Alvaro Cassinelli / Mbed 2 deprecated skinGames_II

save loops

Dependencies:   mbed

classLaserSensingTrajectory.h@1:3be7b7d050f4, 2014-12-02 (annotated)

Committer:
mbedalvaro
Date:
Tue Dec 02 08:29:59 2014 +0000
Revision:
1:3be7b7d050f4
Parent:
0:df6fdd9b99f0 
updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:df6fdd9b99f0 1 #ifndef LSDTRAJECTORY_H
mbedalvaro 0:df6fdd9b99f0 2 #define LSDTRAJECTORY_H
mbedalvaro 0:df6fdd9b99f0 3
mbedalvaro 0:df6fdd9b99f0 4 #include <vector>
mbedalvaro 0:df6fdd9b99f0 5 using namespace std;
mbedalvaro 0:df6fdd9b99f0 6
mbedalvaro 0:df6fdd9b99f0 7 // Thresholding mode:
mbedalvaro 0:df6fdd9b99f0 8 enum thresholdingMode {FIXED, AUTO};
mbedalvaro 0:df6fdd9b99f0 9 enum lightStateMode {TOUCHED, ALL_LIGHT, ALL_DARK};
mbedalvaro 0:df6fdd9b99f0 10
mbedalvaro 0:df6fdd9b99f0 11 //(1) fixed threshold:
mbedalvaro 0:df6fdd9b99f0 12 #define FIXED_THRESHOLD 35
mbedalvaro 0:df6fdd9b99f0 13
mbedalvaro 0:df6fdd9b99f0 14 //(1) Autothreshold:
mbedalvaro 0:df6fdd9b99f0 15 // CONTRAST RATIO to compute autoThreshold:
mbedalvaro 0:df6fdd9b99f0 16 // MIN_CONTRAST_RATIO is the minimum contrast between max and min intensity necessary to "accept" a black and white zone:
mbedalvaro 0:df6fdd9b99f0 17 #define MIN_CONTRAST_RATIO 2.0//2.5//1.6//1.8//1.7 // 3 seems good when lookup table does not work
mbedalvaro 0:df6fdd9b99f0 18 // THRESHOLD_FACTOR is where the threshold is actually placed between the min and max detected (with good contrast):
mbedalvaro 0:df6fdd9b99f0 19 #define THRESHOLD_FACTOR 0.5 //0.75 // 2/3 or 1/2 are good values
mbedalvaro 0:df6fdd9b99f0 20 #define MIN_ACCEPTABLE_INTENSITY 16 // if maxI< this then we consider all the saccade on something black
mbedalvaro 0:df6fdd9b99f0 21
mbedalvaro 0:df6fdd9b99f0 22 struct laserSensingPoint {
mbedalvaro 0:df6fdd9b99f0 23 // Position and color (after rendering)
mbedalvaro 0:df6fdd9b99f0 24 unsigned short x, y; // position of the point (after rendering - its integer, because it is in "laser projector pixels")
mbedalvaro 0:df6fdd9b99f0 25 // char color; // per point laser color (not used yet)
mbedalvaro 0:df6fdd9b99f0 26 // Detection:
mbedalvaro 0:df6fdd9b99f0 27 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 0:df6fdd9b99f0 28 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:df6fdd9b99f0 29 };
mbedalvaro 0:df6fdd9b99f0 30
mbedalvaro 0:df6fdd9b99f0 31
mbedalvaro 0:df6fdd9b99f0 32 class LaserSensingTrajectory {
mbedalvaro 0:df6fdd9b99f0 33
mbedalvaro 0:df6fdd9b99f0 34 public:
mbedalvaro 0:df6fdd9b99f0 35
mbedalvaro 0:df6fdd9b99f0 36 LaserSensingTrajectory();
mbedalvaro 0:df6fdd9b99f0 37 ~LaserSensingTrajectory();
mbedalvaro 0:df6fdd9b99f0 38
mbedalvaro 0:df6fdd9b99f0 39 // METHODS:
mbedalvaro 0:df6fdd9b99f0 40 bool processSensedData();
mbedalvaro 0:df6fdd9b99f0 41 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 0:df6fdd9b99f0 42 void addDelayMirrors(int add_delay);
mbedalvaro 0:df6fdd9b99f0 43
mbedalvaro 0:df6fdd9b99f0 44 void setThresholdMode(unsigned char value) {modeThreshold=(value>0? AUTO : FIXED);};
mbedalvaro 0:df6fdd9b99f0 45 void setFixedThreshold(unsigned char value) {fixedThreshold=value;};
mbedalvaro 0:df6fdd9b99f0 46 void setMinContrastRatio(float value) {min_contrast_ratio=value;};
mbedalvaro 0:df6fdd9b99f0 47 void setThresholdFactor(float value) {threshold_factor=value;};
mbedalvaro 0:df6fdd9b99f0 48 void setMinAcceptableIntensity(unsigned char value) {min_acceptable_intensity=value;};
mbedalvaro 0:df6fdd9b99f0 49 void multMinContrastRatio(float multfactor) {min_contrast_ratio*=multfactor;};
mbedalvaro 0:df6fdd9b99f0 50 void multThresholdFactor(float multfactor) {threshold_factor*=multfactor;};
mbedalvaro 0:df6fdd9b99f0 51
mbedalvaro 0:df6fdd9b99f0 52 // DATA:
mbedalvaro 0:df6fdd9b99f0 53 vector <laserSensingPoint> lsdTrajectory;
mbedalvaro 0:df6fdd9b99f0 54 unsigned char displayColor; // per blob color
mbedalvaro 0:df6fdd9b99f0 55
mbedalvaro 0:df6fdd9b99f0 56 // software adjustement of mirror delay:
mbedalvaro 0:df6fdd9b99f0 57 unsigned char delayMirrorSamples; // this is required because it will affect the way the blob behaves - it
mbedalvaro 0:df6fdd9b99f0 58 //could be in the laser renderer, but by putting it here we can have more per-blob fine tunning
mbedalvaro 0:df6fdd9b99f0 59
mbedalvaro 0:df6fdd9b99f0 60 // parameters for thresholding and thresholding mode:
mbedalvaro 0:df6fdd9b99f0 61 thresholdingMode modeThreshold;
mbedalvaro 0:df6fdd9b99f0 62 float min_contrast_ratio, threshold_factor, min_acceptable_intensity;
mbedalvaro 0:df6fdd9b99f0 63 unsigned char autoThreshold, fixedThreshold; // 0 to 255
mbedalvaro 0:df6fdd9b99f0 64
mbedalvaro 0:df6fdd9b99f0 65 // Statistics and tests:
mbedalvaro 0:df6fdd9b99f0 66 //float lightRatio;
mbedalvaro 0:df6fdd9b99f0 67 unsigned char maxI, minI; // Max and Min intensity RATIOS (normalized between 0 and 255)
mbedalvaro 0:df6fdd9b99f0 68 // The following is a little redundant, but useful:
mbedalvaro 0:df6fdd9b99f0 69 bool lightZone, darkZone; // better than a boolean lightTouched variable, but lightTouched may still be useful
mbedalvaro 0:df6fdd9b99f0 70 lightStateMode lightState;
mbedalvaro 0:df6fdd9b99f0 71 bool lightTouched; // when there is at least one black zone and one light zone
mbedalvaro 0:df6fdd9b99f0 72 };
mbedalvaro 0:df6fdd9b99f0 73
mbedalvaro 0:df6fdd9b99f0 74 #endif
mbedalvaro 0:df6fdd9b99f0 75
mbedalvaro 0:df6fdd9b99f0 76