fixed angle calculations

svn path=/trunk/externals/pdp_opencv/; revision=13710

4 files changed, 90 insertions, 71 deletions

diff --git a/pdp_opencv_of_bm.cc b/pdp_opencv_of_bm.cc
index 3774617..700bb9b 100755
--- a/pdp_opencv_of_bm.cc
+++ b/pdp_opencv_of_bm.cc
@@ -74,7 +74,7 @@ static void pdp_opencv_of_bm_process_rgb(t_pdp_opencv_of_bm *x)
   int i,j,k,im;
   int marked;
   int px,py;
-  double meanangle=0.0, meanx=0.0, meany=0.0, maxamp=0.0, maxangle=0.0;
+  double globangle=0.0, globx=0.0, globy=0.0, maxamp=0.0, maxangle=0.0;
   int nbblocks=0;
   CvPoint orig, dest;
   double angle=0.0;
@@ -129,6 +129,9 @@ static void pdp_opencv_of_bm_process_rgb(t_pdp_opencv_of_bm *x)
                          x->x_velx, x->x_vely  );
 
     nbblocks = 0;
+    globangle = 0;
+    globx = 0;
+    globy = 0;
     for( py=0; py<x->x_velsize.height; py++ ) 
     {
       for( px=0; px<x->x_velsize.width; px++ )
@@ -138,8 +141,8 @@ static void pdp_opencv_of_bm_process_rgb(t_pdp_opencv_of_bm *x)
         orig.y = (py*x->x_height)/x->x_velsize.height;
         dest.x = (int)(orig.x + cvGet2D(x->x_velx, py, px).val[0]);
         dest.y = (int)(orig.y + cvGet2D(x->x_vely, py, px).val[0]);
-        angle = -atan2( (double) cvGet2D(x->x_vely, py, px).val[0], (double) cvGet2D(x->x_velx, py, px).val[0] );
-        hypotenuse = sqrt( pow(orig.y - dest.y, 2) + pow(orig.x - dest.x, 2) );
+        angle = -atan2( (double) (dest.y-orig.y), (double) (dest.x-orig.x) );
+        hypotenuse = sqrt( pow(dest.y-orig.y, 2) + pow(dest.x-orig.x, 2) );
 
         /* Now draw the tips of the arrow. I do some scaling so that the
         * tips look proportional to the main line of the arrow.
@@ -154,8 +157,9 @@ static void pdp_opencv_of_bm_process_rgb(t_pdp_opencv_of_bm *x)
           orig.x = (int) (dest.x - (x->x_shiftsize.width/4) * cos(angle - M_PI / 4));
           orig.y = (int) (dest.y + (x->x_shiftsize.height/4) * sin(angle - M_PI / 4));
           cvLine( x->image, orig, dest, CV_RGB(0,0,255), (int)hypotenuse/10, CV_AA, 0 );
-          meanx = (meanx*nbblocks+cvGet2D(x->x_velx, py, px).val[0])/(nbblocks+1);
-          meany = (meanx*nbblocks+cvGet2D(x->x_vely, py, px).val[0])/(nbblocks+1);
+
+          globx = globx+cvGet2D(x->x_velx, py, px).val[0];
+          globy = globy+cvGet2D(x->x_vely, py, px).val[0];
           if ( hypotenuse > maxamp )
           {
              maxamp = hypotenuse;
@@ -168,26 +172,28 @@ static void pdp_opencv_of_bm_process_rgb(t_pdp_opencv_of_bm *x)
       }
     }
 
