro 43:1dd4cfc30788 1057 else if (incomingByte == '=') { // Create 2d object:
mbedalvaro 43:1dd4cfc30788 1058 command1 = "createObject2D";
mbedalvaro 43:1dd4cfc30788 1059 interpretCommand();
mbedalvaro 40:3ba2b0ea9f33 1060 }
mbedalvaro 40:3ba2b0ea9f33 1061
mbedalvaro 40:3ba2b0ea9f33 1062 // 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 1063 // It will be rendered in the CURRENT pose.
mbedalvaro 40:3ba2b0ea9f33 1064 else if (incomingByte == ';') {
mbedalvaro 40:3ba2b0ea9f33 1065 // Data is now ordered in the auxDataBuffer array in triplets (X,Y,Z).
mbedalvaro 40:3ba2b0ea9f33 1066 // The present value of auxDataBuffer_index contains the number of points x 3
mbedalvaro 40:3ba2b0ea9f33 1067 lsr.pushPoseMatrix(); // we will render on the current pose...
mbedalvaro 40:3ba2b0ea9f33 1068 clearScene();
mbedalvaro 40:3ba2b0ea9f33 1069 lsr.setIdentityPose();
mbedalvaro 40:3ba2b0ea9f33 1070 //lsr.setColor(0x02);
mbedalvaro 40:3ba2b0ea9f33 1071 begin(1);
mbedalvaro 40:3ba2b0ea9f33 1072 for (unsigned char i = 0; i < auxDataBuffer_index / 3; i++) {
mbedalvaro 40:3ba2b0ea9f33 1073 vertex(auxDataBuffer[3 * i], auxDataBuffer[3 * i + 1],
mbedalvaro 40:3ba2b0ea9f33 1074 auxDataBuffer[3 * i + 2]);
mbedalvaro 40:3ba2b0ea9f33 1075 }
mbedalvaro 40:3ba2b0ea9f33 1076 end();
mbedalvaro 40:3ba2b0ea9f33 1077 updateScene();
mbedalvaro 40:3ba2b0ea9f33 1078 // 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 1079 // properly called lsr.pushPoseMatrix())
mbedalvaro 40:3ba2b0ea9f33 1080 //lsr.setOrthoProjection();
mbedalvaro 40:3ba2b0ea9f33 1081 //lsr.setIdentityPose(); // we could have done the translation here instead of in "local coordinates", but it's the same.
mbedalvaro 40:3ba2b0ea9f33 1082 lsr.popPoseMatrix();
mbedalvaro 40:3ba2b0ea9f33 1083 drawScene();
mbedalvaro 40:3ba2b0ea9f33 1084 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1085 }
mbedalvaro 40:3ba2b0ea9f33 1086
mbedalvaro 40:3ba2b0ea9f33 1087
mbedalvaro 40:3ba2b0ea9f33 1088 /*
mbedalvaro 40:3ba2b0ea9f33 1089 else if (incomingByte=='!') { // sets the width of the letter
mbedalvaro 40:3ba2b0ea9f33 1090 receivedStringData[indexStringData]=0;
mbedalvaro 40:3ba2b0ea9f33 1091 indexStringData=0;
mbedalvaro 40:3ba2b0ea9f33 1092 fontWidth=atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 1093 createTextScene(); // needed because we changed the geometry
mbedalvaro 40:3ba2b0ea9f33 1094 }
mbedalvaro 40:3ba2b0ea9f33 1095
mbedalvaro 40:3ba2b0ea9f33 1096 else if (incomingByte=='"') { // sets the height of the letter
mbedalvaro 40:3ba2b0ea9f33 1097 receivedStringData[indexStringData]=0;
mbedalvaro 40:3ba2b0ea9f33 1098 indexStringData=0;
mbedalvaro 40:3ba2b0ea9f33 1099 fontHeight=atof(receivedStringData);
mbedalvaro 40:3ba2b0ea9f33 1100 createTextScene(); // needed because we changed the geometry
mbedalvaro 40:3ba2b0ea9f33 1101 }
mbedalvaro 40:3ba2b0ea9f33 1102 */
mbedalvaro 40:3ba2b0ea9f33 1103
mbedalvaro 40:3ba2b0ea9f33 1104 // (c) TERMINATOR indicating the data was text to display:
mbedalvaro 40:3ba2b0ea9f33 1105 else if (incomingByte == '"') { // this means that the previous data was TEXT to display
mbedalvaro 43:1dd4cfc30788 1106 command1="createText";
mbedalvaro 43:1dd4cfc30788 1107 interpretCommand();
mbedalvaro 43:1dd4cfc30788 1108 }
mbedalvaro 40:3ba2b0ea9f33 1109
mbedalvaro 40:3ba2b0ea9f33 1110 // (d) TERMINATOR indicating data was for the POSE MATRIX of the object (Mp) (with respect to the CAMERA):
mbedalvaro 40:3ba2b0ea9f33 1111 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 1112 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1113 // Now, auxDataBuffer is a buffer with 12 values (4x3), corresponding to the pose of the object in CAMERA coordinartes (RT')
mbedalvaro 40:3ba2b0ea9f33 1114 lsr.setIdentityPose(); // RT=ID
mbedalvaro 40:3ba2b0ea9f33 1115 lsr.multPoseMatrix(lsr.EXTRINSICS); // RT=E // we can simply do: lsr.setExtrinsicsPose()
mbedalvaro 40:3ba2b0ea9f33 1116 lsr.multPoseMatrix(auxDataBuffer); // RT=ExRT' : this sets RT as the current object pose in PROJECTOR coordinates
mbedalvaro 40:3ba2b0ea9f33 1117
mbedalvaro 40:3ba2b0ea9f33 1118 drawScene(); // needed because we changed the POSE (but there is no need to re-create the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 1119
mbedalvaro 40:3ba2b0ea9f33 1120 // Handshake:
mbedalvaro 40:3ba2b0ea9f33 1121 pc.putc(13);
mbedalvaro 40:3ba2b0ea9f33 1122 }
mbedalvaro 40:3ba2b0ea9f33 1123
mbedalvaro 40:3ba2b0ea9f33 1124 // (d) TERMINATOR indicating data was for the projection matrix (will probably be saved in "hard" in the microcontroller code):
mbedalvaro 40:3ba2b0ea9f33 1125 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 1126 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1127 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 1128 lsr.loadProjMatrix(auxDataBuffer, 1.0);
mbedalvaro 40:3ba2b0ea9f33 1129
mbedalvaro 40:3ba2b0ea9f33 1130 drawScene(); // needed because we changed the PROJECTION matrix (but there is no need to re-create all the geometry, just project)
mbedalvaro 40:3ba2b0ea9f33 1131 }
mbedalvaro 40:3ba2b0ea9f33 1132
mbedalvaro 40:3ba2b0ea9f33 1133 //(e) TERMINATOR indicating the data was for the extrinsic matrix:
mbedalvaro 40:3ba2b0ea9f33 1134 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 1135 auxDataBuffer_index = 0; // to restart loading the auxiliary buffer 'auxDataBuffer' through serial port
mbedalvaro 40:3ba2b0ea9f33 1136 // store in projection matrix:
mbedalvaro 40:3ba2b0ea9f33 1137 lsr.loadExtrinsicsMatrix(auxDataBuffer);
mbedalvaro 40:3ba2b0ea9f33 1138
mbedalvaro 40:3ba2b0ea9f33 1139 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 1140 }
mbedalvaro 40:3ba2b0ea9f33 1141
mbedalvaro 40:3ba2b0ea9f33 1142 }
mbedalvaro 40:3ba2b0ea9f33 1143 }