Alvaro Cassinelli / Mbed 2 deprecated laserUI

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Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

classLaserSensingTrajectory.cpp@0:345b3bc7a0ea, 2012-03-28 (annotated)

Committer:
mbedalvaro
Date:
Wed Mar 28 14:40:01 2012 +0000
Revision:
0:345b3bc7a0ea
Child:
3:b44ff6de81bd
This version (using rigid frame, base and child classes, etc) works, but the blob is strangely smaller. Need to check this.

Who changed what in which revision?

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