-    meanangle=-atan2( meany, meanx ); 
-    // post( "pdp_opencv_of_bm : meanangle : %f", (meanangle*180)/M_PI );
-
     if ( nbblocks >= x->x_minblocks )
     {
+
+      globangle=-atan2( globy, globx ); 
+      // post( "pdp_opencv_of_bm : globangle : %f", (globangle*180)/M_PI );
+
       orig.x = (int) (x->x_width/2);
       orig.y = (int) (x->x_height/2);
-      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(meanangle));
-      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(meanangle));
+      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(globangle));
+      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(globangle));
+
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
-      orig.x = (int) (dest.x - (x->x_shiftsize.width/2) * cos(meanangle + M_PI / 4));
-      orig.y = (int) (dest.y + (x->x_shiftsize.height/2) * sin(meanangle + M_PI / 4));
+      orig.x = (int) (dest.x - (x->x_shiftsize.width/2) * cos(globangle + M_PI / 4));
+      orig.y = (int) (dest.y + (x->x_shiftsize.height/2) * sin(globangle + M_PI / 4));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
-      orig.x = (int) (dest.x - (x->x_shiftsize.width/2) * cos(meanangle - M_PI / 4));
-      orig.y = (int) (dest.y + (x->x_shiftsize.height/2) * sin(meanangle - M_PI / 4));
+      orig.x = (int) (dest.x - (x->x_shiftsize.width/2) * cos(globangle - M_PI / 4));
+      orig.y = (int) (dest.y + (x->x_shiftsize.height/2) * sin(globangle - M_PI / 4));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
 
       // outputs the average angle of movement
-      meanangle = (meanangle*180)/M_PI;
-      SETFLOAT(&x->x_list[0], meanangle);
+      globangle = (globangle*180)/M_PI;
+      SETFLOAT(&x->x_list[0], globangle);
       outlet_list( x->x_outlet1, 0, 1, x->x_list );
 
       // outputs the amplitude and angle of the maximum movement
diff --git a/pdp_opencv_of_hs.cc b/pdp_opencv_of_hs.cc
index 5eeb005..95fa338 100755
--- a/pdp_opencv_of_hs.cc
+++ b/pdp_opencv_of_hs.cc
@@ -77,7 +77,7 @@ static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *x)
   int i,j,k,im;
   int marked;
   int px,py;
-  double meanangle=0.0, meanx=0.0, meany=0.0, maxamp=0.0, maxangle=0.0;
+  double globangle=0.0, globx=0.0, globy=0.0, maxamp=0.0, maxangle=0.0;
   int nbblocks=0;
   CvPoint orig, dest;
   double angle=0.0;
@@ -132,6 +132,9 @@ static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *x)
                          cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03) );
 
     nbblocks = 0;
+    globangle = 0;
+    globx = 0;
+    globy = 0;
     for( py=0; py<x->x_velsize.height; py++ ) 
     {
       for( px=0; px<x->x_velsize.width; px++ )
@@ -141,8 +144,8 @@ static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *x)
         orig.y = py;
         dest.x = (int)(orig.x + cvGet2D(x->x_velx, py, px).val[0]);
         dest.y = (int)(orig.y + cvGet2D(x->x_vely, py, px).val[0]);
-        angle = -atan2( (double) cvGet2D(x->x_vely, py, px).val[0], (double) cvGet2D(x->x_velx, py, px).val[0] );
-        hypotenuse = sqrt( pow(orig.y - dest.y, 2) + pow(orig.x - dest.x, 2) );
+        angle = -atan2( (double) (dest.y-orig.y), (double) (dest.x-orig.x) );
+        hypotenuse = sqrt( pow(dest.y-orig.y, 2) + pow(dest.x-orig.x, 2) );
 
         /* Now draw the tips of the arrow. I do some scaling so that the
         * tips look proportional to the main line of the arrow.
@@ -157,8 +160,9 @@ static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *x)
           orig.x = (int) (dest.x - (6) * cos(angle - M_PI / 4));
           orig.y = (int) (dest.y + (6) * sin(angle - M_PI / 4));
           cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 );
-          meanx = (meanx*nbblocks+cvGet2D(x->x_velx, py, px).val[0])/(nbblocks+1);
-          meany = (meanx*nbblocks+cvGet2D(x->x_vely, py, px).val[0])/(nbblocks+1);
+
+          globx = globx+cvGet2D(x->x_velx, py, px).val[0];
+          globy = globy+cvGet2D(x->x_vely, py, px).val[0];
           if ( hypotenuse > maxamp )
           {
              maxamp = hypotenuse;
@@ -171,26 +175,27 @@ static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *x)
       }
     }
 
