Merge branch 'unstable' of https://github.com/opentrack/opentrack into dev/kalman

Conflicts:
	ftnoir_filter_kalman/ftnoir_filter_kalman.h

4 files changed, 45 insertions, 136 deletions

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index d3cb2c32..c7169faa 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -1,13 +1,5 @@
-/********************************************************************************
-* 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                                                                      *
-*                                                                               *
+/*** Written by Donovan Baarda
+* 
 * 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        *
@@ -23,28 +15,13 @@
 *                                                                               *
 ********************************************************************************/
 #include "ftnoir_filter_ewma2.h"
-#include "math.h"
+#include <cmath>
 #include <QDebug>
 #include <QWidget>
-#include "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-support.h"
 #include <algorithm>
 #include <QMutexLocker>
 
-///////////////////////////////////////////////////////////////////////////////
-//
-// 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.
-//
-// Written by Donovan Baarda
-//
-///////////////////////////////////////////////////////////////////////////////
-
 FTNoIR_Filter::FTNoIR_Filter() :
     first_run(true),
     // Deltas are smoothed over the last 3 frames (0.1sec at 30fps).
@@ -64,46 +41,57 @@ 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, 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(target_camera_position, 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()
+extern "C" OPENTRACK_EXPORT IFilter* GetConstructor()
 {
     return new FTNoIR_Filter;
 }
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index ea25a135..8863348c 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -1,38 +1,10 @@
-/********************************************************************************
-* 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/>.                *
-*                                                                               *
-********************************************************************************/
 #pragma once
-#ifndef INCLUDED_FTN_FILTER_H
-#define INCLUDED_FTN_FILTER_H
 
-#include "ftnoir_filter_base/ftnoir_filter_base.h"
-#include "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-api.hpp"
 #include "ui_ftnoir_ewma_filtercontrols.h"
 #include <QWidget>
 #include <QMutex>
 #include "facetracknoir/options.h"
-#include "facetracknoir/lerp.hpp"
 using namespace options;
 
 struct settings {
@@ -62,8 +34,8 @@ 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
@@ -93,6 +65,3 @@ public:
     void getDescription(QString *strToBeFilled) { *strToBeFilled = QString("Exponentially Weighted Moving Average filter with dynamic smoothing parameter"); }
     void getIcon(QIcon *icon){ *icon = QIcon(":/images/filter-16.png"); }
 };
-
-#endif  //INCLUDED_FTN_FILTER_H
-//END
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp
index fb02354e..b6bde553 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp
@@ -1,31 +1,7 @@
-/********************************************************************************
-* 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 <cmath>
 #include <QDebug>
-#include "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-support.h"
 #include "ui_ftnoir_ewma_filtercontrols.h"
 
 FilterControls::FilterControls() :
@@ -57,7 +33,7 @@ void FilterControls::doOK() {
 }
 
 void FilterControls::doCancel() {
-    s.b->revert();
+    s.b->reload();
     this->close();
 }
 
@@ -67,7 +43,7 @@ void FilterControls::save() {
         pFilter->receiveSettings();
 }
 
-extern "C" FTNOIR_FILTER_BASE_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog( )
+extern "C" OPENTRACK_EXPORT IFilterDialog* GetDialog( )
 {
     return new FilterControls;
 }
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp
index 6ef7768e..5ec6138a 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp
@@ -1,31 +1,7 @@
-/********************************************************************************
-* 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 "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-support.h"
 
-extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
+extern "C" OPENTRACK_EXPORT Metadata* GetMetadata()
 {
 	return new FTNoIR_FilterDll;
 }