diff options
| -rw-r--r-- | CMakeLists.txt | 43 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/ftnoir_filter_kalman.h | 94 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui | 211 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/images/filter-16-ac.png | bin | 725 -> 0 bytes | |||
| -rw-r--r-- | ftnoir_filter_kalman/kalman-filter.qrc | 5 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/kalman.cpp | 153 |
6 files changed, 7 insertions, 499 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 36917f76..927e8aec 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,7 @@ if(NOT SDK_FACEAPI_ONLY) if(WIN32 AND NOT CMAKE_COMPILER_IS_GNUCC) add_definitions(/D FTNOIR_FILTER_BASE_LIB /D FTNOIR_TRACKER_BASE_LIB /D FTNOIR_PROTOCOL_BASE_LIB) else(MSVC) - add_definitions(-DFTNOIR_FILTER_BASE_LIB -DFTNOIR_TRACKER_BASE_LIB -DFTNOIR_PROTOCOL_BASE_LIB) + add_definitions(-DFTNOIR_FILTER_BASE_LIB -DFTNOIR_TRACKER_BASE_LIB -DFTNOIR_PROTOCOL_BASE_LIB -D_CRT_SECURE_NO_WARNINGS) endif(WIN32 AND NOT CMAKE_COMPILER_IS_GNUCC) if(NOT WIN32) @@ -139,14 +139,6 @@ if(NOT SDK_FACEAPI_ONLY) QT4_WRAP_UI(ftnoir-filter-accela-uih ${ftnoir-filter-accela-ui}) QT4_ADD_RESOURCES(ftnoir-filter-accela-rcc ${ftnoir-filter-accela-rc}) - file(GLOB ftnoir-filter-kalman-c "ftnoir_filter_kalman/*.cpp") - file(GLOB ftnoir-filter-kalman-h "ftnoir_filter_kalman/*.h") - QT4_WRAP_CPP(ftnoir-filter-kalman-moc ${ftnoir-filter-kalman-h}) - file(GLOB ftnoir-filter-kalman-ui "ftnoir_filter_kalman/*.ui") - file(GLOB ftnoir-filter-kalman-rc "ftnoir_filter_kalman/*.qrc") - QT4_WRAP_UI(ftnoir-filter-kalman-uih ${ftnoir-filter-kalman-ui}) - QT4_ADD_RESOURCES(ftnoir-kalman-accela-rcc ${ftnoir-filter-kalman-rc}) - file(GLOB ftnoir-filter-ewma-c "ftnoir_filter_ewma2/*.cpp") file(GLOB ftnoir-filter-ewma-h "ftnoir_filter_ewma2/*.h") QT4_WRAP_CPP(ftnoir-filter-ewma-moc ${ftnoir-filter-ewma-h}) @@ -309,23 +301,6 @@ endif() PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt") endif() - if(OpenCV_FOUND) - include_directories(${OPENCV_INCLUDE_DIRS}) - include_directories("${OpenCV_DIR}/include") - include_directories("${OpenCV_CONFIG_PATH}/include") - add_library(ftnoir-filter-kalman SHARED ${ftnoir-filter-kalman-c} ${ftnoir-filter-kalman-moc} ${ftnoir-filter-kalman-uih} ${ftnoir-filter-kalman-rcc}) - target_link_libraries(ftnoir-filter-kalman ${MY_QT_LIBS} ${OpenCV_LIBS}) - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) - SET_TARGET_PROPERTIES(ftnoir-filter-kalman - PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt") - endif() - if(WIN32) - SET(STATIC_EXT "lib") - else() - SET(STATIC_EXT "a") - endif() - endif() - add_library(ftnoir-filter-ewma SHARED ${ftnoir-filter-ewma-uih} ${ftnoir-filter-ewma-c} ${ftnoir-filter-ewma-moc} ${ftnoir-filter-ewma-rcc}) target_link_libraries(ftnoir-filter-ewma ${MY_QT_LIBS}) @@ -409,6 +384,12 @@ endif() "${CMAKE_SOURCE_DIR}/dinput/dxguid.lib" "${CMAKE_SOURCE_DIR}/dinput/strmiids.lib") endif() + + if(OpenCV_FOUND) + include_directories(${OPENCV_INCLUDE_DIRS}) + include_directories("${OpenCV_DIR}/include") + include_directories("${OpenCV_CONFIG_PATH}/include") + endif() if(OpenCV_FOUND) add_library(ftnoir-tracker-pt SHARED ${ftnoir-tracker-pt-c} ${ftnoir-tracker-pt-moc} ${ftnoir-tracker-pt-uih} ${ftnoir-tracker-pt-rcc}) @@ -496,16 +477,6 @@ if(NOT SDK_FACEAPI_ONLY) NAMELINK_SKIP ) - if(OpenCV_FOUND) - install(TARGETS - ftnoir-tracker-pt - ftnoir-filter-kalman - RUNTIME DESTINATION . - LIBRARY DESTINATION . - NAMELINK_SKIP - ) - endif() - if(WIN32) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) file(GLOB mingw-libgcc-s "${SDK_MINGW_PATH}/bin/libgcc_s_*.dll") diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h deleted file mode 100644 index 15ccc8c5..00000000 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ /dev/null @@ -1,94 +0,0 @@ -#pragma once -/* 