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Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

classLaserSensingTrajectory.h@4:f9d364f10335, 2012-04-04 (annotated)

Committer:
mbedalvaro
Date:
Wed Apr 04 10:05:25 2012 +0000
Revision:
4:f9d364f10335
Parent:
1:a4050fee11f7
Child:
5:73cd58b58f95
- the new optimized laser output buffer has not been tested, but it compiles; - I am commiting here, because I am planning to change the structure of the classes: soundSpot will not contain an object of type classLaserSensingTrajectory, but be a CHILD o...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:345b3bc7a0ea 1 #ifndef LSDTRAJECTORY_H
mbedalvaro 0:345b3bc7a0ea 2 #define LSDTRAJECTORY_H
mbedalvaro 0:345b3bc7a0ea 3
mbedalvaro 0:345b3bc7a0ea 4 #include <vector>
mbedalvaro 0:345b3bc7a0ea 5 using namespace std;
mbedalvaro 0:345b3bc7a0ea 6
mbedalvaro 0:345b3bc7a0ea 7 // CONTRAST RATIO to compute autoThreshold:
mbedalvaro 0:345b3bc7a0ea 8 #define MIN_CONTRAST_RATIO 1.3//2.4
mbedalvaro 0:345b3bc7a0ea 9 #define THRESHOLD_FACTOR 0.5//0.75 // 2/3 or 1/2 are good values
mbedalvaro 0:345b3bc7a0ea 10
mbedalvaro 0:345b3bc7a0ea 11 struct laserSensingPoint {
mbedalvaro 0:345b3bc7a0ea 12 // Position and color (after rendering)
mbedalvaro 0:345b3bc7a0ea 13 int x, y; // position of the point (after rendering - its integer, because it is in "laser projector pixels")
mbedalvaro 1:a4050fee11f7 14 // char color; // laser color of the point (we will use the first three bits to set the RGB colors)
mbedalvaro 0:345b3bc7a0ea 15 // Detection:
mbedalvaro 0:345b3bc7a0ea 16 float intensity; // detected intensity
mbedalvaro 0:345b3bc7a0ea 17 int lightZone; // the thresholded light zone
mbedalvaro 0:345b3bc7a0ea 18 };
mbedalvaro 0:345b3bc7a0ea 19
mbedalvaro 0:345b3bc7a0ea 20
mbedalvaro 0:345b3bc7a0ea 21 class LaserSensingTrajectory {
mbedalvaro 0:345b3bc7a0ea 22
mbedalvaro 0:345b3bc7a0ea 23 public:
mbedalvaro 0:345b3bc7a0ea 24
mbedalvaro 0:345b3bc7a0ea 25 LaserSensingTrajectory();
mbedalvaro 0:345b3bc7a0ea 26 ~LaserSensingTrajectory();
mbedalvaro 0:345b3bc7a0ea 27
mbedalvaro 0:345b3bc7a0ea 28 // METHODS:
mbedalvaro 0:345b3bc7a0ea 29 void processSensedData();
mbedalvaro 4:f9d364f10335 30 void setDelayMirrors(int); // in general, the delay will depend on the number of points being DISPLAYED (in other terms, on the size of lsdTrajectory).
mbedalvaro 4:f9d364f10335 31
mbedalvaro 0:345b3bc7a0ea 32 // DATA:
mbedalvaro 0:345b3bc7a0ea 33 vector <laserSensingPoint> lsdTrajectory;
mbedalvaro 0:345b3bc7a0ea 34 char displayColor;
mbedalvaro 0:345b3bc7a0ea 35
mbedalvaro 4:f9d364f10335 36 // software adjustement of mirror delay:
mbedalvaro 4:f9d364f10335 37 int 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
mbedalvaro 4:f9d364f10335 38
mbedalvaro 0:345b3bc7a0ea 39 // parameters for thresholding:
mbedalvaro 0:345b3bc7a0ea 40 float autoThreshold;
mbedalvaro 0:345b3bc7a0ea 41
mbedalvaro 0:345b3bc7a0ea 42 // Statistics and tests:
mbedalvaro 0:345b3bc7a0ea 43 float maxI, minI; // Max and Min intensity
mbedalvaro 0:345b3bc7a0ea 44 bool lightTouched; // true if something went over the autoThreshold for the whole loop
mbedalvaro 0:345b3bc7a0ea 45 };
mbedalvaro 0:345b3bc7a0ea 46
mbedalvaro 0:345b3bc7a0ea 47 #endif
mbedalvaro 0:345b3bc7a0ea 48
mbedalvaro 0:345b3bc7a0ea 49