diff options
| -rw-r--r-- | ftnoir_filter_kalman/ftnoir_filter_kalman.h | 7 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/kalman.cpp | 137 |
2 files changed, 70 insertions, 74 deletions
diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h index f2a1b4ec..363b8cd4 100644 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h @@ -1,6 +1,6 @@ #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. @@ -31,12 +31,11 @@ public: void reset() virt_override; void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position) virt_override; + double accel_variance; + double noise_variance; cv::KalmanFilter kalman; double prev_position[6]; - double prev2_filter_pos[6]; - double prev_filter_pos[6]; QElapsedTimer timer; - qint64 timedelta; }; class FTNOIR_FILTER_BASE_EXPORT FTNoIR_FilterDll : public Metadata diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp index bef6ddad..388390f3 100644 --- a/ftnoir_filter_kalman/kalman.cpp +++ b/ftnoir_filter_kalman/kalman.cpp @@ -1,5 +1,5 @@ /* 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. @@ -16,100 +16,97 @@ FTNoIR_Filter::FTNoIR_Filter() { // 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; + // accel_variance is set for moving 0.0->1.0 in dt=0.1. + accel_variance = 400.0f; + // TODO(abo): make noise_variance a UI setting 0.0->1.0. + noise_variance = 0.1; + // Setup kalman with state (x) is the 6 tracker outputs then + // their 6 corresponding velocities, and the measurement (z) is + // the 6 tracker outputs. kalman.init(12, 6, 0, CV_64F); + // Initialize the transitionMatrix and processNoiseCov for + // dt=0.1. This needs to be updated each frame for the real dt + // value, but this hows you what they should look like. See + // http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical + double dt = 0.1; 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, + 1, 0, 0, 0, 0, 0, dt, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, 0, dt, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, dt, 0, 0, 0, + 0, 0, 0, 1, 0, 0, 0, 0, 0, dt, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, dt, 0, + 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, dt, 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; + double a = dt * dt * accel_variance; // dt^2 * accel_variance. + double b = 0.5 * a * dt; // (dt^3)/2 * accel_variance. + double c = 0.5 * b * dt; // (dt^4)/4 * 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); + c, 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, + 0, c, 0, 0, 0, 0, 0, b, 0, 0, 0, 0, + 0, 0, c, 0, 0, 0, 0, 0, b, 0, 0, 0, + 0, 0, 0, c, 0, 0, 0, 0, 0, b, 0, 0, + 0, 0, 0, 0, c, 0, 0, 0, 0, 0, b, 0, + 0, 0, 0, 0, 0, c, 0, 0, 0, 0, 0, b, + b, 0, 0, 0, 0, 0, a, 0, 0, 0, 0, 0, + 0, b, 0, 0, 0, 0, 0, a, 0, 0, 0, 0, + 0, 0, b, 0, 0, 0, 0, 0, a, 0, 0, 0, + 0, 0, 0, b, 0, 0, 0, 0, 0, a, 0, 0, + 0, 0, 0, 0, b, 0, 0, 0, 0, 0, a, 0, + 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, a); 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++) - { + 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; + timer.invalidate(); } void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, double *new_camera_position) { + // Start the timer if it's not running. + if (!timer.isValid()) + timer.start(); + // Get the time in seconds since last run and restart the timer. + auto dt = timer.restart() / 1000.0f; + // Note this is a terrible way to detect when there is a new + // frame of tracker input, but it is the best we have. bool new_target = false; - - for (int i = 0; i < 6; i++) - if (prev_position[i] != target_camera_position[i]) - { - new_target = true; - break; - } + for (int i = 0; i < 6 && !new_target; i++) + new_target = (prev_position[i] != target_camera_position[i]); + // Update the transitionMatrix and processNoiseCov for dt. + double a = dt * dt * accel_variance; // dt^2 * accel_variance. + double b = 0.5 * a * dt; // (dt^3)/2 * accel_variance. + double c = 0.5 * b * dt; // (dt^4)/4 * accel_variance. + for (int i = 0; i < 6; i++) { + kalman.transitionMatrix.at<double>(i,i+6) = dt; + kalman.processNoiseCov.at<double>(i,i) = c; + kalman.processNoiseCov.at<double>(i+6,i+6) = a; + kalman.processNoiseCov.at<double>(i,i+6) = b; + kalman.processNoiseCov.at<double>(i+6,i) = b; + } + // Get an updated predicted position. + cv::Mat output = kalman.predict(); + // If we have new tracker input, correct with it. 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++) - { + for (int i = 0; i < 6; i++) { + measurement.at<double>(i) = target_camera_position[i]; + // Save prev_position for detecting new tracker input. 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; + output = kalman.correct(measurement); + } + // Set new_camera_position to the output. + for (int i = 0; i < 6; i++) { + new_camera_position[i] = output.at<double>(i); } } |