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. - */ -#ifndef INCLUDED_FTN_FILTER_H -#define INCLUDED_FTN_FILTER_H - -#undef FTNOIR_TRACKER_BASE_LIB -#define FTNOIR_TRACKER_BASE_EXPORT Q_DECL_IMPORT - -#include "ftnoir_filter_base/ftnoir_filter_base.h" -#include "ui_ftnoir_kalman_filtercontrols.h" -#include "facetracknoir/global-settings.h" -#include <opencv2/opencv.hpp> -#include <vector> -#include <QString> -#include <QIcon> -#include <QWidget> -#include <QObject> - -#define DEFAULT_ACCL 750 - -class FTNOIR_FILTER_BASE_EXPORT FTNoIR_Filter : public IFilter -{ -public: - FTNoIR_Filter(); - virtual ~FTNoIR_Filter() { - } - void Initialize(); - void FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget); - cv::KalmanFilter kalman; - double process_noise_covariance_matrix_all_values; - double posteriori_error_covariance_matrix_all_values; - double accl; -}; - -void kalman_load_settings(FTNoIR_Filter& self); -void kalman_save_settings(FTNoIR_Filter& self); - -class FTNOIR_FILTER_BASE_EXPORT FTNoIR_FilterDll : public Metadata -{ -public: - void getFullName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } - void getShortName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } - void getDescription(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } - void getIcon(QIcon *icon){ *icon = QIcon(":/images/filter-16.png"); } -}; - -class FTNOIR_FILTER_BASE_EXPORT FilterControls: public QWidget, Ui::KalmanUICFilterControls, public IFilterDialog -{ - Q_OBJECT -public: - explicit FilterControls() : settingsDirty(false) { - ui.setupUi(this); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // 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) - - iniFile.beginGroup("ftnoir-filter-kalman"); - ui.post->setValue(iniFile.value("posteriori-error-covariance-matrix-all-values", "1e-12").toDouble()); - ui.pnoise->setValue(iniFile.value("process-noise-covariance-matrix-all-values", "1e-14").toDouble()); - ui.accl->setValue(iniFile.value("accel-coefficient", DEFAULT_ACCL).toDouble()); - iniFile.endGroup(); - connect(ui.btnOk, SIGNAL(clicked()), this, SLOT(doOK())); - connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); - connect(ui.post, SIGNAL(valueChanged(double)), this, SLOT(settingsChanged(double))); - connect(ui.pnoise, SIGNAL(valueChanged(double)), this, SLOT(settingsChanged(double))); - connect(ui.accl, SIGNAL(valueChanged(double)), this, SLOT(settingsChanged(double))); - show(); - } - virtual ~FilterControls() {} - void showEvent ( QShowEvent * event ) { - show(); - } - - void Initialize(QWidget *parent, IFilter* ptr) { - } - - bool settingsDirty; - Ui::KalmanUICFilterControls ui; - -public slots: - void doOK(); - void doCancel(); - void settingsChanged(double unused) { - settingsDirty = true; - } -}; - -#endif diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui deleted file mode 100644 index 7b71712a..00000000 --- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui +++ /dev/null @@ -1,211 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<ui version="4.0"> - <class>KalmanUICFilterControls</class> - <widget class="QWidget" name="KalmanUICFilterControls"> - <property name="windowModality"> - <enum>Qt::ApplicationModal</enum> - </property> - <property name="geometry"> - <rect> - <x>0</x> - <y>0</y> - <width>334</width> - <height>100</height> - </rect> - </property> - <property name="sizePolicy"> - <sizepolicy hsizetype="Fixed" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="windowTitle"> - <string>Filter settings</string> - </property> - <property name="windowIcon"> - <iconset> - <normaloff> - images/facetracknoir.png</normaloff> - images/facetracknoir.png</iconset> - </property> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="autoFillBackground"> - <bool>false</bool> - </property> - <property name="styleSheet"> - <string notr="true"/> - </property> - <widget