Alvaro Cassinelli
/
skinGames_forktest
just a test
Fork of scoreLight_Advanced by
classLaserSensingTrajectory.h
- Committer:
- mbedalvaro
- Date:
- 2012-06-02
- Revision:
- 22:d87317d7ca91
- Parent:
- 19:228430f1350e
- Child:
- 24:4e52031a495b
File content as of revision 22:d87317d7ca91:
#ifndef LSDTRAJECTORY_H #define LSDTRAJECTORY_H #include <vector> using namespace std; // CONTRAST RATIO to compute autoThreshold: #define MIN_CONTRAST_RATIO 1.6 // 3 seems good when lookup table does not work // This is the minimum contrast between max and min intensity necessary to "accept" a black and white zone #define THRESHOLD_FACTOR 0.5//0.75 // 2/3 or 1/2 are good values 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; // laser color of the point (we will use the first three bits to set the RGB colors) // 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: void 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). // DATA: vector <laserSensingPoint> lsdTrajectory; unsigned char displayColor; // 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: unsigned char autoThreshold; // 0 to 255 // Statistics and tests: //float lightRatio; unsigned char maxI, minI; // Max and Min intensity RATIOS (normalized between 0 and 255) bool lightTouched; // true if something went over the autoThreshold for the whole loop // char coko; }; #endif