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| author | Dennis Peeten <dpeeten@onsneteindhoven.nl> | 2008-05-24 09:59:48 (GMT) |
|---|---|---|
| committer | Dennis Peeten <dpeeten@onsneteindhoven.nl> | 2008-05-24 09:59:48 (GMT) |
| commit | f11312d1d84e102bb29a44dedce4c60a5ae25e56 (patch) | |
| tree | ae9928f07d7a3fdafcf341d91ca57c17236ad80b /wiimote_ir_smoothing/C_3DPointSmoother.h | |
| parent | fbe326b9f9fc8f6d0e3034a81c2d8efcb2859ce2 (diff) | |
| download | 2iv55-f11312d1d84e102bb29a44dedce4c60a5ae25e56.zip 2iv55-f11312d1d84e102bb29a44dedce4c60a5ae25e56.tar.gz 2iv55-f11312d1d84e102bb29a44dedce4c60a5ae25e56.tar.bz2 | |
Diffstat (limited to 'wiimote_ir_smoothing/C_3DPointSmoother.h')
| -rw-r--r-- | wiimote_ir_smoothing/C_3DPointSmoother.h | 75 |
1 files changed, 75 insertions, 0 deletions
diff --git a/wiimote_ir_smoothing/C_3DPointSmoother.h b/wiimote_ir_smoothing/C_3DPointSmoother.h new file mode 100644 index 0000000..bc2ab82 --- /dev/null +++ b/wiimote_ir_smoothing/C_3DPointSmoother.h @@ -0,0 +1,75 @@ +#ifndef C_3D_POINTS_SMOOTHER_H_
+
+#define C_3D_POINT_SMOOTHER_H_
+
+#include <iostream>
+#include <list>
+
+using namespace std;
+
+#include "Vect3D.h"
+#include "wiimote.h"
+
+typedef enum
+{ // k-1
+ SimpMovingAvg, //S(t) = (1/k)*sum(X(t-n)) = S(t-1) + (X(t) - X(t-k))/k
+ // n=0
+
+ ExpMovingAvg //S(0) = X(0)
+ //S(t) = a*X(t) + (1 - a)*S(t-1) = S(t-1) + a*(X(t) - S(t-1))
+
+} SmoothingMethod;
+
+typedef v3 Vect3D_t;
+
+class C_3DPointSmoother
+{
+public:
+ C_3DPointSmoother() :
+ m_Method(SimpMovingAvg),
+ m_iWindowSize(2),
+ m_iSampCount(0),
+ m_dExponent(0.0),
+ m_St() {}
+
+ void SetSimpleMovingAverage(int f_iWindowSize);
+ void SetExponentialMovingAverage(double f_dExponent);
+
+ Vect3D_t Smooth(const Vect3D_t &f_Xt);
+
+private:
+ SmoothingMethod m_Method;
+ int m_iWindowSize, //window size for SimpMovingAvg
+ m_iSampCount; //number of processed samples
+ list<Vect3D_t> m_SampWindow;
+ double m_dExponent; //exponent for ExpMovingAvg
+ Vect3D_t m_St; //last smoothed statistic S(t)
+
+ Vect3D_t SmoothSample_SimpMovingAvg(const Vect3D_t &f_Xt);
+ Vect3D_t SmoothSample_ExpMovingAvg(const Vect3D_t &f_Xt);
+};
+
+typedef struct rd
+{
+ int rx, ry;
+
+ rd() { rx = ry = 0;}
+ rd(const rd &d) { rx=d.rx; ry=d.ry; }
+ inline const rd& operator=(const rd &rhs) { rx=rhs.rx; ry=rhs.ry; return *this;}
+ inline const rd& operator-=(const rd &rhs) { rx-=rhs.rx; ry-=rhs.ry; return *this;}
+ inline const rd operator-(const rd &rhs) { return rd(*this)-=rhs;}
+} RawDot;
+
+inline ostream& operator<<(ostream& os, const RawDot& r )
+{
+ stringstream ss;
+ ss << setprecision(4)
+ << "(" << r.rx << ", " << r.ry << ")";
+
+ return os << ss.str();
+}
+
+bool FindSensorBarDots(wiimote_state::ir &f_ir, Vect3D_t f_Dots[2]);
+bool FindSensorBarDots(RawDot *f_rd, int f_iNumdots, Vect3D_t f_Dots[2]);
+
+#endif //C_3D_POINT_SMOOTHER_H_
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