Struct TouchDetector

pub struct TouchDetector { /* private fields */ }

The touch detector uses depth data to calculate the difference between the current depth and an initially recorded baseline depth. If this difference is between min_touch and max_touch a touch is assumed.

• min_depth and max_depth are the measuring ranges of the depth camera in mm.
• min_touch is the minimum height in mm above the surface considered to be a touch. If this parameter is too small, noise will lead to a lot of false detections.
• max_touch is the maximum height in mm above the surface considered to be a touch.

First, an average baseline depth is computed using the first baseline_sample_size frames. The current depth is estimated by a moving average of sample_size frames.

Implementations

impl TouchDetector

pub fn new<Device: Data>( device: &Device, min_touch: f32, max_touch: f32, baseline_sample_size: usize, sample_size: usize, pixel_count: usize, ) -> Self

Creates a new instance with the specified parameters. All length parameters are in mm.

pub fn process<Device: Data>( &mut self, device: &Device, touch_signal: &mut [u8], distance: &mut [f32], )

Processes a depth frame resulting in a touch_signal (255 for “touch”, 0 otherwise) and a distance from the initially measured depth in mm.

Note: This function does nothing if the current frame in device is not a depth frame. Call get_depth_mm_u16_frame() or get_depth_scaled_u8_frame() before calling process().

pub fn get_normalized_average_depth(&self, average_depth: &mut [u8])

A by-product, returning only the normalized moving average of the depth.

pub fn get_baseline(&self) -> Vec<f32>

The baseline depth as the average of the first baseline_sample_size frames.