Diff: classLaserSensingTrajectory.h

Revision:

0:df6fdd9b99f0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/classLaserSensingTrajectory.h	Tue Dec 02 04:39:15 2014 +0000
@@ -0,0 +1,76 @@
+#ifndef LSDTRAJECTORY_H
+#define LSDTRAJECTORY_H
+
+#include <vector>
+using namespace std;
+
+// Thresholding mode: 
+enum thresholdingMode {FIXED, AUTO};
+enum lightStateMode {TOUCHED, ALL_LIGHT, ALL_DARK};
+
+//(1) fixed threshold: 
+#define FIXED_THRESHOLD 35
+
+//(1) Autothreshold:
+// CONTRAST RATIO to compute autoThreshold:
+// MIN_CONTRAST_RATIO is the minimum contrast between max and min intensity necessary to "accept" a black and white zone:
+#define MIN_CONTRAST_RATIO 2.0//2.5//1.6//1.8//1.7 // 3 seems good when lookup table does not work 
+// THRESHOLD_FACTOR is where the threshold is actually placed between the min and max detected (with good contrast):
+#define THRESHOLD_FACTOR 0.5 //0.75 // 2/3 or 1/2 are good values 
+#define MIN_ACCEPTABLE_INTENSITY 16 // if maxI< this then we consider all the saccade on something black
+
+struct laserSensingPoint {
+    // Position and color (after rendering)
+   unsigned short x, y; // position of the point (after rendering - its integer, because it is in "laser projector pixels")
+    // char color; // per point laser color (not used yet)
+    // Detection:
+    unsigned char intensity; // detected intensity (in fact, this will be the REFLECTIVITY RATIO if using LUT table, and it's between 0 and 1, but we will multiply by 255 to avoid using a float. 
+    signed char lightZone; // the thresholded light zone (allow for negative values for simply computing "negative" forces - although this is not necessarily the best option)
+};
+
+
+class LaserSensingTrajectory  {
+
+public:
+
+    LaserSensingTrajectory();
+    ~LaserSensingTrajectory();
+
+    // METHODS:
+    bool processSensedData();
+    void setDelayMirrors(int); // in general, the delay will depend on the number of points being DISPLAYED (in other terms, on the size of lsdTrajectory).
+    void addDelayMirrors(int add_delay);
+
+    void setThresholdMode(unsigned char value) {modeThreshold=(value>0? AUTO : FIXED);};
+    void setFixedThreshold(unsigned char value) {fixedThreshold=value;};
+    void setMinContrastRatio(float value) {min_contrast_ratio=value;};
+    void setThresholdFactor(float value) {threshold_factor=value;};
+    void setMinAcceptableIntensity(unsigned char value) {min_acceptable_intensity=value;};
+    void multMinContrastRatio(float multfactor) {min_contrast_ratio*=multfactor;};
+    void multThresholdFactor(float multfactor) {threshold_factor*=multfactor;};
+
+    // DATA:
+    vector <laserSensingPoint> lsdTrajectory;
+    unsigned char displayColor; // per blob color
+
+    // software adjustement of mirror delay:
+    unsigned char delayMirrorSamples; // this is required because it will affect the way the blob behaves - it 
+    //could be in the laser renderer, but by putting it here we can have more per-blob fine tunning
+
+    // parameters for thresholding and thresholding mode:
+    thresholdingMode modeThreshold;
+    float min_contrast_ratio, threshold_factor, min_acceptable_intensity;
+    unsigned char autoThreshold, fixedThreshold; // 0 to 255
+    
+    // Statistics and tests:
+    //float lightRatio;
+    unsigned char maxI, minI;     // Max and Min intensity RATIOS (normalized between 0 and 255)
+    // The following is a little redundant, but useful:
+    bool lightZone, darkZone; // better than a boolean lightTouched variable, but lightTouched may still be useful
+    lightStateMode lightState;
+    bool lightTouched;     // when there is at least one black zone and one light zone
+};
+
+#endif
+
+