/**
* @brief Handle nunchuk event.
*
* @param nc A pointer to a nunchuk_t structure.
* @param msg The message specified in the event packet.
*/
void nunchuk_event(struct nunchuk_t* nc, byte* msg) {
int i;
/* decrypt data */
for (i = 0; i < 6; ++i)
msg[i] = (msg[i] ^ 0x17) + 0x17;
/* get button states */
nunchuk_pressed_buttons(nc, msg[5]);
/* calculate joystick state */
calc_joystick_state(&nc->js, msg[0], msg[1]);
/* calculate orientation */
nc->accel.x = msg[2];
nc->accel.y = msg[3];
nc->accel.z = msg[4];
calculate_orientation(&nc->accel_calib, &nc->accel, &nc->orient, NUNCHUK_IS_FLAG_SET(nc, WIIUSE_SMOOTHING));
calculate_gforce(&nc->accel_calib, &nc->accel, &nc->gforce);
}
// Update Motion History Image: Calculate motion features and orientation.
void motionDetection(IplImage* image, IplImage* destination_image, MotionInfo* motionInfo)
{
double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
CvSize image_size = cvSize(image->width, image->height); // get current frame image_size
int previous_frame_index = last_index, current_frame_index;
initialize_images(image_size);
cvCvtColor(image, image_buffer[last_index], CV_BGR2GRAY); // convert frame to grayscale
current_frame_index = (last_index + 1) % N; // index of (last_index - (N-1))th frame
last_index = current_frame_index;
silhouette = image_buffer[current_frame_index];
cvAbsDiff(image_buffer[previous_frame_index], image_buffer[current_frame_index], silhouette); // Get difference between frames
cvThreshold(silhouette, silhouette, DIFFERENCE_THRESHOLD, 1, CV_THRESH_BINARY); // Add threshold
//cvDilate(silhouette, silhouette, 0, 18);
//cvErode(silhouette, silhouette, 0, 10);
cvUpdateMotionHistory(silhouette, mhi, timestamp, MHI_DURATION); // Update MHI
// Convert MHI to blue 8U image
cvCvtScale(mhi, orientation_mask, 255./MHI_DURATION, (MHI_DURATION - timestamp)*255./MHI_DURATION);
if (destination_image) {
cvZero(destination_image);
cvCvtPlaneToPix(orientation_mask, 0, 0, 0, destination_image);
}
// Calculate motion gradient orientation and valid orientation mask
cvCalcMotionGradient(mhi, orientation_mask, orientation, MAX_TIME_DELTA, MIN_TIME_DELTA, 3);
// motion_feature_sequence = extract_motion_features();
if(!storage)
storage = cvCreateMemStorage(0);
else
cvClearMemStorage(storage);
CvSeq* motion_feature_sequence = cvSegmentMotion(mhi, segment_mask, storage, timestamp, MAX_TIME_DELTA);
int SEGMENT_WIDTH = image_size.width / MAX_SEGMENTS_X;
int SEGMENT_HEIGHT = image_size.height / MAX_SEGMENTS_Y;
// Global motion
CvRect global_motion_segment = cvRect(0, 0, image_size.width, image_size.height);
motionInfo->global_angle = calculate_orientation(global_motion_segment, silhouette);
if (destination_image)
draw_orientation(destination_image, &global_motion_segment, motionInfo->global_angle, 100, CV_RGB(0, 255, 0), true);
long area = 0;
long totalArea = 0;
int totalMovingSegments = 0;
bool hasValidMovement = false;
CvRect segmentRect;
// Segmented motion
for(int x = 0; x < MAX_SEGMENTS_X; x++)
{
for(int y = 0; y < MAX_SEGMENTS_Y; y++)
{
