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/* Copyright (c) 2012 Stanislaw Halik
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "ftnoir_filter_Accela.h"
#include "math.h"
#include <QDebug>
FTNoIR_Filter::FTNoIR_Filter()
{
//populate the description strings
filterFullName = "Accela Filter";
filterShortName = "Accela";
filterDescription = "Accela filter";
first_run = true;
loadSettings(); // Load the Settings
}
FTNoIR_Filter::~FTNoIR_Filter()
{
}
void FTNoIR_Filter::Release()
{
delete this;
}
void FTNoIR_Filter::Initialize()
{
loadSettings();
return;
}
void FTNoIR_Filter::loadSettings() {
QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
qDebug() << "FTNoIR_Filter::loadSettings says: iniFile = " << currentFile;
iniFile.beginGroup ( "Filter_Accela" );
kFactor = iniFile.value ( "factor", 8.0 ).toDouble();
kSensitivity = iniFile.value("sensitivity", 12.0).toDouble();
kC0 = iniFile.value("c0", 0.005).toDouble();
kC1 = iniFile.value("c1", 0.125).toDouble();
kC2 = iniFile.value("c2", 0.33333).toDouble();
kC3 = iniFile.value("c3", 0.75).toDouble();
kC4 = iniFile.value("c4", 1.0).toDouble();
kFactorTranslation = iniFile.value("factor_translation", 1.0).toDouble();
kSensitivityTranslation = iniFile.value("sensitivity_translation", 1.0).toDouble();
iniFile.endGroup ();
}
void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, bool newTarget)
{
double target[6];
double prev_output[6];
float output[6];
int i=0;
prev_output[0]=current_camera_position->x;
prev_output[1]=current_camera_position->y;
prev_output[2]=current_camera_position->z;
prev_output[3]=current_camera_position->yaw;
prev_output[4]=current_camera_position->pitch;
prev_output[5]=current_camera_position->roll;
target[0]=target_camera_position->x;
target[1]=target_camera_position->y;
target[2]=target_camera_position->z;
target[3]=target_camera_position->yaw;
target[4]=target_camera_position->pitch;
target[5]=target_camera_position->roll;
if (first_run)
{
new_camera_position->x=target[0];
new_camera_position->y=target[1];
new_camera_position->z=target[2];
new_camera_position->yaw=target[3];
new_camera_position->pitch=target[4];
new_camera_position->roll=target[5];
first_run=false;
return;
}
for (i=0;i<6;i++)
{
double e2 = target[i];
double start = prev_output[i];
double vec = e2 - start;
int sign = vec < 0 ? -1 : 1;
double max = i >= 3 ? kFactor : kFactorTranslation;
double x = fabs(vec) / max;
double foo = kC4 * x * x * x * x + kC3 * x * x * x + kC2 * x * x + kC1 * x + kC0;
// the idea is that "empty" updates without new head pose data are still
// useful for filtering, as skipping them would result in jerky output.
// the magic "100" is the amount of calls to the filter by FTNOIR per sec.
double velocity = foo * (i >= 3 ? kSensitivity : kSensitivityTranslation) / 100.0;
double sum = start + velocity * sign;
bool done = sign > 0 ? sum >= e2 : sum <= e2;
if (done) {
output[i] = e2;
} else {
output[i] = sum;
}
}
end:
new_camera_position->x=output[0];
new_camera_position->y=output[1];
new_camera_position->z=output[2];
new_camera_position->yaw=output[3];
new_camera_position->pitch=output[4];
new_camera_position->roll=output[5];
current_camera_position->x=output[0];
current_camera_position->y=output[1];
current_camera_position->z=output[2];
current_camera_position->yaw=output[3];
current_camera_position->pitch=output[4];
current_camera_position->roll=output[5];
}
void FTNoIR_Filter::getFullName(QString *strToBeFilled)
{
*strToBeFilled = filterFullName;
};
void FTNoIR_Filter::getShortName(QString *strToBeFilled)
{
*strToBeFilled = filterShortName;
};
void FTNoIR_Filter::getDescription(QString *strToBeFilled)
{
*strToBeFilled = filterDescription;
};
////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Filter object.
// Export both decorated and undecorated names.
// GetFilter - Undecorated name, which can be easily used with GetProcAddress
// Win32 API function.
// _GetFilter@0 - Common name decoration for __stdcall functions in C language.
#pragma comment(linker, "/export:GetFilter=_GetFilter@0")
FTNOIR_FILTER_BASE_EXPORT FILTERHANDLE __stdcall GetFilter()
{
return new FTNoIR_Filter;
}
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