Improvements

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@7 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

9 files changed, 148 insertions, 96 deletions

diff --git a/FaceTrackNoIR/FaceTrackNoIR.cpp b/FaceTrackNoIR/FaceTrackNoIR.cpp
index 18a06ecc..19af030e 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.cpp
+++ b/FaceTrackNoIR/FaceTrackNoIR.cpp
@@ -334,7 +334,7 @@ void FaceTrackNoIR::loadSettings() {
 	ui.chkInvertX->setChecked (iniFile.value ( "invertX", 0 ).toBool());

 	ui.chkInvertY->setChecked (iniFile.value ( "invertY", 0 ).toBool());

 	ui.chkInvertZ->setChecked (iniFile.value ( "invertZ", 0 ).toBool());

-	ui.chkUseEWMA->setChecked (iniFile.value ( "useEWMA", 0 ).toBool());

+	ui.chkUseEWMA->setChecked (iniFile.value ( "useEWMA", 1 ).toBool());

 	ui.redYaw->setValue (iniFile.value ( "redYaw", 70 ).toInt());

 	ui.redPitch->setValue (iniFile.value ( "redPitch", 70 ).toInt());

 	ui.redRoll->setValue (iniFile.value ( "redRoll", 70 ).toInt());

diff --git a/FaceTrackNoIR/FaceTrackNoIR.ui b/FaceTrackNoIR/FaceTrackNoIR.ui
index 7e3088a3..0cab62bc 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.ui
+++ b/FaceTrackNoIR/FaceTrackNoIR.ui
@@ -940,11 +940,11 @@ color:#000;</string>
 background:none;</string>

                </property>

                <property name="text">

-                <string>Smoothing (samples)</string>

+                <string>Global settings</string>

                </property>

               </widget>

              </item>

-             <item row="1" column="0">

+             <item row="2" column="0">

               <widget class="QSlider" name="slideSmoothing">

                <property name="minimumSize">

                 <size>

@@ -972,7 +972,7 @@ background:none;</string>
                </property>

               </widget>

              </item>

-             <item row="1" column="1">

+             <item row="2" column="1">

               <widget class="QSpinBox" name="spinSmoothing">

                <property name="minimumSize">

                 <size>

@@ -988,6 +988,59 @@ background:none;</string>
                </property>

               </widget>

              </item>

+             <item row="3" column="1">

+              <widget class="QCheckBox" name="chkUseEWMA">

+               <property name="text">

+                <string/>

+               </property>

+              </widget>

+             </item>

+             <item row="3" column="0">

+              <widget class="QLabel" name="lblSensYaw_5">

+               <property name="minimumSize">

+                <size>

+                 <width>25</width>

+                 <height>0</height>

+                </size>

+               </property>

+               <property name="maximumSize">

+                <size>

+                 <width>150</width>

+                 <height>16777215</height>

+                </size>

+               </property>

+               <property name="styleSheet">

+                <string notr="true">color:#ccc;

+background:none;</string>

+               </property>

+               <property name="text">

+                <string>Use EWMA filtering:</string>

+               </property>

+              </widget>

+             </item>

+             <item row="1" column="0">

+              <widget class="QLabel" name="lblSensYaw_4">

+               <property name="minimumSize">

+                <size>

+                 <width>25</width>

+                 <height>0</height>

+                </size>

+               </property>

+               <property name="maximumSize">

+                <size>

+                 <width>150</width>

+                 <height>16777215</height>

+                </size>

+               </property>

+               <property name="styleSheet">

+                <string notr="true">color:#ccc;

+background:none;</string>

+               </property>

+               <property name="text">

+                <string>Smoothing (samples):</string>

+               </property>

+              </widget>

+             </item>

              <item row="5" column="0">

               <widget class="QSlider" name="slideNeutralZone">

                <property name="minimumSize">

@@ -997,13 +1050,13 @@ background:none;</string>
                 </size>

                </property>

                <property name="minimum">

-                <number>0</number>

+                <number>1</number>

                </property>

                <property name="maximum">

                 <number>45</number>

                </property>

                <property name="pageStep">

-                <number>2</number>

+                <number>5</number>

                </property>

                <property name="value">

                 <number>5</number>

@@ -1027,43 +1080,16 @@ background:none;</string>
                <property name="maximum">

