1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
|
/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
*
* 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_kalman.h"
#include "facetracknoir/plugin-support.h"
#include <QDebug>
#include <cmath>
FTNoIR_Filter::FTNoIR_Filter() {
reset();
}
// the following was written by Donovan Baarda <abo@minkirri.apana.org.au>
// https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b
void FTNoIR_Filter::reset() {
const double accel_variance = 1e-3;
const double noise_variance = 5e2;
kalman.init(12, 6, 0, CV_64F);
kalman.transitionMatrix = (cv::Mat_<double>(12, 12) <<
1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1,
0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1);
double a = 0.25 * accel_variance;
double b = 0.5 * accel_variance;
double c = 1.0 * accel_variance;
kalman.processNoiseCov = (cv::Mat_<double>(12, 12) <<
a, 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0,
0, a, 0, 0, 0, 0, 0, b, 0, 0, 0, 0,
0, 0, a, 0, 0, 0, 0, 0, b, 0, 0, 0,
0, 0, 0, a, 0, 0, 0, 0, 0, b, 0, 0,
0, 0, 0, 0, a, 0, 0, 0, 0, 0, b, 0,
0, 0, 0, 0, 0, a, 0, 0, 0, 0, 0, b,
b, 0, 0, 0, 0, 0, c, 0, 0, 0, 0, 0,
0, b, 0, 0, 0, 0, 0, c, 0, 0, 0, 0,
0, 0, b, 0, 0, 0, 0, 0, c, 0, 0, 0,
0, 0, 0, b, 0, 0, 0, 0, 0, c, 0, 0,
0, 0, 0, 0, b, 0, 0, 0, 0, 0, c, 0,
0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, c);
cv::setIdentity(kalman.measurementMatrix);
cv::setIdentity(kalman.measurementNoiseCov, cv::Scalar::all(noise_variance));
cv::setIdentity(kalman.errorCovPost, cv::Scalar::all(accel_variance * 1e4));
for (int i = 0; i < 6; i++)
{
prev_position[i] = 0;
prev2_filter_pos[i] = 0;
prev_filter_pos[i] = 0;
timedelta = 1;
timer.invalidate();
}
}
template<typename T>
static inline T clamp(const T min, const T max, const T value)
{
if (value < min)
return min;
if (value > max)
return max;
return value;
}
void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
double *new_camera_position)
{
bool new_target = false;
for (int i = 0; i < 6; i++)
if (prev_position[i] != target_camera_position[i])
{
new_target = true;
break;
}
if (new_target) {
cv::Mat output = kalman.predict();
cv::Mat measurement(6, 1, CV_64F);
for (int i = 0; i < 3; i++) {
measurement.at<double>(i) = target_camera_position[i+3];
measurement.at<double>(i+3) = target_camera_position[i];
}
kalman.correct(measurement);
for (int i = 0; i < 6; i++)
{
prev_position[i] = target_camera_position[i];
}
if (timer.isValid())
timedelta = timer.elapsed();
else
timedelta = 1;
for (int i = 0; i < 6; i++)
{
prev2_filter_pos[i] = prev_filter_pos[i];
prev_filter_pos[i] = new_camera_position[i] = output.at<double>((i + 3) % 6);
}
timer.start();
} else {
auto d = timer.isValid() ? timer.elapsed() : 1;
auto c = clamp(0.0, 1.0, d / (double) timedelta);
for (int i = 0; i < 6; i++)
new_camera_position[i] = prev2_filter_pos[i] + (prev_filter_pos[i] - prev2_filter_pos[i]) * c;
}
}
void FilterControls::doOK() {
close();
}
void FilterControls::doCancel() {
close();
}
extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
{
return new FTNoIR_FilterDll;
}
extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor()
{
return new FTNoIR_Filter;
}
extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() {
return new FilterControls;
}
|
