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-rw-r--r--facetracknoir/tracker.cpp11
-rw-r--r--ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui159
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.cpp11
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.h5
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp4
-rw-r--r--ftnoir_filter_base/ftnoir_filter_base.h2
-rw-r--r--ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp3
-rw-r--r--ftnoir_filter_ewma2/ftnoir_filter_ewma2.h2
-rw-r--r--ftnoir_filter_kalman/ftnoir_filter_kalman.h3
-rw-r--r--ftnoir_filter_kalman/kalman.cpp3
10 files changed, 60 insertions, 143 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index dfe71f28..fbf90a66 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -85,11 +85,9 @@ static void t_compensate(double* input, double* output)
/** QThread run method @override **/
void Tracker::run() {
- T6DOF offset_camera, gameoutput_camera;
+ T6DOF offset_camera;
double newpose[6] = {0};
- double last_post_filter[6] ;
-
int sleep_ms = 15;
if (Libraries->pTracker)
@@ -144,9 +142,7 @@ void Tracker::run() {
}
if (Libraries->pFilter) {
- for (int i = 0; i < 6; i++)
- last_post_filter[i] = gameoutput_camera.axes[i];
- Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes, last_post_filter);
+ Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes);
} else {
new_camera = target_camera2;
}
@@ -159,8 +155,7 @@ void Tracker::run() {
t_compensate(output_camera.axes, output_camera.axes);
if (Libraries->pProtocol) {
- gameoutput_camera = output_camera;
- Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes ); // degrees & centimeters
+ Libraries->pProtocol->sendHeadposeToGame( output_camera.axes ); // degrees & centimeters
}
}
diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index b48496bf..fb6a9565 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -78,6 +78,9 @@
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QFormLayout" name="formLayout_2">
+ <property name="fieldGrowthPolicy">
+ <enum>QFormLayout::ExpandingFieldsGrow</enum>
+ </property>
<item row="0" column="0">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
@@ -160,76 +163,77 @@
</property>
</widget>
</item>
- <item row="4" column="0">
- <widget class="QLabel" name="lblSensYaw_5">
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>Order #2</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QDoubleSpinBox" name="order_2nd">
<property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+ <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="minimumSize">
- <size>
- <width>25</width>
- <height>0</height>
- </size>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
- <property name="maximumSize">
- <size>
- <width>150</width>
- <height>16777215</height>
- </size>
+ <property name="correctionMode">
+ <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
</property>
- <property name="styleSheet">
- <string notr="true">color:#0;
-background:none;</string>
+ <property name="decimals">
+ <number>4</number>
+ </property>
+ <property name="minimum">
+ <double>0.100000000000000</double>
</property>
+ <property name="maximum">
+ <double>65535.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_12">
<property name="text">
- <string>Zoomed</string>
+ <string>Order #3</string>
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QSpinBox" name="spinZoom">
+ <item row="3" column="1">
+ <widget class="QDoubleSpinBox" name="order_3rd">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="minimumSize">
- <size>
- <width>20</width>
- <height>22</height>
- </size>
- </property>
- <property name="styleSheet">
- <string notr="true">background:none;</string>
- </property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
- <property name="readOnly">
- <bool>false</bool>
+ <property name="correctionMode">
+ <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
</property>
- <property name="suffix">
- <string>%</string>
+ <property name="decimals">
+ <number>4</number>
</property>
<property name="minimum">
- <number>0</number>
+ <double>0.100000000000000</double>
</property>
<property name="maximum">
- <number>200</number>
- </property>
- <property name="singleStep">
- <number>1</number>
+ <double>65535.000000000000000</double>
</property>
<property name="value">
- <number>45</number>
+ <double>1.000000000000000</double>
</property>
</widget>
</item>
- <item row="5" column="0">
+ <item row="4" column="0">
<widget class="QLabel" name="lblSensYaw_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -258,7 +262,7 @@ background:none;</string>
</property>
</widget>
</item>
- <item row="5" column="1">
+ <item row="4" column="1">
<widget class="QDoubleSpinBox" name="deadzone">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Maximum">
@@ -286,14 +290,14 @@ background:none;</string>
</property>
</widget>
</item>
- <item row="6" column="0">
+ <item row="5" column="0">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Exponent</string>
</property>
</widget>
</item>
- <item row="6" column="1">
+ <item row="5" column="1">
<widget class="QDoubleSpinBox" name="expt">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -315,76 +319,6 @@ background:none;</string>
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>Order #2</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QDoubleSpinBox" name="order_2nd">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