                 <number>45</number>

                </property>

-               <property name="value">

+               <property name="singleStep">

                 <number>5</number>

                </property>

-              </widget>

-             </item>

-             <item row="3" column="0">

-              <widget class="QLabel" name="lblSensYaw_4">

-               <property name="minimumSize">

-                <size>

-                 <width>25</width>

-                 <height>0</height>

-                </size>

-               </property>

-               <property name="maximumSize">

-                <size>

-                 <width>150</width>

-                 <height>16777215</height>

-                </size>

-               </property>

-               <property name="styleSheet">

-                <string notr="true">color:#ccc;

-background:none;</string>

-               </property>

-               <property name="text">

-                <string>Rotation Neutral Zone (degr.)</string>

-               </property>

-              </widget>

-             </item>

-             <item row="2" column="1">

-              <widget class="QCheckBox" name="chkUseEWMA">

-               <property name="text">

-                <string/>

+               <property name="value">

+                <number>5</number>

                </property>

               </widget>

              </item>

-             <item row="2" column="0">

-              <widget class="QLabel" name="lblSensYaw_5">

+             <item row="4" column="0">

+              <widget class="QLabel" name="lblSensYaw_6">

                <property name="minimumSize">

                 <size>

                  <width>25</width>

@@ -1081,7 +1107,7 @@ background:none;</string>
 background:none;</string>

                </property>

                <property name="text">

-                <string>Use EWMA filtering</string>

+                <string>Neutral Zone:</string>

                </property>

               </widget>

              </item>

@@ -2311,8 +2337,6 @@ background:none;</string>
   <tabstop>spinSensZ</tabstop>

   <tabstop>slideSmoothing</tabstop>

   <tabstop>spinSmoothing</tabstop>

-  <tabstop>slideNeutralZone</tabstop>

-  <tabstop>spinNeutralZone</tabstop>

   <tabstop>headXLine</tabstop>

   <tabstop>headRotXLine</tabstop>

   <tabstop>headYLine</tabstop>

@@ -2517,50 +2541,18 @@ background:none;</string>
    </hints>

   </connection>

   <connection>

-   <sender>slideNeutralZone</sender>

-   <signal>valueChanged(int)</signal>

-   <receiver>spinNeutralZone</receiver>

-   <slot>setValue(int)</slot>

-   <hints>

-    <hint type="sourcelabel">

-     <x>813</x>

-     <y>238</y>

-    </hint>

-    <hint type="destinationlabel">

-     <x>869</x>

-     <y>240</y>

-    </hint>

-   </hints>

-  </connection>

-  <connection>

-   <sender>spinNeutralZone</sender>

-   <signal>valueChanged(int)</signal>

-   <receiver>slideNeutralZone</receiver>

-   <slot>setValue(int)</slot>

-   <hints>

-    <hint type="sourcelabel">

-     <x>869</x>

-     <y>240</y>

-    </hint>

-    <hint type="destinationlabel">

-     <x>813</x>

-     <y>238</y>

-    </hint>

-   </hints>

-  </connection>

-  <connection>

    <sender>slideSmoothing</sender>

    <signal>valueChanged(int)</signal>

    <receiver>spinSmoothing</receiver>

    <slot>setValue(int)</slot>

    <hints>

     <hint type="sourcelabel">

-     <x>813</x>

-     <y>176</y>

+     <x>776</x>

+     <y>180</y>

     </hint>

     <hint type="destinationlabel">

-     <x>869</x>

-     <y>178</y>

+     <x>832</x>

+     <y>182</y>

     </hint>

    </hints>

   </connection>

@@ -2571,12 +2563,12 @@ background:none;</string>
    <slot>setValue(int)</slot>

    <hints>

     <hint type="sourcelabel">

