Miscellany

int DataReader::initBackground(){	// make initial snapshot of background			for (int i=0;i < BN; i++)		 background[i]= dataLaserR[i];		 }int DataReader::detectMotion(int threshold) {int thresholdDETECTION = 5;for (int i=0;i<BN;i++){	if((-dataLaserR[i]+background[i]) > threshold) 	detection[i] =1;	else  detection[i] = 0;		}	// diff all beams to locate the object(s)}int DataReader::printMotion() {	std::cout << "printMotion" << std::endl;	for(int i=0; i < BN; i++)		if (detection[i])			std::cout << "beam " << i << ", r="			<< dataLaserR[i] << "cms, theta=" 			<< dataLaser[i] << "degres, X=" 			<< dataLaserX[i] << "cms, Y="   			<< dataLaserY[i] << "cms" << std::endl;	std::cout << std::endl;	return NOERROR;}int DataReader::displayMotion() {	for(int i=0; i < BN; i++)		if (detection[i]) {		   float x1,y1,x2,y2;        		transformCoordinates(0,0,&x1,&y1);		   transformCoordinates(dataLaserX[i],dataLaserY[i],&x2,&y2);		   cvLine(image, cvPoint(x1,y1), cvPoint(x2,y2), CV_RGB(217,217,217),1,4);		} 	cvShowImage("myWindow", image);	return NOERROR;}int DataReader::formObject() {	int i,p;	int conseq;	bool isconseq =0;	for (i=0;i<BN;i++) {		if(!isconseq){		  if((detection[i]==1) && ((detection[i-1]==0) || i==0)){                    xmin=dataLaserX[i];                    xmax=dataLaserX[i];                    ymin=dataLaserY[i];                    ymax=dataLaserY[i];                    p=i;                    conseq++;		  }		  else if ((detection[i]==1) && (detection[i-1]==1))		  {			  xmin=dataLaserX[i];			  xmax=dataLaserX[i];			  ymin=dataLaserY[i];			  ymax=dataLaserY[i];			  p=i;			  conseq++;			  if (conseq>30) isconseq =1;					  }		}else break;	}		for (i=p;i<BN;i++) {		if ((detection[i]==1) && ((dataLaserX[i]!=0)||(dataLaserY[i]!=0)))	{		if (dataLaserX[i] < xmin) xmin = dataLaserX[i];		if (dataLaserY[i] < ymin) ymin = dataLaserY[i];				if (dataLaserX[i] > xmax) xmax = dataLaserX[i];		if (dataLaserY[i] > ymax) ymax = dataLaserY[i];	}				}	float x1,x2,y1,y2;		transformCoordinates(xmin,ymin,&x1,&y1);	transformCoordinates(xmax,ymax,&x2,&y2);	drawRectangle(x1,y1,x2,y2,CV_RGB(0,217,0));}