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/********************************************************************************
* FaceTrackNoIR This program is a private project of some enthusiastic *
* gamers from Holland, who don't like to pay much for *
* head-tracking. *
* *
* Copyright (C) 2012 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the *
* Free Software Foundation; either version 3 of the License, or (at your *
* option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but *
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, see <http://www.gnu.org/licenses/>. *
* *
********************************************************************************/
#include "ftnoir_filter_DZ1.h"
#include "math.h"
#include <QDebug>
//#define LOG_OUTPUT
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// EWMA Filter: Exponentially Weighted Moving Average filter with dynamic smoothing parameter
//
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
FTNoIR_Filter::FTNoIR_Filter()
{
//populate the description strings
filterFullName = "Deadzone Filter Mk1";
filterShortName = "DZ1";
filterDescription = "Deadzone Filter";
first_run = true;
loadSettings(); // Load the Settings
}
FTNoIR_Filter::~FTNoIR_Filter()
{
}
void FTNoIR_Filter::Release()
{
delete this;
}
void FTNoIR_Filter::Initialize()
{
qDebug() << "FTNoIR_Filter::Initialize says: Starting ";
loadSettings();
return;
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void FTNoIR_Filter::loadSettings() {
qDebug() << "FTNoIR_Filter::loadSettings says: Starting ";
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;
//
// The EWMA2-filter-settings are in the Tracking group: this is because they used to be on the Main Form of FaceTrackNoIR
//
iniFile.beginGroup ( "Filter_DZ1" );
kCameraHz = iniFile.value ( "cameraHz", 30 ).toInt();
kDeadZone = iniFile.value ( "DeadZone", 0.1f ).toFloat();
kMoveLast = (iniFile.value ( "MoveLast", 24 ).toFloat()) / 100; // Convert from int to float percentage
kMaxDiff = iniFile.value ( "MaxDiff", 1.75f ).toFloat();
kMoveSaved = ((iniFile.value ( "MoveSaved", 35 ).toFloat()) / 100) / kCameraHz; // Convert from int to float percentage and divide by Hz
iniFile.endGroup ();
}
void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, bool newTarget)
{
//non-optimised version for clarity
double target[6];
double prev_output[6];
double scale[]={3.0, 3.0, 3.0, 3.0, 3.0, 3.0};
// static double deadzones[] = { DEADZONE, DEADZONE, DEADZONE, DEADZONE, DEADZONE, DEADZONE };
float output[6];
int i=0, j=0;
//find out how far the head has moved
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)
{
//on the first run, output=target
for (i=0;i<6;i++)
{
last_positions[i] = target[i];
saved_positions[i] = target[i];
prev_positions[i] = target[i];
smooth_remember[i] = 0;
smoothing[i] = false;
smooth_speed[i] = -1.0;
}
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;
//we can bail
return;
} else if (!newTarget) {
int i;
for (i = 0; i < 6; i++) {
output[i] = prev_positions[i];
}
goto end;
}
for (i=0;i<6;i++)
{
double e2 = target[i];
bool slowp = fabs(last_positions[i] - e2) < kDeadZone && fabs(e2 - saved_positions[i]) < kMaxDiff; // DeadZone and MAXDIFF from INI-file
if (smoothing[i] || !slowp) {
double start = smooth_start[i];
double vec = e2 - start;
int sign = vec < 0 ? -1 : 1;
int sign2 = e2 < 0 ? -1 : 1;
if (sign != sign2)
sign2 = -sign2;
double diff = (kCameraHz / REMEMBER_SMOOTHNESS) - smooth_remember[i];
smooth_speed[i] *= -(diff * diff) / (double) ((kCameraHz / REMEMBER_SMOOTHNESS) * (kCameraHz / REMEMBER_SMOOTHNESS)) + 1.001;
if (smooth_speed[i] < INITIAL_SMOOTH_SPEED)
smooth_speed[i] = INITIAL_SMOOTH_SPEED;
vec = fabs(vec);
double iter = vec * SMOOTH_FACTOR / (double) kCameraHz;
smooth_speed[i] += iter;
double bleh = smooth_speed[i] * sign;
double foo = smooth_start[i] + bleh;
bool done = sign2 > 0 ? foo > e2 : foo < e2;
smooth_remember[i] = (kCameraHz / REMEMBER_SMOOTHNESS);
if (done) {
smoothing[i] = false;
output[i] = e2;
saved_positions[i] = e2;
last_positions[i] = e2;
prev_positions[i] = e2;
} else {
smoothing[i] = true;
prev_positions[i] = output[i] = foo;
}
} else {
if (smooth_remember[i] <= 0) {
smooth_speed[i] = -1.0;
} else {
smooth_remember[i]--;
}
last_positions[i] = last_positions[i] + (e2 - last_positions[i]) * kMoveLast; // MOVE_LAST from INI-file
saved_positions[i] = saved_positions[i] + (e2 - saved_positions[i]) * kMoveSaved; // MOVE_SAVED from INI-file
output[i] = prev_positions[i] = prev_positions[i] + (e2 - prev_positions[i]) * (SLOW_SPEED/kCameraHz); // Get CameraHz from INI
smooth_start[i] = output[i];
smoothing[i] = false;
#if 0
if (i == 3) {
FILE* dlog = fopen("debug-log.txt", "a");
fprintf(dlog, "slowed=%f frames=%d diff=%f\n", output[i], slow_move_count[i], e1 - last_positions[i]);
fclose(dlog);
}
#endif
}
}
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] * MULT_X;
new_camera_position->pitch=output[4] * (output[4] < 0 ? MULT_Y_NEG : MULT_Y_POS) - COCKPIT_PITCH;
new_camera_position->roll=output[5];
#if 1
//
// Also update the 'current' position, for the next iteration.
//
current_camera_position->x=output[0];
current_camera_position->y=output[1];
current_camera_position->z=output[2];
current_camera_position->yaw=output[3] * MULT_X;
current_camera_position->pitch=output[4] * (output[4] < 0 ? MULT_Y_NEG : MULT_Y_POS) + COCKPIT_PITCH;
current_camera_position->roll=output[5];
#endif
}
void FTNoIR_Filter::getFilterFullName(QString *strToBeFilled)
{
*strToBeFilled = filterFullName;
};
void FTNoIR_Filter::getFilterShortName(QString *strToBeFilled)
{
*strToBeFilled = filterShortName;
};
void FTNoIR_Filter::getFilterDescription(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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