-     <x>869</x>

-     <y>178</y>

+     <x>832</x>

+     <y>182</y>

     </hint>

     <hint type="destinationlabel">

-     <x>813</x>

-     <y>176</y>

+     <x>776</x>

+     <y>180</y>

     </hint>

    </hints>

   </connection>

@@ -2772,5 +2764,37 @@ background:none;</string>
     </hint>

    </hints>

   </connection>

+  <connection>

+   <sender>slideNeutralZone</sender>

+   <signal>valueChanged(int)</signal>

+   <receiver>spinNeutralZone</receiver>

+   <slot>setValue(int)</slot>

+   <hints>

+    <hint type="sourcelabel">

+     <x>701</x>

+     <y>233</y>

+    </hint>

+    <hint type="destinationlabel">

+     <x>800</x>

+     <y>242</y>

+    </hint>

+   </hints>

+  </connection>

+  <connection>

+   <sender>spinNeutralZone</sender>

+   <signal>valueChanged(int)</signal>

+   <receiver>slideNeutralZone</receiver>

+   <slot>setValue(int)</slot>

+   <hints>

+    <hint type="sourcelabel">

+     <x>806</x>

+     <y>232</y>

+    </hint>

+    <hint type="destinationlabel">

+     <x>741</x>

+     <y>231</y>

+    </hint>

+   </hints>

+  </connection>

  </connections>

 </ui>

diff --git a/FaceTrackNoIR/Release/tracker.obj b/FaceTrackNoIR/Release/tracker.obj
index 1feae14e..a50afb5f 100644
--- a/FaceTrackNoIR/Release/tracker.obj
+++ b/FaceTrackNoIR/Release/tracker.obj
diff --git a/FaceTrackNoIR/Release/vc90.idb b/FaceTrackNoIR/Release/vc90.idb
index b3f2574f..fbbc4b50 100644
--- a/FaceTrackNoIR/Release/vc90.idb
+++ b/FaceTrackNoIR/Release/vc90.idb
diff --git a/FaceTrackNoIR/Release/vc90.pdb b/FaceTrackNoIR/Release/vc90.pdb
index 432b1e6a..3bb5b6da 100644
--- a/FaceTrackNoIR/Release/vc90.pdb
+++ b/FaceTrackNoIR/Release/vc90.pdb
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index fc4a8d20..be428fac 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,8 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20100607 - WVR: Re-installed Rotation Neutral Zone and improved reaction

+						after 'start/stop'. MessageBeep when confidence is back...

 		20100604 - WVR: Created structure for DOF-data and changed timing of

 						ReceiveHeadPose end run().

 		20100602 - WVR: Implemented EWMA-filtering, according to the example of

@@ -120,7 +122,7 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {
 	registerHeadPoseCallback();

 

 	// some parameteres [optional]

-	smHTSetHeadPosePredictionEnabled( _engine->handle(), true);

+	smHTSetHeadPosePredictionEnabled( _engine->handle(), false);

 	smHTSetLipTrackingEnabled( _engine->handle(), false);

 	smLoggingSetFileOutputEnable( false );

 

@@ -221,10 +223,31 @@ void Tracker::run() {
 					Tracker::do_tracking = !Tracker::do_tracking;

 

 					//

-					// To start tracking again and be '0', execute Center command too

+					// To start tracking again and to be at '0', execute Center command too

 					//

 					if (Tracker::do_tracking) {

 						Tracker::do_center = true;

+

+						Tracker::set_initial = false;

+						Tracker::confid = false;

+

+						Pitch.rawList.clear();

+						Pitch.prevPos = 0.0f;

+						Yaw.rawList.clear();

+						Yaw.prevPos = 0.0f;

+						Roll.rawList.clear();

+						Roll.prevPos = 0.0f;

+						X.rawList.clear();

+						X.prevPos = 0.0f;

+						Y.rawList.clear();

+						Y.prevPos = 0.0f;

+						Z.rawList.clear();

+						Z.prevPos = 0.0f;

+

+						_engine->start();

+					}

+					else {

+						_engine->stop();

 					}

 					qDebug() << "Tracker::run() says BACK pressed, do_tracking =" << Tracker::do_tracking;

 				}

@@ -248,6 +271,7 @@ void Tracker::run() {
 			//

 			if(Tracker::set_initial == false) {

 				Tracker::Z.initial_headPos = Tracker::getHeadPosZ();

+				MessageBeep (MB_ICONASTERISK);

 				Tracker::set_initial = true;

 			}

 

@@ -276,7 +300,7 @@ void Tracker::run() {
 		//

 		// If Center is pressed, copy the current values to the offsets.

