Diff: classLaserSensingTrajectory.h

Revision:

0:345b3bc7a0ea

Child:

1:a4050fee11f7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/classLaserSensingTrajectory.h	Wed Mar 28 14:40:01 2012 +0000
@@ -0,0 +1,45 @@
+#ifndef LSDTRAJECTORY_H
+#define LSDTRAJECTORY_H
+
+#include <vector>
+using namespace std;
+
+// CONTRAST RATIO to compute autoThreshold:
+#define MIN_CONTRAST_RATIO 1.3//2.4
+#define THRESHOLD_FACTOR 0.5//0.75 // 2/3 or 1/2 are good values
+
+struct laserSensingPoint {
+    // Position and color (after rendering)
+    int 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:
+    float intensity; // detected intensity
+    int lightZone; // the thresholded light zone
+};
+
+
+class LaserSensingTrajectory  {
+
+public:
+
+    LaserSensingTrajectory();
+    ~LaserSensingTrajectory();
+
+    // METHODS:
+    void processSensedData();
+
+    // DATA:
+    vector <laserSensingPoint> lsdTrajectory;
+    char displayColor;
+    
+    // parameters for thresholding:
+    float autoThreshold;
+
+    // Statistics and tests:
+    float maxI, minI;      // Max and Min intensity
+    bool lightTouched;     // true if something went over the autoThreshold for the whole loop
+};
+
+#endif
+
+