Diff: classLaserSensingTrajectory.cpp

Revision:

10:6f8e48dca1bd

Parent:

7:0df17f3078bc

Child:

11:62f7183a03e7

--- a/classLaserSensingTrajectory.cpp	Wed Apr 11 13:06:23 2012 +0000
+++ b/classLaserSensingTrajectory.cpp	Wed Apr 11 14:51:08 2012 +0000
@@ -15,21 +15,22 @@
 void LaserSensingTrajectory::processSensedData() {
     // Compute max and min intensity on the loop
     maxI=0;
-    minI=4096;
+    minI=255; // ratio has been normalized between 0 and 255
     int auxSize=lsdTrajectory.size();
     
     // Compute minimum and maximum intensities:
     for (int i = 0; i < lsdTrajectory.size(); i++) {
-        float mesI=lsdTrajectory[i].intensity; 
+        unsigned char mesI=lsdTrajectory[i].intensity; 
         if (maxI<mesI)  maxI=mesI;
         if (minI>mesI)  minI=mesI;
     }
 
     // Compute autoThreshold:
-    if (1.0*maxI/(minI+0.1) > MIN_CONTRAST_RATIO ) {
-        autoThreshold = 1.0 * (maxI-minI) * THRESHOLD_FACTOR + minI;    // THRESHOLD_FACTOR = 2/3 or 1/2 is a good value.
+    if (minI==0) autoThreshold=0; // (we consider that the saccade is FULL on something white)
+    else if (1.0*maxI/minI > MIN_CONTRAST_RATIO ) {
+        autoThreshold = (unsigned char) (1.0 * (maxI-minI) * THRESHOLD_FACTOR + minI);    // THRESHOLD_FACTOR = 2/3 or 1/2 is a good value.
     } else {// ... otherwise, we consider that the saccade is FULL on something white
-        autoThreshold=-1;
+        autoThreshold=0;
     }
 
     // Segment the trajectory (only two levels for the time being, but we can have more - meaning different forces, real or even complex values to have different angle forces...):
@@ -40,11 +41,11 @@
   //  int counterLight=0;
     for (int i = 0; i <  lsdTrajectory.size(); i++) {
         int delayedpoint=(i+auxSize+delayMirrorSamples)%auxSize; // this way we can have negative delayMirrorSamples if required (would be absurd though)
-        if (lsdTrajectory[delayedpoint].intensity>autoThreshold) { // this means a WHITE zone:
+        if (lsdTrajectory[delayedpoint].intensity>=autoThreshold) { // this means a WHITE zone:
             lsdTrajectory[i].lightZone= -1;//1;
         //    counterLight++;
         } else { // something touched: DARK ZONE
-            lsdTrajectory[i].lightZone= 2;//0;
+            lsdTrajectory[i].lightZone= -1;// 2;//0;
             lightTouched=true; // (for the whole loop)
         }
     }