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-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.cpp63
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.h5
-rw-r--r--ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp55
-rw-r--r--ftnoir_filter_ewma2/ftnoir_filter_ewma2.h3
4 files changed, 50 insertions, 76 deletions
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 9fcf4b92..a82ff077 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -30,57 +30,40 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
{
for (int i = 0; i < 6; i++)
{
- new_camera_position[i] = target_camera_position[i];
- last_input[i] = target_camera_position[i];
for (int j = 0; j < 3; j++)
last_output[j][i] = target_camera_position[i];
+ l.write(target_camera_position, new_camera_position);
}
first_run = false;
- return;
- }
-
- bool new_frame = false;
+ return;
+ }
- for (int i = 0; i < 6; i++)
+ if (!l.idempotentp(target_camera_position))
{
- if (target_camera_position[i] != last_input[i])
+ for (int i=0;i<6;i++)
{
- new_frame = true;
- break;
+ const double vec = target_camera_position[i] - last_output[0][i];
+ const double vec2 = target_camera_position[i] - last_output[1][i];
+ const double vec3 = target_camera_position[i] - last_output[2][i];
+ const int sign = vec < 0 ? -1 : 1;
+ const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha;
+ const double a2 = a * s.second_order_alpha;
+ const double a3 = a * s.third_order_alpha;
+ const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone;
+ const double velocity =
+ parabola(a, vec, deadzone, s.expt) +
+ parabola(a2, vec2, deadzone, s.expt) +
+ parabola(a3, vec3, deadzone, s.expt);
+ const double result = last_output[0][i] + velocity;
+ const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];
+ last_output[2][i] = last_output[1][i];
+ last_output[1][i] = last_output[0][i];
+ last_output[0][i] = done ? target_camera_position[i] : result;
}
}
- if (!new_frame)
- {
- for (int i = 0; i < 6; i++)
- new_camera_position[i] = last_output[0][i];
- return;
- }
-
- for (int i = 0; i < 6; i++)
- last_input[i] = target_camera_position[i];
-
- for (int i=0;i<6;i++)
- {
- const double vec = target_camera_position[i] - last_output[0][i];
- const double vec2 = target_camera_position[i] - last_output[1][i];
- const double vec3 = target_camera_position[i] - last_output[2][i];
- const int sign = vec < 0 ? -1 : 1;
- const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha;
- const double a2 = a * s.second_order_alpha;
- const double a3 = a * s.third_order_alpha;
- const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone;
- const double velocity =
- parabola(a, vec, deadzone, s.expt) +
- parabola(a2, vec2, deadzone, s.expt) +
- parabola(a3, vec3, deadzone, s.expt);
- const double result = last_output[0][i] + velocity;
- const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];
- last_output[2][i] = last_output[1][i];
- last_output[1][i] = last_output[0][i];
- last_output[0][i] = new_camera_position[i] = done ? target_camera_position[i] : result;
- }
+ l.write(last_output[0], new_camera_position);
}
extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor()
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 8cf7fe66..2187fd01 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -2,6 +2,7 @@
#include "ftnoir_filter_base/ftnoir_filter_base.h"
#include "ui_ftnoir_accela_filtercontrols.h"
#include "facetracknoir/global-settings.h"
+#include "facetracknoir/lerp.hpp"
#include <QMutex>
#define ACCELA_SMOOTHING_ROTATION 60.0
@@ -44,11 +45,11 @@ public:
void receiveSettings() {
s.b->reload();
}
-
private:
+ lerp l;
settings s;
bool first_run;
- double last_input[6], last_output[3][6];
+ double last_output[3][6];
};
class FilterControls: public QWidget, public IFilterDialog
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index c073bfa4..dcc1475c 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -64,54 +64,43 @@ 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;
}
- bool new_frame = false;
-
- for (int i = 0; i < 6; i++)
+ if (!l.idempotentp(target_camera_position))
{
- if (target_camera_position[i] != current_camera_position[i])
- {
- new_frame = true;
- break;
+ 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 (!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;
- }
+ l.write(pos, new_camera_position);
}
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 bde3e79c..ea25a135 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -32,6 +32,7 @@
#include <QWidget>
#include <QMutex>
#include "facetracknoir/options.h"
+#include "facetracknoir/lerp.hpp"
using namespace options;
struct settings {
@@ -61,8 +62,8 @@ 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-10-22 16:21:11 +0000