-    meanangle=-atan2( meany, meanx ); 
-    // post( "pdp_opencv_of_hs : meanangle : %f", (meanangle*180)/M_PI );
-
     if ( nbblocks >= x->x_minblocks )
     {
+      globangle=-atan2( globy, globx ); 
+      // post( "pdp_opencv_of_hs : globangle : %f", (globangle*180)/M_PI );
+
       orig.x = (int) (x->x_width/2);
       orig.y = (int) (x->x_height/2);
-      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(meanangle));
-      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(meanangle));
+      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(globangle));
+      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(globangle));
+
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
-      orig.x = (int) (dest.x - (6) * cos(meanangle + M_PI / 4));
-      orig.y = (int) (dest.y + (6) * sin(meanangle + M_PI / 4));
+      orig.x = (int) (dest.x - (6) * cos(globangle + M_PI / 4));
+      orig.y = (int) (dest.y + (6) * sin(globangle + M_PI / 4));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
-      orig.x = (int) (dest.x - (6) * cos(meanangle - M_PI / 4));
-      orig.y = (int) (dest.y + (6) * sin(meanangle - M_PI / 4));
+      orig.x = (int) (dest.x - (6) * cos(globangle - M_PI / 4));
+      orig.y = (int) (dest.y + (6) * sin(globangle - M_PI / 4));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
 
       // outputs the average angle of movement
-      meanangle = (meanangle*180)/M_PI;
-      SETFLOAT(&x->x_list[0], meanangle);
+      globangle = (globangle*180)/M_PI;
+      SETFLOAT(&x->x_list[0], globangle);
       outlet_list( x->x_outlet1, 0, 1, x->x_list );
 
       // outputs the amplitude and angle of the maximum movement
diff --git a/pdp_opencv_of_lk-help.pd b/pdp_opencv_of_lk-help.pd
index dc83e46..9a030c2 100755
--- a/pdp_opencv_of_lk-help.pd
+++ b/pdp_opencv_of_lk-help.pd
@@ -1,4 +1,4 @@
-#N canvas 587 49 833 785 10;
+#N canvas 45 49 833 785 10;
 #X obj -11 57 cnv 15 621 250 empty empty empty 20 12 0 14 -260097 -66577
 0;
 #X obj 229 97 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
@@ -7,7 +7,7 @@
 #X msg 310 146 close;
 #X obj 249 222 pdp_v4l;
 #X msg 306 119 open /dev/video0;
-#X obj 423 95 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+#X obj 423 95 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
 1;
 #X obj 423 122 metro 40;
 #X msg 500 145 close;
@@ -37,7 +37,7 @@
 #X obj 165 483 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
 1;
 #X msg 80 481 nightmode \$1;
-#X floatatom 150 403 5 0 0 0 - - -;
+#X floatatom 153 389 5 0 0 0 - - -;
 #X floatatom 154 428 5 0 0 0 - - -;
 #X msg 67 426 threshold \$1;
 #X text -10 0 with a great help from Mateu Batle & Alberto de Rodrigo
@@ -69,16 +69,18 @@ a very powerful machine;
 #X text 127 314 you can rotate the object to check that the main direction
 of movement is detected;
 #X text -10 24 comments to ydegoyon@gmail.com;
-#X obj 19 534 pdp_opencv_of_hs;
 #X text 198 463 ( default 10 );
-#X msg 56 401 winsize \$1 \$2;
-#X text 193 400 set window size ( width height ) [ default : 10x10
-];
+#X msg 59 387 winsize \$1 \$2;
 #X obj 421 253 pdp_xv;
 #X text 195 424 threshold value for the detection of movement ( default
 100 );
 #X text -11 -52 pdp_opencv_of_lk : Lukas Kanade optical flow algorithm.
 ;
+#X text 197 384 set window size ( width height ) [ default : 9x9 ]
+;
+#X text 199 398 window width and height must be one of (1 \, 3 \, 5
+\, 7 \, 9 \, 11 \, 13 \, 15);
+#X obj 18 535 pdp_opencv_of_lk;
 #X connect 1 0 2 0;
 #X connect 2 0 4 0;
 #X connect 3 0 4 0;
@@ -89,7 +91,7 @@ of movement is detected;
 #X connect 8 0 10 0;
 #X connect 9 0 10 0;
 #X connect 10 0 53 0;
-#X connect 10 0 61 0;
+#X connect 10 0 59 0;
 #X connect 11 0 10 0;
 #X connect 12 0 11 0;
 #X connect 13 0 53 0;
@@ -105,20 +107,20 @@ of movement is detected;
 #X connect 22 0 15 0;
 #X connect 25 0 13 1;
 #X connect 28 0 29 0;
-#X connect 29 0 57 0;
-#X connect 30 0 59 0;
+#X connect 29 0 64 0;
+#X connect 30 0 58 0;
 #X connect 31 0 32 0;
-#X connect 32 0 57 0;
+#X connect 32 0 64 0;
 #X connect 35 0 36 0;
 #X connect 35 1 37 0;
-#X connect 39 0 57 0;
+#X connect 39 0 64 0;
 #X connect 40 0 39 0;
 #X connect 44 0 13 0;
-#X connect 46 0 57 0;
+#X connect 46 0 64 0;
 #X connect 48 0 10 0;
 #X connect 53 0 46 0;
 #X connect 54 0 53 1;
-#X connect 57 0 27 0;
-#X connect 57 1 34 0;
-#X connect 57 2 35 0;
-#X connect 59 0 57 0;
+#X connect 58 0 64 0;
+#X connect 64 0 27 0;
+#X connect 64 1 34 0;
+#X connect 64 2 35 0;
diff --git a/pdp_opencv_of_lk.cc b/pdp_opencv_of_lk.cc
index 425d484..072cf7c 100755
--- a/pdp_opencv_of_lk.cc
+++ b/pdp_opencv_of_lk.cc
@@ -76,7 +76,7 @@ static void pdp_opencv_of_lk_process_rgb(t_pdp_opencv_of_lk *x)
   int i,j,k,im;
   int marked;
   int px,py;
-  double meanangle=0.0, meanx=0.0, meany=0.0, maxamp=0.0, maxangle=0.0;
+  double globangle=0.0, globx=0.0, globy=0.0, maxamp=0.0, maxangle=0.0;
   int nbblocks=0;
   CvPoint orig, dest;
   double angle=0.0;
@@ -129,6 +129,9 @@ static void pdp_opencv_of_lk_process_rgb(t_pdp_opencv_of_lk *x)
                          x->x_winsize, x->x_velx, x->x_vely );
 
