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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.
*/
/*
Modifications (last one on top):
20120807 - WVR: FunctionConfig is now also used for the Filter. The extrapolation was adapted from Stanislaw.
Additional changes: I have added two parameters to the constructor of FunctionConfig and
renamed 3 member-functions (getFilterFullName is now called getFullName).
*/
#include "ftnoir_filter_accela/ftnoir_filter_accela.h"
#include "math.h"
#include <QDebug>
#include <float.h>
#include "facetracknoir/global-settings.h"
#if !defined(_WIN32) && !defined(__WIN32)
# define _isnan isnan
#endif
FTNoIR_Filter::FTNoIR_Filter() :
functionConfig("Accela-Scaling-Rotation", 6, 8),
translationFunctionConfig("Accela-Scaling-Translation", 6, 8)
{
first_run = true;
kMagicNumber = 100.0f;
loadSettings(); // Load the Settings
}
FTNoIR_Filter::~FTNoIR_Filter()
{
}
void FTNoIR_Filter::loadSettings() {
QSettings settings("opentrack"); // 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)
functionConfig.loadSettings(iniFile);
translationFunctionConfig.loadSettings(iniFile);
iniFile.beginGroup ( "Accela" );
kMagicNumber = iniFile.value ( "Reduction", 100 ).toFloat();
kZoomSlowness = iniFile.value("zoom-slowness", 0).toFloat();
kSmoothingFactor = iniFile.value("smoothing-factor", 1).toFloat();
iniFile.endGroup ();
}
void FTNoIR_Filter::FilterHeadPoseData(double *current_camera_position,
double *target_camera_position,
double *new_camera_position,
double *last_post_filter_values)
{
double target[6];
double prev_output[6];
float output[6];
for (int i = 0; i < 6; i++)
{
prev_output[i] = current_camera_position[i];
target[i] = target_camera_position[i];
}
if (first_run)
{
for (int i = 0; i < 6; i++)
new_camera_position[i] = target[i];
first_run=false;
return;
}
for (int i=0;i<6;i++)
{
if (_isnan(target[i]))
return;
if (_isnan(prev_output[i]))
return;
double e2 = target[i];
double start = prev_output[i];
double vec = e2 - start;
int sign = vec < 0 ? -1 : 1;
double x = fabs(vec) / kSmoothingFactor;
QList<QPointF> points = (i >= 3 ? functionConfig : translationFunctionConfig).getPoints();
int extrapolatep = 0;
double ratio;
double maxx;
double add;
// linear extrapolation of a spline
if (points.size() > 1) {
QPointF last = points[points.size() - 1];
QPointF penultimate = points[points.size() - 2];
ratio = (last.y() - penultimate.y()) / (last.x() - penultimate.x());
extrapolatep = 1;
add = last.y();
maxx = last.x();
}
double foo = extrapolatep && x > maxx ? add + ratio * (x - maxx) : (i >= 3 ? functionConfig : translationFunctionConfig).getValue(x);
// 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.
// WVR: Added kMagicNumber for Patrick
double velocity = foo / (kMagicNumber > 0 ? kMagicNumber : 100.0) * (1 / std::max(1.0, 1 + kZoomSlowness * -last_post_filter_values[TZ] / 100));
double sum = start + velocity * sign;
bool done = (sign > 0 ? sum >= e2 : sum <= e2);
if (done) {
output[i] = e2;
} else {
output[i] = sum;
}
if (_isnan(output[i]))
return;
}
for (int i = 0; i < 6; i++)
{
new_camera_position[i] = output[i];
current_camera_position[i] = output[i];
}
}
////////////////////////////////////////////////////////////////////////////////
// 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.
extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor()
{
return new FTNoIR_Filter;
}
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