class="QPushButton" name="btnOk"> - <property name="geometry"> - <rect> - <x>173</x> - <y>70</y> - <width>73</width> - <height>25</height> - </rect> - </property> - <property name="text"> - <string>OK</string> - </property> - </widget> - <widget class="QPushButton" name="btnCancel"> - <property name="geometry"> - <rect> - <x>250</x> - <y>70</y> - <width>73</width> - <height>25</height> - </rect> - </property> - <property name="text"> - <string>Cancel</string> - </property> - </widget> - <widget class="QLabel" name="label_2"> - <property name="geometry"> - <rect> - <x>9</x> - <y>30</y> - <width>169</width> - <height>16</height> - </rect> - </property> - <property name="text"> - <string>process-noise-covariance</string> - </property> - </widget> - <widget class="QDoubleSpinBox" name="post"> - <property name="geometry"> - <rect> - <x>180</x> - <y>26</y> - <width>150</width> - <height>22</height> - </rect> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="decimals"> - <number>14</number> - </property> - <property name="maximum"> - <double>1.000000000000000</double> - </property> - <property name="singleStep"> - <double>0.000001000000000</double> - </property> - <property name="value"> - <double>0.500000000000000</double> - </property> - </widget> - <widget class="QDoubleSpinBox" name="pnoise"> - <property name="geometry"> - <rect> - <x>180</x> - <y>6</y> - <width>150</width> - <height>22</height> - </rect> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="decimals"> - <number>14</number> - </property> - <property name="maximum"> - <double>1.000000000000000</double> - </property> - <property name="singleStep"> - <double>0.000001000000000</double> - </property> - <property name="value"> - <double>0.500000000000000</double> - </property> - </widget> - <widget class="QLabel" name="label"> - <property name="geometry"> - <rect> - <x>9</x> - <y>10</y> - <width>165</width> - <height>16</height> - </rect> - </property> - <property name="text"> - <string>post-error-matrix</string> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="margin"> - <number>0</number> - </property> - </widget> - <widget class="QLabel" name="label_3"> - <property name="geometry"> - <rect> - <x>9</x> - <y>55</y> - <width>109</width> - <height>16</height> - </rect> - </property> - <property name="text"> - <string>accel-coefficient</string> - </property> - </widget> - <widget class="QDoubleSpinBox" name="accl"> - <property name="geometry"> - <rect> - <x>181</x> - <y>47</y> - <width>150</width> - <height>22</height> - </rect> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="decimals"> - <number>6</number> - </property> - <property name="maximum"> - <double>1000000000.000000000000000</double> - </property> - <property name="singleStep"> - <double>0.000001000000000</double> - </property> - <property name="value"> - <double>1.000000000000000</double> - </property> - </widget> - </widget> - <resources/> - <connections/> - <designerdata> - <property name="gridDeltaX"> - <number>10</number> - </property> - <property name="gridDeltaY"> - <number>10</number> - </property> - <property name="gridSnapX"> - <bool>false</bool> - </property> - <property name="gridSnapY"> - <bool>false</bool> - </property> - <property name="gridVisible"> - <bool>true</bool> - </property> - </designerdata> - <slots> - <slot>startEngineClicked()</slot> - <slot>stopEngineClicked()</slot> - <slot>cameraSettingsClicked()</slot> - </slots> -</ui> diff --git a/ftnoir_filter_kalman/images/filter-16-ac.png b/ftnoir_filter_kalman/images/filter-16-ac.png Binary files differdeleted file mode 100644 index d263db2d..00000000 --- a/ftnoir_filter_kalman/images/filter-16-ac.png +++ /dev/null diff --git a/ftnoir_filter_kalman/kalman-filter.qrc b/ftnoir_filter_kalman/kalman-filter.qrc deleted file mode 100644 index 9a7d75fa..00000000 --- a/ftnoir_filter_kalman/kalman-filter.qrc +++ /dev/null @@ -1,5 +0,0 @@ -<RCC> - <qresource prefix="/"> - <file>images/filter-16-ac.png</file> - </qresource> -</RCC> diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp deleted file mode 100644 index f67b9d99..00000000 --- a/ftnoir_filter_kalman/kalman.cpp +++ /dev/null @@ -1,153 +0,0 @@ -/* 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/global-settings.h" -#include <QDebug> -#include <math.h> - -void kalman_load_settings(FTNoIR_Filter& self) { - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // 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) - - iniFile.beginGroup("ftnoir-filter-kalman"); - self.process_noise_covariance_matrix_all_values = iniFile.value("process-noise-covariance-matrix-all-values", "1e-14").toDouble(); - self.posteriori_error_covariance_matrix_all_values = iniFile.value("posteriori-error-covariance-matrix-all-values", "1e-12").toDouble(); - self.accl = iniFile.value("accel-coefficient", DEFAULT_ACCL).toDouble(); - iniFile.endGroup(); -} - -void kalman_save_settings(FilterControls& self) { - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // 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) - - iniFile.beginGroup("ftnoir-filter-kalman"); - iniFile.setValue("process-noise-covariance-matrix-all-values", self.ui.pnoise->value()); - iniFile.setValue("posteriori-error-covariance-matrix-all-values", self.ui.post->value()); - iniFile.setValue("accel-coefficient", self.ui.accl->value()); - iniFile.endGroup(); -} - -FTNoIR_Filter::FTNoIR_Filter() { - kalman_load_settings(*this); - Initialize(); -} - -// 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 -// minor changes to order of magnitude -sh -void FTNoIR_Filter::Initialize() { - kalman.init(12, 6, 0, CV_64F); - double accel_variance = 1e-2; - 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(accl)); - cv::setIdentity(kalman.errorCovPost, cv::Scalar::all(accel_variance * 1e-4)); -} - -void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget) { - cv::Mat output = kalman.predict(); - if (newTarget) { - cv::Mat measurement(6, 1, CV_64F); - measurement.at<double>(0) = target_camera_position->yaw; - measurement.at<double>(1) = target_camera_position->pitch; - measurement.at<double>(2) = target_camera_position->roll; - measurement.at<double>(3) = target_camera_position->x; - measurement.at<double>(4) = target_camera_position->y; - measurement.at<double>(5) = target_camera_position->z; - kalman.correct(measurement); - } - new_camera_position->yaw = output.at<double>(0); - new_camera_position->pitch = output.at<double>(1); - new_camera_position->roll = output.at<double>(2); - new_camera_position->x = output.at<double>(3); - new_camera_position->y = output.at<double>(4); - new_camera_position->z = output.at<double>(5); - target_camera_position->yaw = output.at<double>(0); - target_camera_position->pitch = output.at<double>(1); - target_camera_position->roll = output.at<double>(2); - target_camera_position->x = output.at<double>(3); - target_camera_position->y = output.at<double>(4); - target_camera_position->z = output.at<double>(5); -} - -void FilterControls::doOK() { - kalman_save_settings(*this); - close(); -} - -void FilterControls::doCancel() { - if (settingsDirty) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - kalman_save_settings(*this); - this->close(); - break; - case QMessageBox::Discard: - this->close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - this->close(); - } -} - -extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() -{ - return new FTNoIR_FilterDll; -} - -extern "C" FTNOIR_FILTER_BASE_EXPORT void* CALLING_CONVENTION GetConstructor() -{ - return (IFilter*) new FTNoIR_Filter; -} - -extern "C" FTNOIR_FILTER_BASE_EXPORT void* CALLING_CONVENTION GetDialog() { - return (IFilterDialog*) new FilterControls; -} |
