Diff: classLaserSensingTrajectory.cpp

Revision:

30:d8af03f01cd4

Parent:

24:4e52031a495b

Child:

32:52273c3291fe

--- a/classLaserSensingTrajectory.cpp	Wed Jun 20 03:25:49 2012 +0000
+++ b/classLaserSensingTrajectory.cpp	Fri Sep 21 10:02:35 2012 +0000
@@ -1,58 +1,58 @@
-#include "classLaserSensingTrajectory.h"
-
-LaserSensingTrajectory::LaserSensingTrajectory(): lightTouched(false) {
-}
-
-LaserSensingTrajectory::~LaserSensingTrajectory() {
-   // lsdTrajectory.clear(); // there is no need to clear the vector, the destructor of this vector is called by default (and it's NOT a vector of pointers)
-}
-
-  
-void LaserSensingTrajectory::setDelayMirrors(int delay) {
-    delayMirrorSamples=delay;
-}
-
-void LaserSensingTrajectory::addDelayMirrors(int add_delay) {
-    delayMirrorSamples+=add_delay;
-}
-
-void LaserSensingTrajectory::processSensedData() {
-    // Compute max and min intensity on the loop
-    maxI=0;
-    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++) {
-        unsigned char mesI=lsdTrajectory[i].intensity; 
-        if (maxI<mesI)  maxI=mesI;
-        if (minI>mesI)  minI=mesI;
-    }
-
-    // Compute autoThreshold:
-    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=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...):
-    // NOTE: if using 1 and -1 instead of 1 and 0, we can avoid having to add a "blob internal pressure"! -1 means a force towards the interior, and +1 outwards...
-    // This means that the loop will naturally become inside-out depending on the color of the main surface! (but will mantain its normal size). Much better and elegant solution than the
-    // idea of the blob "constant" internal pressure...
-    lightTouched=false;
-  //  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:
-            lsdTrajectory[i].lightZone=  -1;
-        //    counterLight++;
-        } else { // something touched: DARK ZONE
-            lsdTrajectory[i].lightZone= 2;
-            lightTouched=true; // (for the whole loop)
-        }
-    }
-    //coko=counterLight;
-//    lightRatio=1.0*counterLight/lsdTrajectory.size();
-}
+#include "classLaserSensingTrajectory.h"
+
+LaserSensingTrajectory::LaserSensingTrajectory(): lightTouched(false) {
+}
+
+LaserSensingTrajectory::~LaserSensingTrajectory() {
+   // lsdTrajectory.clear(); // there is no need to clear the vector, the destructor of this vector is called by default (and it's NOT a vector of pointers)
+}
+
+  
+void LaserSensingTrajectory::setDelayMirrors(int delay) {
+    delayMirrorSamples=delay;
+}
+
+void LaserSensingTrajectory::addDelayMirrors(int add_delay) {
+    delayMirrorSamples+=add_delay;
+}
+
+void LaserSensingTrajectory::processSensedData() {
+    // Compute max and min intensity on the loop
+    maxI=0;
+    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++) {
+        unsigned char mesI=lsdTrajectory[i].intensity; 
+        if (maxI<mesI)  maxI=mesI;
+        if (minI>mesI)  minI=mesI;
+    }
+
+    // Compute autoThreshold:
+    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=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...):
+    // NOTE: if using 1 and -1 instead of 1 and 0, we can avoid having to add a "blob internal pressure"! -1 means a force towards the interior, and +1 outwards...
+    // This means that the loop will naturally become inside-out depending on the color of the main surface! (but will mantain its normal size). Much better and elegant solution than the
+    // idea of the blob "constant" internal pressure...
+    lightTouched=false;
+  //  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:
+            lsdTrajectory[i].lightZone=  -1;
+        //    counterLight++;
+        } else { // something touched: DARK ZONE
+            lsdTrajectory[i].lightZone= 2;
+            lightTouched=true; // (for the whole loop)
+        }
+    }
+    //coko=counterLight;
+//    lightRatio=1.0*counterLight/lsdTrajectory.size();
+}