File content as of revision 24:4e52031a495b:

#ifndef LSDTRAJECTORY_H
#define LSDTRAJECTORY_H

#include <vector>
using namespace std;

// CONTRAST RATIO to compute autoThreshold:
#define MIN_CONTRAST_RATIO 1.7 // 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
#define THRESHOLD_FACTOR 0.55//0.75 // 2/3 or 1/2 are good values 

struct laserSensingPoint {
    // Position and color (after rendering)
   unsigned short 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:
    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. 
    signed char lightZone; // the thresholded light zone (allow for negative values for simply computing "negative" forces - although this is not necessarily the best option)
};


class LaserSensingTrajectory  {

public:

    LaserSensingTrajectory();
    ~LaserSensingTrajectory();

    // METHODS:
    void processSensedData();
    void setDelayMirrors(int); // in general, the delay will depend on the number of points being DISPLAYED (in other terms, on the size of lsdTrajectory).
    void addDelayMirrors(int add_delay);

    // DATA:
    vector <laserSensingPoint> lsdTrajectory;
    unsigned char displayColor;

    // software adjustement of mirror delay:
    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

    // parameters for thresholding:
    unsigned char autoThreshold; // 0 to 255
    
    // Statistics and tests:
    //float lightRatio;
    unsigned char maxI, minI;     // Max and Min intensity RATIOS (normalized between 0 and 255)
    bool lightTouched;     // true if something went over the autoThreshold for the whole loop
 //   char coko;
};

#endif