     nbblocks = 0;
+    globx=0;
+    globy=0;
+    globangle=0;
     for( py=0; py<x->x_velsize.height; py++ ) 
     {
       for( px=0; px<x->x_velsize.width; px++ )
@@ -136,10 +139,10 @@ static void pdp_opencv_of_lk_process_rgb(t_pdp_opencv_of_lk *x)
         // post( "pdp_opencv_of_lk : (%d,%d) values (%f,%f)", px, py, velxf, velyf );
         orig.x = px;
         orig.y = py;
-        dest.x = (int)(orig.x + cvGet2D(x->x_velx, py, px).val[0]);
-        dest.y = (int)(orig.y + cvGet2D(x->x_vely, py, px).val[0]);
-        angle = -atan2( (double) cvGet2D(x->x_vely, py, px).val[0], (double) cvGet2D(x->x_velx, py, px).val[0] );
-        hypotenuse = sqrt( pow(orig.y - dest.y, 2) + pow(orig.x - dest.x, 2) );
+        dest.x = (int)(px + cvGet2D(x->x_velx, py, px).val[0]);
+        dest.y = (int)(py + cvGet2D(x->x_vely, py, px).val[0]);
+        angle = -atan2( (double) (dest.y-orig.y), (double) (dest.x-orig.x) );
+        hypotenuse = sqrt( pow(dest.y - orig.y, 2) + pow(dest.x - orig.x, 2) );
 
