Alvaro Cassinelli / Mbed 2 deprecated laserUI

Laser Sensing Display for UI interfaces in the real world

Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

classLaserSensingTrajectory.h@32:52273c3291fe, 2012-10-29 (annotated)

Committer:
mbedalvaro
Date:
Mon Oct 29 14:28:47 2012 +0000
Revision:
32:52273c3291fe
Parent:
30:d8af03f01cd4
Child:
33:43e8bc451ef0
code for Tokyo design week (starting with two colored following spots, and NO standby mode)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 32:52273c3291fe 1 #ifndef LSDTRAJECTORY_H
mbedalvaro 32:52273c3291fe 2 #define LSDTRAJECTORY_H
mbedalvaro 32:52273c3291fe 3
mbedalvaro 32:52273c3291fe 4 #include <vector>
mbedalvaro 32:52273c3291fe 5 using namespace std;
mbedalvaro 32:52273c3291fe 6
mbedalvaro 32:52273c3291fe 7 // CONTRAST RATIO to compute autoThreshold:
mbedalvaro 32:52273c3291fe 8 // MIN_CONTRAST_RATIO is the minimum contrast between max and min intensity necessary to "accept" a black and white zone:
mbedalvaro 32:52273c3291fe 9 #define MIN_CONTRAST_RATIO 1.8//1.7 // 3 seems good when lookup table does not work
mbedalvaro 32:52273c3291fe 10 // THRESHOLD_FACTOR is where the threshold is actually placed between the min and max detected (with good contrast):
mbedalvaro 32:52273c3291fe 11 #define THRESHOLD_FACTOR 0.5 //0.75 // 2/3 or 1/2 are good values
mbedalvaro 32:52273c3291fe 12 #define MIN_ACCEPTABLE_INTENSITY 16 // if maxI< this then we consider all the saccade on something black
mbedalvaro 32:52273c3291fe 13
mbedalvaro 32:52273c3291fe 14 struct laserSensingPoint {
mbedalvaro 32:52273c3291fe 15 // Position and color (after rendering)
mbedalvaro 32:52273c3291fe 16 unsigned short x, y; // position of the point (after rendering - its integer, because it is in "laser projector pixels")
mbedalvaro 32:52273c3291fe 17 // char color; // per point laser color (not used yet)
mbedalvaro 32:52273c3291fe 18 // Detection:
mbedalvaro 32:52273c3291fe 19 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.
mbedalvaro 32:52273c3291fe 20 signed char lightZone; // the thresholded light zone (allow for negative values for simply computing "negative" forces - although this is not necessarily the best option)
mbedalvaro 32:52273c3291fe 21 };
mbedalvaro 32:52273c3291fe 22
mbedalvaro 32:52273c3291fe 23
mbedalvaro 32:52273c3291fe 24 class LaserSensingTrajectory {
mbedalvaro 32:52273c3291fe 25
mbedalvaro 32:52273c3291fe 26 public:
mbedalvaro 32:52273c3291fe 27
mbedalvaro 32:52273c3291fe 28 LaserSensingTrajectory();
mbedalvaro 32:52273c3291fe 29 ~LaserSensingTrajectory();
mbedalvaro 32:52273c3291fe 30
mbedalvaro 32:52273c3291fe 31 // METHODS:
mbedalvaro 32:52273c3291fe 32 void processSensedData();
mbedalvaro 32:52273c3291fe 33 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 32:52273c3291fe 34 void addDelayMirrors(int add_delay);
mbedalvaro 32:52273c3291fe 35
mbedalvaro 32:52273c3291fe 36 void setMinContrastRatio(float value) {min_contrast_ratio=value;};
mbedalvaro 32:52273c3291fe 37 void setThresholdFactor(float value) {threshold_factor=value;};
mbedalvaro 32:52273c3291fe 38 void setMinAcceptableIntensity(float value) {min_acceptable_intensity=value;};
mbedalvaro 32:52273c3291fe 39 void multMinContrastRatio(float multfactor) {min_contrast_ratio*=multfactor;};
mbedalvaro 32:52273c3291fe 40 void multThresholdFactor(float multfactor) {threshold_factor*=multfactor;};
mbedalvaro 32:52273c3291fe 41
mbedalvaro 32:52273c3291fe 42 // DATA:
mbedalvaro 32:52273c3291fe 43 vector <laserSensingPoint> lsdTrajectory;
mbedalvaro 32:52273c3291fe 44 unsigned char displayColor; // per blob color
mbedalvaro 32:52273c3291fe 45
mbedalvaro 32:52273c3291fe 46 // software adjustement of mirror delay:
mbedalvaro 32:52273c3291fe 47 unsigned char delayMirrorSamples; // this is required because it will affect the way the blob behaves - it
mbedalvaro 32:52273c3291fe 48 //could be in the laser renderer, but by putting it here we can have more per-blob fine tunning
mbedalvaro 32:52273c3291fe 49
mbedalvaro 32:52273c3291fe 50 // parameters for thresholding:
mbedalvaro 32:52273c3291fe 51 float min_contrast_ratio, threshold_factor, min_acceptable_intensity;
mbedalvaro 32:52273c3291fe 52 unsigned char autoThreshold; // 0 to 255
mbedalvaro 32:52273c3291fe 53
mbedalvaro 32:52273c3291fe 54 // Statistics and tests:
mbedalvaro 32:52273c3291fe 55 //float lightRatio;
mbedalvaro 32:52273c3291fe 56 unsigned char maxI, minI; // Max and Min intensity RATIOS (normalized between 0 and 255)
mbedalvaro 32:52273c3291fe 57 bool lightTouched; // true if something went over the autoThreshold for the whole loop
mbedalvaro 32:52273c3291fe 58 // char coko;
mbedalvaro 32:52273c3291fe 59 };
mbedalvaro 32:52273c3291fe 60
mbedalvaro 32:52273c3291fe 61 #endif
mbedalvaro 32:52273c3291fe 62
mbedalvaro 32:52273c3291fe 63