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@18:d72935b13858, 2012-04-28 (annotated)

Committer:
mbedalvaro
Date:
Sat Apr 28 12:35:21 2012 +0000
Revision:
18:d72935b13858
Parent:
14:0fc33a3a7b4b
Child:
19:228430f1350e
this works pretty nicely. I will change some parameters on the elastic loop, as well as compute the KINETIC ENERGY

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 18:d72935b13858 8 #define MIN_CONTRAST_RATIO 2.3 // 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
mbedalvaro 9:3321170d157c 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 9:3321170d157c 13 unsigned short 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 10:6f8e48dca1bd 16 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 11:62f7183a03e7 17 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 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 5:73cd58b58f95 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 5:73cd58b58f95 31
mbedalvaro 0:345b3bc7a0ea 32 // DATA:
mbedalvaro 0:345b3bc7a0ea 33 vector <laserSensingPoint> lsdTrajectory;
mbedalvaro 11:62f7183a03e7 34 unsigned char displayColor;
mbedalvaro 5:73cd58b58f95 35
mbedalvaro 4:f9d364f10335 36 // software adjustement of mirror delay:
mbedalvaro 10:6f8e48dca1bd 37 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
mbedalvaro 4:f9d364f10335 38
mbedalvaro 0:345b3bc7a0ea 39 // parameters for thresholding:
mbedalvaro 11:62f7183a03e7 40 unsigned char autoThreshold; // 0 to 255
mbedalvaro 5:73cd58b58f95 41
mbedalvaro 0:345b3bc7a0ea 42 // Statistics and tests:
mbedalvaro 7:0df17f3078bc 43 //float lightRatio;
mbedalvaro 10:6f8e48dca1bd 44 unsigned char maxI, minI; // Max and Min intensity RATIOS (normalized between 0 and 255)
mbedalvaro 0:345b3bc7a0ea 45 bool lightTouched; // true if something went over the autoThreshold for the whole loop
mbedalvaro 5:73cd58b58f95 46 // char coko;
mbedalvaro 0:345b3bc7a0ea 47 };
mbedalvaro 0:345b3bc7a0ea 48
mbedalvaro 0:345b3bc7a0ea 49 #endif
mbedalvaro 0:345b3bc7a0ea 50
mbedalvaro 0:345b3bc7a0ea 51