         /* Now draw the tips of the arrow. I do some scaling so that the
         * tips look proportional to the main line of the arrow.
@@ -154,8 +157,9 @@ static void pdp_opencv_of_lk_process_rgb(t_pdp_opencv_of_lk *x)
           orig.x = (int) (dest.x - (6) * cos(angle - M_PI / 4));
           orig.y = (int) (dest.y + (6) * sin(angle - M_PI / 4));
           cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 );
-          meanx = (meanx*nbblocks+cvGet2D(x->x_velx, py, px).val[0])/(nbblocks+1);
-          meany = (meanx*nbblocks+cvGet2D(x->x_vely, py, px).val[0])/(nbblocks+1);
+
+          globx = globx+cvGet2D(x->x_velx, py, px).val[0];
+          globy = globy+cvGet2D(x->x_vely, py, px).val[0];
           if ( hypotenuse > maxamp )
           {
              maxamp = hypotenuse;
@@ -168,26 +172,26 @@ static void pdp_opencv_of_lk_process_rgb(t_pdp_opencv_of_lk *x)
       }
     }
 
-    meanangle=-atan2( meany, meanx ); 
-    // post( "pdp_opencv_of_lk : meanangle : %f", (meanangle*180)/M_PI );
-
     if ( nbblocks >= x->x_minblocks )
     {
+      globangle=-atan2( globy, globx ); 
+      // post( "pdp_opencv_of_lk : globangle : %f from vector (%f,%f)", (globangle*180)/M_PI, globx, globy );
+
       orig.x = (int) (x->x_width/2);
       orig.y = (int) (x->x_height/2);
-      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(meanangle));
-      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(meanangle));
+      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(globangle));
+      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(globangle));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
-      orig.x = (int) (dest.x - (6) * cos(meanangle + M_PI / 4));
-      orig.y = (int) (dest.y + (6) * sin(meanangle + M_PI / 4));
+      orig.x = (int) (dest.x - (6) * cos(globangle + M_PI / 4));
+      orig.y = (int) (dest.y + (6) * sin(globangle + M_PI / 4));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
-      orig.x = (int) (dest.x - (6) * cos(meanangle - M_PI / 4));
-      orig.y = (int) (dest.y + (6) * sin(meanangle - M_PI / 4));
+      orig.x = (int) (dest.x - (6) * cos(globangle - M_PI / 4));
+      orig.y = (int) (dest.y + (6) * sin(globangle - M_PI / 4));
       cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
 
       // outputs the average angle of movement
-      meanangle = (meanangle*180)/M_PI;
-      SETFLOAT(&x->x_list[0], meanangle);
+      globangle = (globangle*180)/M_PI;
+      SETFLOAT(&x->x_list[0], globangle);
       outlet_list( x->x_outlet1, 0, 1, x->x_list );
 
       // outputs the amplitude and angle of the maximum movement
@@ -220,8 +224,10 @@ static void pdp_opencv_of_lk_threshold(t_pdp_opencv_of_lk *x, t_floatarg f)
 
 static void pdp_opencv_of_lk_winsize(t_pdp_opencv_of_lk *x, t_floatarg fwidth, t_floatarg fheight )
 {
-  if (fwidth>0.0) x->x_winsize.width = (double)fwidth;
-  if (fheight>0.0) x->x_winsize.height = (double)fheight;
+  if (fwidth==1.0 || fwidth==3.0 || fwidth==5.0 || fwidth==7.0 || fwidth==9.0 || fwidth==11.0 || fwidth==13.0 || fwidth==15.0 ) x->x_winsize.width = (double)fwidth;
+  else post( "pdp_opencv_of_lk : wrong winsize width : must be one of (1,3,5,7,9,11,13,15)" );
+  if (fheight==1.0 || fheight==3.0 || fheight==5.0 || fheight==7.0 || fheight==9.0 || fheight==11.0 || fheight==13.0 || fheight==15.0 ) x->x_winsize.height = (double)fheight;
+  else post( "pdp_opencv_of_lk : wrong winsize height : must be one of (1,3,5,7,9,11,13,15)" );
 }
 
 static void pdp_opencv_of_lk_sendpacket(t_pdp_opencv_of_lk *x)
@@ -315,8 +321,8 @@ void *pdp_opencv_of_lk_new(t_floatarg f)
   x->x_minblocks = 10;
   x->x_velsize.width = x->x_width; 
   x->x_velsize.height = x->x_height; 
-  x->x_winsize.width = 10; 
-  x->x_winsize.height = 10; 
+  x->x_winsize.width = 9; 
+  x->x_winsize.height = 9; 
 
   // initialize font
   cvInitFont( &x->font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 );