accela: implement a third-order highpass filter

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

4 files changed, 103 insertions, 12 deletions

diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index 5ba33614..b4b12061 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>347</width>
-    <height>268</height>
+    <height>339</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -109,7 +109,7 @@
          <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
         </property>
         <property name="decimals">
-         <number>3</number>
+         <number>4</number>
         </property>
         <property name="minimum">
          <double>0.100000000000000</double>
@@ -147,7 +147,7 @@
          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
         </property>
         <property name="decimals">
-         <number>3</number>
+         <number>4</number>
         </property>
         <property name="minimum">
          <double>0.100000000000000</double>
@@ -160,7 +160,7 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
+      <item row="4" column="0">
        <widget class="QLabel" name="lblSensYaw_5">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -189,7 +189,7 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
+      <item row="4" column="1">
        <widget class="QSpinBox" name="spinZoom">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
@@ -229,7 +229,7 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="0">
+      <item row="5" column="0">
        <widget class="QLabel" name="lblSensYaw_6">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -258,7 +258,7 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="1">
+      <item row="5" column="1">
        <widget class="QDoubleSpinBox" name="deadzone">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
@@ -286,14 +286,14 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
+      <item row="6" column="0">
        <widget class="QLabel" name="label_10">
         <property name="text">
          <string>Exponent</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="1">
+      <item row="6" column="1">
        <widget class="QDoubleSpinBox" name="expt">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -315,6 +315,76 @@ background:none;</string>
         </property>
        </widget>
       </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>Order #2</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="order_2nd">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
+        </property>
+        <property name="decimals">
+         <number>4</number>
+        </property>
+        <property name="minimum">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>65535.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QDoubleSpinBox" name="order_3rd">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
+        </property>
+        <property name="decimals">
+         <number>4</number>
+        </property>
+        <property name="minimum">
+         <double>0.100000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>65535.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_12">
+        <property name="text">
+         <string>Order #3</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 9189ec8a..1f9b493f 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -34,7 +34,8 @@ void FTNoIR_Filter::loadSettings() {
     zoom_factor = iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toDouble();

     rotation_alpha = iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble();

     translation_alpha = iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble();

-

+    second_order_alpha = iniFile.value("second-order-alpha", ACCELA_SECOND_ORDER_ALPHA).toDouble();

+    third_order_alpha = iniFile.value("third-order-alpha", ACCELA_THIRD_ORDER_ALPHA).toDouble();

     deadzone = iniFile.value("deadzone", 0.0).toDouble();

     // bigger means less filtering

     static const double init_scaling[] = {

@@ -81,6 +82,8 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
         {

             new_camera_position[i] = target_camera_position[i];

             current_camera_position[i] = target_camera_position[i];

+            current_camera_position_2[i] = target_camera_position[i];

+            current_camera_position_3[i] = target_camera_position[i];

         }

 

 		first_run = false;

@@ -95,10 +98,19 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
 		const int sign = vec < 0 ? -1 : 1;

 		const double x = fabs(vec);

         const double a = i >= 3 ? rotation_alpha : translation_alpha;

+        const double a2 = a * second_order_alpha;

+        const double a3 = a * third_order_alpha;

+        const double x2 = fabs(target_camera_position[i] - current_camera_position_2[i]);

+        const double x3 = fabs(target_camera_position[i] - current_camera_position_3[i]);

         const double reduction = 1. / std::max(1., 1. + zoom_factor * -last_post_filter_values[TZ] / 1000);

-        const double velocity = parabola(a, x * scaling[i], deadzone, expt) * reduction;

+        const double velocity =

+                parabola(a, x * scaling[i], deadzone, expt) * reduction +

+                parabola(a2, x2 * scaling[i], deadzone, expt) * reduction +

+                parabola(a3, x3 * scaling[i], deadzone, expt) * reduction;

 		const double result = current_camera_position[i] + velocity * sign;

         const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];

+        current_camera_position_3[i] = current_camera_position_2[i];

+        current_camera_position_2[i] = current_camera_position[i];

         new_camera_position[i] = current_camera_position[i] = done ? target_camera_position[i] : result;

 	}

 }

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 8c770df9..eec97758 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -33,7 +33,9 @@
 

 #define ACCELA_SMOOTHING_ROTATION 60.0

 #define ACCELA_SMOOTHING_TRANSLATION 40.0

-#define ACCELA_ZOOM_SLOWNESS 35

+#define ACCELA_ZOOM_SLOWNESS 0

+#define ACCELA_SECOND_ORDER_ALPHA 100.0

+#define ACCELA_THIRD_ORDER_ALPHA 180.0

 

 //*******************************************************************************************************

 // FaceTrackNoIR Filter class.

@@ -53,7 +55,10 @@ private:
 	void loadSettings();

 	bool first_run;

     double rotation_alpha, translation_alpha, zoom_factor;

+    double second_order_alpha, third_order_alpha;

     double current_camera_position[6];

+    double current_camera_position_2[6];

+    double current_camera_position_3[6];

     double scaling[6];

     double deadzone;

     double expt;

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index 88c0a794..68484e77 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -160,6 +160,8 @@ void FilterControls::loadSettings() {
     ui.spinZoom->setValue(iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toInt());
     ui.rotation_alpha->setValue(iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble());
     ui.translation_alpha->setValue(iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble());
+    ui.order_2nd->setValue(iniFile.value("second-order-alpha", ACCELA_SECOND_ORDER_ALPHA).toDouble());
+    ui.order_3rd->setValue(iniFile.value("third-order-alpha", ACCELA_THIRD_ORDER_ALPHA).toDouble());
     ui.deadzone->setValue(iniFile.value("deadzone", 0).toDouble());
 
     // bigger means less filtering
@@ -212,6 +214,8 @@ void FilterControls::save() {
     iniFile.setValue("zoom-slowness", zoom = ui.spinZoom->value());
     iniFile.setValue("deadzone", deadzone = ui.deadzone->value());
     iniFile.setValue("exponent", expt = ui.expt->value());
+    iniFile.setValue("second-order-alpha", rot = ui.order_2nd->value());
+    iniFile.setValue("third-order-alpha", rot = ui.order_3rd->value());
 
     QDoubleSpinBox* boxen[] = {
         ui.doubleSpinBox,