Revert "update accela, ewma to use lerp class"

This reverts commit 7428b028ffd95c229c57f8089b97e6bd0af34339.

4 files changed, 76 insertions, 50 deletions

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index a82ff077..9fcf4b92 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -30,40 +30,57 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
 	{

         for (int i = 0; i < 6; i++)

         {

+            new_camera_position[i] = target_camera_position[i];

+            last_input[i] = target_camera_position[i];

             for (int j = 0; j < 3; j++)

                 last_output[j][i] = target_camera_position[i];

-            l.write(target_camera_position, new_camera_position);

         }

 

         first_run = false;

-        return;

-    }

+		return;

+	}

+

+    bool new_frame = false;

 

-    if (!l.idempotentp(target_camera_position))

+    for (int i = 0; i < 6; i++)

     {

-        for (int i=0;i<6;i++)

+        if (target_camera_position[i] != last_input[i])

         {

-            const double vec = target_camera_position[i] - last_output[0][i];

-            const double vec2 = target_camera_position[i] - last_output[1][i];

-            const double vec3 = target_camera_position[i] - last_output[2][i];

-            const int sign = vec < 0 ? -1 : 1;

-            const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha;

-            const double a2 = a * s.second_order_alpha;

-            const double a3 = a * s.third_order_alpha;

-            const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone;

-            const double velocity =

-                    parabola(a, vec, deadzone, s.expt) +

-                    parabola(a2, vec2, deadzone, s.expt) +

-                    parabola(a3, vec3, deadzone, s.expt);

-            const double result = last_output[0][i] + velocity;

-            const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];

-            last_output[2][i] = last_output[1][i];

-            last_output[1][i] = last_output[0][i];

-            last_output[0][i] = done ? target_camera_position[i] : result;

+            new_frame = true;

+            break;

         }

     }

 

-    l.write(last_output[0], new_camera_position);

+    if (!new_frame)

+    {

+        for (int i = 0; i < 6; i++)

+            new_camera_position[i] = last_output[0][i];

+        return;

+    }

+

+    for (int i = 0; i < 6; i++)

+        last_input[i] = target_camera_position[i];

+    

+    for (int i=0;i<6;i++)

+	{

+        const double vec = target_camera_position[i] - last_output[0][i];

+        const double vec2 = target_camera_position[i] - last_output[1][i];

+        const double vec3 = target_camera_position[i] - last_output[2][i];

+		const int sign = vec < 0 ? -1 : 1;

+        const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha;

+        const double a2 = a * s.second_order_alpha;

+        const double a3 = a * s.third_order_alpha;

+        const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone;

+        const double velocity =

+                parabola(a, vec, deadzone, s.expt) +

+                parabola(a2, vec2, deadzone, s.expt) +

+                parabola(a3, vec3, deadzone, s.expt);

+        const double result = last_output[0][i] + velocity;

+        const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];

+        last_output[2][i] = last_output[1][i];

+        last_output[1][i] = last_output[0][i];

+        last_output[0][i] = new_camera_position[i] = done ? target_camera_position[i] : result;

+	}

 }

 

 extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor()

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 2187fd01..8cf7fe66 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -2,7 +2,6 @@
 #include "ftnoir_filter_base/ftnoir_filter_base.h"

 #include "ui_ftnoir_accela_filtercontrols.h"

 #include "facetracknoir/global-settings.h"

-#include "facetracknoir/lerp.hpp"

 #include <QMutex>

 

 #define ACCELA_SMOOTHING_ROTATION 60.0

@@ -45,11 +44,11 @@ public:
     void receiveSettings() {

         s.b->reload();

     }

+

 private:

-    lerp l;

     settings s;

 	bool first_run;

-    double last_output[3][6];

+    double last_input[6], last_output[3][6];

 };

 

 class FilterControls: public QWidget, public IFilterDialog

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index dcc1475c..c073bfa4 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -64,43 +64,54 @@ void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position,
 {
     double new_delta, new_noise, norm_noise;
     double alpha;
-    double pos[6];
 
     //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] = 0.0;
             noise[i] = 0.0;
-            l.write(target_camera_position, new_camera_position);
         }
         first_run=false;
         return;
     }
 
-    if (!l.idempotentp(target_camera_position))
+    bool new_frame = false;
+
+    for (int i = 0; i < 6; i++)
     {
-        double cur[6];
-        l.get_state(cur);
-        // Calculate the new camera position.
-        for (int i=0;i<6;i++) {
-            // Calculate the current and smoothed delta.
-            new_delta = target_camera_position[i]-cur[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/(s.kMinSmoothing+(1.0-pow(norm_noise,s.kSmoothingScaleCurve/20.0))*(s.kMaxSmoothing-s.kMinSmoothing));
-            // Update the current camera position to the new position.
-            double value = alpha*target_camera_position[i] + (1.0-alpha)*cur[i];
-            pos[i] = value;
+        if (target_camera_position[i] != current_camera_position[i])
+        {
+            new_frame = true;
+            break;
         }
     }
 
-    l.write(pos, new_camera_position);
+    if (!new_frame)
+    {
+        for (int i = 0; i < 6; i++)
+            new_camera_position[i] = current_camera_position[i];
+        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/(s.kMinSmoothing+(1.0-pow(norm_noise,s.kSmoothingScaleCurve/20.0))*(s.kMaxSmoothing-s.kMinSmoothing));
+        // Update the current camera position to the new position.
+        double pos = alpha*target_camera_position[i] + (1.0-alpha)*current_camera_position[i];
+        new_camera_position[i] = current_camera_position[i] = pos;
+    }
 }
 
 extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor()
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index ea25a135..bde3e79c 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -32,7 +32,6 @@
 #include <QWidget>
 #include <QMutex>
 #include "facetracknoir/options.h"
-#include "facetracknoir/lerp.hpp"
 using namespace options;
 
 struct settings {
@@ -62,8 +61,8 @@ private:
     double noise_smoothing;
     double delta[6];
     double noise[6];
+    double current_camera_position[6];
     settings s;
-    lerp l;
 };
 
 class FilterControls: public QWidget, public IFilterDialog