Alvaro Cassinelli
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skinGames_forktest
just a test
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classLaserSensingTrajectory.cpp@5:73cd58b58f95, 2012-04-05 (annotated)
- Committer:
- mbedalvaro
- Date:
- Thu Apr 05 12:29:14 2012 +0000
- Revision:
- 5:73cd58b58f95
- Parent:
- 4:f9d364f10335
- Child:
- 6:444859c27e78
Something very strange happens in the class laserSensingTrajectory: adding a:; float lightRatio; as member variable makes the blob dissapear...
Who changed what in which revision?
User | Revision | Line number | New 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 | 4:f9d364f10335 | 10 | |
mbedalvaro | 4:f9d364f10335 | 11 | void LaserSensingTrajectory::setDelayMirrors(int delay) { |
mbedalvaro | 4:f9d364f10335 | 12 | delayMirrorSamples=delay; |
mbedalvaro | 4:f9d364f10335 | 13 | } |
mbedalvaro | 4:f9d364f10335 | 14 | |
mbedalvaro | 0:345b3bc7a0ea | 15 | void LaserSensingTrajectory::processSensedData() { |
mbedalvaro | 0:345b3bc7a0ea | 16 | // Compute max and min intensity on the loop |
mbedalvaro | 0:345b3bc7a0ea | 17 | maxI=0; |
mbedalvaro | 0:345b3bc7a0ea | 18 | minI=4096; |
mbedalvaro | 4:f9d364f10335 | 19 | int auxSize=lsdTrajectory.size(); |
mbedalvaro | 4:f9d364f10335 | 20 | |
mbedalvaro | 5:73cd58b58f95 | 21 | // Compute minimum and maximum intensities: |
mbedalvaro | 0:345b3bc7a0ea | 22 | for (int i = 0; i < lsdTrajectory.size(); i++) { |
mbedalvaro | 5:73cd58b58f95 | 23 | float mesI=lsdTrajectory[i].intensity; |
mbedalvaro | 0:345b3bc7a0ea | 24 | if (maxI<mesI) maxI=mesI; |
mbedalvaro | 0:345b3bc7a0ea | 25 | if (minI>mesI) minI=mesI; |
mbedalvaro | 0:345b3bc7a0ea | 26 | } |
mbedalvaro | 0:345b3bc7a0ea | 27 | |
mbedalvaro | 0:345b3bc7a0ea | 28 | // Compute autoThreshold: |
mbedalvaro | 0:345b3bc7a0ea | 29 | if (1.0*maxI/(minI+0.1) > MIN_CONTRAST_RATIO ) { |
mbedalvaro | 0:345b3bc7a0ea | 30 | autoThreshold = 1.0 * (maxI-minI) * THRESHOLD_FACTOR + minI; // THRESHOLD_FACTOR = 2/3 or 1/2 is a good value. |
mbedalvaro | 0:345b3bc7a0ea | 31 | } else {// ... otherwise, we consider that the saccade is FULL on something white |
mbedalvaro | 0:345b3bc7a0ea | 32 | autoThreshold=-1; |
mbedalvaro | 0:345b3bc7a0ea | 33 | } |
mbedalvaro | 0:345b3bc7a0ea | 34 | |
mbedalvaro | 0:345b3bc7a0ea | 35 | // 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 | 36 | // 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 | 37 | // 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 | 38 | // idea of the blob "constant" internal pressure... |
mbedalvaro | 0:345b3bc7a0ea | 39 | lightTouched=false; |
mbedalvaro | 5:73cd58b58f95 | 40 | // int counterLight=0; |
mbedalvaro | 0:345b3bc7a0ea | 41 | for (int i = 0; i < lsdTrajectory.size(); i++) { |
mbedalvaro | 4:f9d364f10335 | 42 | int delayedpoint=(i+auxSize-delayMirrorSamples)%auxSize; |
mbedalvaro | 4:f9d364f10335 | 43 | if (lsdTrajectory[delayedpoint].intensity>autoThreshold) { // this means a WHITE zone: |
mbedalvaro | 4:f9d364f10335 | 44 | lsdTrajectory[delayedpoint].lightZone= -1;//1; |
mbedalvaro | 5:73cd58b58f95 | 45 | // counterLight++; |
mbedalvaro | 0:345b3bc7a0ea | 46 | } else { // something touched: DARK ZONE |
mbedalvaro | 4:f9d364f10335 | 47 | lsdTrajectory[delayedpoint].lightZone= 2;//0; |
mbedalvaro | 0:345b3bc7a0ea | 48 | lightTouched=true; // (for the whole loop) |
mbedalvaro | 0:345b3bc7a0ea | 49 | } |
mbedalvaro | 0:345b3bc7a0ea | 50 | } |
mbedalvaro | 5:73cd58b58f95 | 51 | //coko=counterLight; |
mbedalvaro | 5:73cd58b58f95 | 52 | // lightRatio=1.0*counterLight/lsdTrajectory.size(); |
mbedalvaro | 0:345b3bc7a0ea | 53 | } |