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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_ewma2.h"
#include "math.h"
#include <QDebug>
#include <QWidget>
#include "facetracknoir/global-settings.h"
#include <algorithm>
//#define LOG_OUTPUT
///////////////////////////////////////////////////////////////////////////////
//
// EWMA Filter: Exponentially Weighted Moving Average filter with dynamic smoothing parameter
//
// This filter tries to adjust the amount of filtering to minimize lag when
// moving, and minimize noise when still. It uses the delta filtered over the
// last 3 frames (0.1secs) compared to the delta's average noise variance over
// the last 3600 frames (~2mins) to try and detect movement vs noise. As the
// delta increases from 0->3 stdevs of the noise, the filtering scales down
// from maxSmooth->minSmooth at a rate controlled by the powCurve setting.
//
///////////////////////////////////////////////////////////////////////////////
FTNoIR_Filter::FTNoIR_Filter()
{
first_run = true;
// Deltas are smoothed over the last 3 frames (0.1sec at 30fps).
delta_smoothing = 1.0 / 3.0;
// Noise is smoothed over the last 3600 frames (~2mins at 30fps).
noise_smoothing = 1.0 / 3600.0;
loadSettings(); // Load the Settings
}
FTNoIR_Filter::~FTNoIR_Filter()
{
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void FTNoIR_Filter::loadSettings() {
qDebug() << "FTNoIR_Filter::loadSettings says: Starting ";
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)
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 ( "Tracking" );
// TODO(abo): change UI to have range 1-120 frames.
kMinSmoothing = iniFile.value ( "minSmooth", 2 ).toInt();
kMaxSmoothing = iniFile.value ( "maxSmooth", 15 ).toInt();
// TODO(abo): change powCurve to a float with default=1.0.
kSmoothingScaleCurve = iniFile.value ( "powCurve", 10 ).toInt();
iniFile.endGroup ();
}
void FTNoIR_Filter::FilterHeadPoseData(double *current_camera_position,
double *target_camera_position,
double *new_camera_position,
double *last_post_filter)
{
double new_delta, new_noise, norm_noise;
double alpha;
//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] = 0.0f;
noise[i] = 0.0f;
}
first_run=false;
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/(kMinSmoothing+(1.0-pow(norm_noise,kSmoothingScaleCurve/20.0))*(kMaxSmoothing-kMinSmoothing));
new_camera_position[i] = alpha*target_camera_position[i] + (1.0-alpha)*current_camera_position[i];
}
#ifdef LOG_OUTPUT
// Use this for some debug-output to file...
QFile data(QCoreApplication::applicationDirPath() + "\\EWMA_output.txt");
if (data.open(QFile::WriteOnly | QFile::Append)) {
QTextStream out(&data);
out << "current:\t" << current_camera_position[0]
<< "\t" << current_camera_position[1]
<< "\t" << current_camera_position[2]
<< "\t" << current_camera_position[3]
<< "\t" << current_camera_position[4]
<< "\t" << current_camera_position[5] << '\n';
out << "target:\t" << target_camera_position[0]
<< "\t" << target_camera_position[1]
<< "\t" << target_camera_position[2]
<< "\t" << target_camera_position[3]
<< "\t" << target_camera_position[4]
<< "\t" << target_camera_position[5] << '\n';
out << "output:\t" << new_camera_position[0]
<< "\t" << new_camera_position[1]
<< "\t" << new_camera_position[2]
<< "\t" << new_camera_position[3]
<< "\t" << new_camera_position[4]
<< "\t" << new_camera_position[5] << '\n';
}
#endif
// Update the current camera position to the new position.
for (int i = 0; i < 6; i++) {
current_camera_position[i] = new_camera_position[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.
//#pragma comment(linker, "/export:GetFilter=_GetFilter@0")
extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor()
{
return new FTNoIR_Filter;
}
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