diff options
author | Stanislaw Halik <sthalik@misaki.pl> | 2014-06-16 03:00:27 +0200 |
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committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-06-16 03:00:27 +0200 |
commit | b82ddb17360d66ad7270ad58409f53a6e1900437 (patch) | |
tree | f77cda6f7a78435d36e9b877df4d0e36c92b8096 /ftnoir_filter_ewma2 | |
parent | fa48b03e334e4f70a8f8bac7c7df2513c1cba0b8 (diff) |
Revert "update accela, ewma to use lerp class"
This reverts commit 7428b028ffd95c229c57f8089b97e6bd0af34339.
Diffstat (limited to 'ftnoir_filter_ewma2')
-rw-r--r-- | ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp | 55 | ||||
-rw-r--r-- | ftnoir_filter_ewma2/ftnoir_filter_ewma2.h | 3 |
2 files changed, 34 insertions, 24 deletions
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp index dcc1475c..c073bfa4 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp @@ -64,43 +64,54 @@ void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position, { double new_delta, new_noise, norm_noise; double alpha; - double pos[6]; //On the first run, initialize to output=target and return. if (first_run==true) { for (int i=0;i<6;i++) { + new_camera_position[i] = target_camera_position[i]; + current_camera_position[i] = target_camera_position[i]; delta[i] = 0.0; noise[i] = 0.0; - l.write(target_camera_position, new_camera_position); } first_run=false; return; } - if (!l.idempotentp(target_camera_position)) + bool new_frame = false; + + for (int i = 0; i < 6; i++) { - double cur[6]; - l.get_state(cur); - // Calculate the new camera position. - for (int i=0;i<6;i++) { - // Calculate the current and smoothed delta. - new_delta = target_camera_position[i]-cur[i]; - delta[i] = delta_smoothing*new_delta + (1.0-delta_smoothing)*delta[i]; - // Calculate the current and smoothed noise variance. - new_noise = delta[i]*delta[i]; - noise[i] = noise_smoothing*new_noise + (1.0-noise_smoothing)*noise[i]; - // Normalise the noise between 0->1 for 0->9 variances (0->3 stddevs). - norm_noise = std::min<double>(new_noise/(9.0*noise[i]), 1.0); - // Calculate the alpha from the normalized noise. - // TODO(abo): change kSmoothingScaleCurve to a float where 1.0 is sqrt(norm_noise). - alpha = 1.0/(s.kMinSmoothing+(1.0-pow(norm_noise,s.kSmoothingScaleCurve/20.0))*(s.kMaxSmoothing-s.kMinSmoothing)); - // Update the current camera position to the new position. - double value = alpha*target_camera_position[i] + (1.0-alpha)*cur[i]; - pos[i] = value; + if (target_camera_position[i] != current_camera_position[i]) + { + new_frame = true; + break; } } - l.write(pos, new_camera_position); + if (!new_frame) + { + for (int i = 0; i < 6; i++) + new_camera_position[i] = current_camera_position[i]; + return; + } + + // Calculate the new camera position. + for (int i=0;i<6;i++) { + // Calculate the current and smoothed delta. + new_delta = target_camera_position[i]-current_camera_position[i]; + delta[i] = delta_smoothing*new_delta + (1.0-delta_smoothing)*delta[i]; + // Calculate the current and smoothed noise variance. + new_noise = delta[i]*delta[i]; + noise[i] = noise_smoothing*new_noise + (1.0-noise_smoothing)*noise[i]; + // Normalise the noise between 0->1 for 0->9 variances (0->3 stddevs). + norm_noise = std::min<double>(new_noise/(9.0*noise[i]), 1.0); + // Calculate the alpha from the normalized noise. + // TODO(abo): change kSmoothingScaleCurve to a float where 1.0 is sqrt(norm_noise). + alpha = 1.0/(s.kMinSmoothing+(1.0-pow(norm_noise,s.kSmoothingScaleCurve/20.0))*(s.kMaxSmoothing-s.kMinSmoothing)); + // Update the current camera position to the new position. + double pos = alpha*target_camera_position[i] + (1.0-alpha)*current_camera_position[i]; + new_camera_position[i] = current_camera_position[i] = pos; + } } extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor() diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h index ea25a135..bde3e79c 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h @@ -32,7 +32,6 @@ #include <QWidget> #include <QMutex> #include "facetracknoir/options.h" -#include "facetracknoir/lerp.hpp" using namespace options; struct settings { @@ -62,8 +61,8 @@ private: double noise_smoothing; double delta[6]; double noise[6]; + double current_camera_position[6]; settings s; - lerp l; }; class FilterControls: public QWidget, public IFilterDialog |