 		//

-		if (Tracker::do_center) {

+		if (Tracker::do_center && Tracker::set_initial) {

 			Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList );

 			Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );

 			Roll.offset_headPos = getSmoothFromList( &Roll.rawList );

@@ -290,7 +314,7 @@ void Tracker::run() {
 			Tracker::do_center = false;

 		}

 

-		if (Tracker::do_tracking) {

+		if (Tracker::do_tracking && Tracker::confid) {

 			//

 			// Also send the Virtual Pose to FT-server and FG-server

 			//

@@ -388,28 +412,31 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid
 		//

 		// Pitch

 		if (Tracker::useFilter) {

-			Pitch.newPos = lowPassFilter ( Tracker::Pitch.headPos, &Pitch.prevPos, dT, Tracker::Pitch.red );

+			Pitch.newPos = lowPassFilter ( getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone ), 

+				                           &Pitch.prevPos, dT, Tracker::Pitch.red );

 		}

 		else {

-			Pitch.newPos = Tracker::Pitch.headPos;

+			Pitch.newPos = getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone );

 		}

 		addRaw2List ( &Pitch.rawList, Pitch.maxItems, Pitch.newPos );

 

 		// Yaw

 		if (Tracker::useFilter) {

-			Yaw.newPos = lowPassFilter ( Tracker::Yaw.headPos, &Yaw.prevPos, dT, Tracker::Yaw.red );

+			Yaw.newPos = lowPassFilter ( getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone ), 

+										 &Yaw.prevPos, dT, Tracker::Yaw.red );

 		}

 		else {

-			Yaw.newPos = Tracker::Yaw.headPos;

+			Yaw.newPos = getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone );

 		}

 		addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );

 

 		// Roll

 		if (Tracker::useFilter) {

-			Roll.newPos = lowPassFilter ( Tracker::Roll.headPos, &Roll.prevPos, dT, Tracker::Roll.red );

+			Roll.newPos = lowPassFilter ( getCorrectedNewRaw (Tracker::Roll.headPos, rotNeutralZone ),

+										  &Roll.prevPos, dT, Tracker::Roll.red );

 		}

 		else {

-			Roll.newPos = Tracker::Roll.headPos;

+			Roll.newPos = getCorrectedNewRaw (Tracker::Roll.headPos, rotNeutralZone );

 		}

 		addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );

 

@@ -474,6 +501,7 @@ bool Tracker::handleGameCommand ( int command ) {
 		case 1:										// reset headtracker

 			if ( _engine ) {

 				_engine->stop();

+				Tracker::set_initial = false;

 				_engine->start();

 			}

 			break;

diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index 9cf89114..dcb075f6 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -81,6 +81,7 @@ private:
 	static void STDCALL receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame);

 	static void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );

 	static float lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff);

+	static float getCorrectedNewRaw ( float NewRaw, float rotNeutral );

 

 	/** static member variables for saving the head pose **/

 	static THeadPoseDOF Pitch;						// Head-rotation X-direction (Up/Down)

@@ -175,7 +176,6 @@ public:
 	static void setNeutralZone(int x) { rotNeutralZone = (x * 2.0f * 3.14159)/360.0f; }

 

 	float getSmoothFromList ( QList<float> *rawList );

-	float getCorrectedNewRaw ( float NewRaw, float rotNeutral );

 	float getDegreesFromRads ( float rads ) { return ((rads * 360.0f)/ (2.0f * 3.14159)); }

 

 	// For now, use one slider for all

diff --git a/bin/FaceTrackNoIR.exe b/bin/FaceTrackNoIR.exe
index e6d33e2c..b9f293af 100644
--- a/bin/FaceTrackNoIR.exe
+++ b/bin/FaceTrackNoIR.exe
diff --git a/bin/Settings/ArmA.ini b/bin/Settings/ArmA.ini
index dd72920f..b3c1bf42 100644
--- a/bin/Settings/ArmA.ini
+++ b/bin/Settings/ArmA.ini
@@ -1,9 +1,9 @@
 [Tracking]

-Smooth=25

+Smooth=12

 NeutralZone=5

-sensYaw=100

-sensPitch=100

-sensRoll=100

+sensYaw=110

+sensPitch=110

+sensRoll=110

 sensX=100

 sensY=100

 sensZ=100