segmentRect = cvRect(x * SEGMENT_WIDTH, y * SEGMENT_HEIGHT, SEGMENT_WIDTH, SEGMENT_HEIGHT);
area = calculate_motion(&segmentRect, motion_feature_sequence);
hasValidMovement = (area > MIN_MOTION_FEATURE_AREA);
motionInfo->segment_motion_areas[x][y] = area;
motionInfo->segment_movements[x][y] = hasValidMovement;
motionInfo->segment_angles[x][y] = calculate_orientation(segmentRect, silhouette);
totalArea += area;
totalMovingSegments += (area > MIN_MOTION_FEATURE_AREA);
//printf("%i, ", area);
//fflush(stdout);
if (hasValidMovement)
if (destination_image)
draw_orientation(destination_image, &segmentRect, motionInfo->segment_angles[x][y], 20, CV_RGB(255, 0, 0), true);
}
}
motionInfo->total_motion_area = totalArea;
motionInfo->total_segments_with_movements = totalMovingSegments;
motionInfo->SEGMENTS_X = MAX_SEGMENTS_X;
motionInfo->SEGMENTS_Y = MAX_SEGMENTS_Y;
printf("%i, %f\n", totalArea, (float)totalArea / (float)(image_size.width*image_size.height));
//fflush(stdout);
}
void cDlgOptions::create_hardpoints(HTREEITEM item)
{
HTREEITEM fixed = utf->AddNewNode(tree, item, "Fixed");
HTREEITEM revolute = utf->AddNewNode(tree, item, "Revolute");
// iterate mesh list and create hardpoints
list<MMESH *>::iterator i;
for (i = meshList->begin(); i != meshList->end(); i ++)
{
MMESH * m = *i;
char * hp_name = 0;
// Hardpoint|Fixed|blah or Hardpoint|Revolute|blah
if ( !_strnicmp(m->nname, "Hp", 2) )
{
HTREEITEM parent = 0;
if ( !_strnicmp (m->nname + 3, "Fixed", 5) )
{
parent = fixed;
hp_name = m->nname + 9; // pointer to name Hp|Fixed|name
}
else if ( !_strnicmp (m->nname + 3, "Revolute", 8) )
{
parent = revolute;
hp_name = m->nname + 12; // pointer to name Hp|Revolute|name
}
else
continue;
HTREEITEM new_hp = utf->AddNewNode(tree, parent, hp_name);
// only revolute hardpoints have these
if (parent == revolute)
{
HTREEITEM axis = utf->AddNewNode(tree, new_hp, "Axis");
float * axis_data = (float *) malloc (12 + 4);
*(int *) axis_data = 12;
axis_data[1] = 0.0f;
axis_data[2] = 1.0f;
axis_data[3] = 0.0f;
tree->SetItemData(axis, (DWORD_PTR)axis_data);
HTREEITEM max = utf->AddNewNode(tree, new_hp, "Max");
float * max_data = (float *) malloc (8 + 4);
*(int *) max_data = 8;
max_data[1] = 0.785380f;
max_data[2] = 0.0f;
tree->SetItemData(max, (DWORD_PTR)max_data);
HTREEITEM min = utf->AddNewNode(tree, new_hp, "Min");
float * min_data = (float *) malloc (8 + 4);
*(int *) min_data = 8;
min_data[1] = -0.785400f;
min_data[2] = 0.0f;
tree->SetItemData(min, (DWORD_PTR)min_data);
}
// both fixed and revolute hardpoints have Orientation and Position
float * position_data = (float *) malloc (12 + 4);
*(int *) position_data = 12;
calculate_position( position_data + 1, m);
float * orientation_data = (float *) malloc (36 + 4);
*(int *) orientation_data = 36;
calculate_orientation( orientation_data + 1, position_data + 1, hp_name);
HTREEITEM orientation = utf->AddNewNode(tree, new_hp, "Orientation");
tree->SetItemData(orientation, (DWORD_PTR) orientation_data);
HTREEITEM position = utf->AddNewNode(tree, new_hp, "Position");
tree->SetItemData(position, (DWORD_PTR) position_data);
}
}
}