- </property>
- <property name="correctionMode">
- <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
- </property>
- <property name="decimals">
- <number>4</number>
- </property>
- <property name="minimum">
- <double>0.100000000000000</double>
- </property>
- <property name="maximum">
- <double>65535.000000000000000</double>
- </property>
- <property name="value">
- <double>1.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QDoubleSpinBox" name="order_3rd">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
- </property>
- <property name="correctionMode">
- <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
- </property>
- <property name="decimals">
- <number>4</number>
- </property>
- <property name="minimum">
- <double>0.100000000000000</double>
- </property>
- <property name="maximum">
- <double>65535.000000000000000</double>
- </property>
- <property name="value">
- <double>1.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_12">
- <property name="text">
- <string>Order #3</string>
- </property>
- </widget>
- </item>
</layout>
</widget>
</item>
@@ -720,7 +654,6 @@ background:none;</string>
<tabstop>translation_alpha</tabstop>
<tabstop>order_2nd</tabstop>
<tabstop>order_3rd</tabstop>
- <tabstop>spinZoom</tabstop>
<tabstop>deadzone</tabstop>
<tabstop>expt</tabstop>
<tabstop>doubleSpinBox</tabstop>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index a78a38c5..1046c268 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -31,7 +31,6 @@ void FTNoIR_Filter::loadSettings() {
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
iniFile.beginGroup ( "Accela" );
- zoom_factor = iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toDouble();
rotation_alpha = iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble();
translation_alpha = iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble();
second_order_alpha = iniFile.value("second-order-alpha", ACCELA_SECOND_ORDER_ALPHA).toDouble();
@@ -80,8 +79,7 @@ static inline T clamp(const T min, const T max, const T value)
}
void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
- double *new_camera_position,
- const double* last_post_filter_values)
+ double *new_camera_position)
{
if (first_run)
{
@@ -136,11 +134,10 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
const double a = i >= 3 ? rotation_alpha : translation_alpha;
const double a2 = a * second_order_alpha;
const double a3 = a * third_order_alpha;
- const double reduction = 1. / std::max(1., 1. + zoom_factor * -last_post_filter_values[TZ] / 1000);
const double velocity =
- parabola(a, vec * scaling[i], deadzone, expt) * reduction +
- parabola(a2, vec2 * scaling[i], deadzone, expt) * reduction +
- parabola(a3, vec3 * scaling[i], deadzone, expt) * reduction;
+ parabola(a, vec * scaling[i], deadzone, expt) +
+ parabola(a2, vec2 * scaling[i], deadzone, expt) +
+ parabola(a3, vec3 * scaling[i], deadzone, expt);
const double result = last_output[0][i] + velocity;
const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];
new_camera_position[i] = done ? target_camera_position[i] : result;
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 0a550f0e..d91a5e42 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -34,7 +34,6 @@
#define ACCELA_SMOOTHING_ROTATION 60.0
#define ACCELA_SMOOTHING_TRANSLATION 40.0
-#define ACCELA_ZOOM_SLOWNESS 0
#define ACCELA_SECOND_ORDER_ALPHA 100.0
#define ACCELA_THIRD_ORDER_ALPHA 180.0
@@ -46,7 +45,7 @@ class FTNoIR_Filter : public IFilter
public:
FTNoIR_Filter();
virtual ~FTNoIR_Filter();
- void FilterHeadPoseData(const double* target_camera_position, double *new_camera_position, const double* last_post_filter_values);
+ void FilterHeadPoseData(const double* target_camera_position, double *new_camera_position);
void Initialize() {
first_run = true;
}
@@ -55,7 +54,7 @@ private:
QMutex mutex;
void loadSettings();
bool first_run;
- double rotation_alpha, translation_alpha, zoom_factor;
+ double rotation_alpha, translation_alpha;
double second_order_alpha, third_order_alpha;
double scaling[6];
double deadzone;
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index be6836c2..a14db280 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -47,8 +47,6 @@ FilterControls::FilterControls() :
connect(ui.rotation_alpha, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
connect(ui.translation_alpha, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
- connect(ui.spinZoom, SIGNAL(valueChanged(int)), this, SLOT(settingChanged(int)));
-
QDoubleSpinBox* boxen[] = {
ui.doubleSpinBox,
ui.doubleSpinBox_2,
@@ -157,7 +155,6 @@ void FilterControls::loadSettings() {
//qDebug() << "FTNoIR_Filter::loadSettings2 says: size = " << NUM_OF(defScaleRotation);
iniFile.beginGroup ( "Accela" );
- ui.spinZoom->setValue(iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toInt());
ui.rotation_alpha->setValue(iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble());
ui.translation_alpha->setValue(iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble());
ui.order_2nd->setValue(iniFile.value("second-order-alpha", ACCELA_SECOND_ORDER_ALPHA).toDouble());
@@ -210,7 +207,6 @@ void FilterControls::save() {
iniFile.beginGroup ( "Accela" );
iniFile.setValue("rotation-alpha", ui.rotation_alpha->value());
iniFile.setValue("translation-alpha", ui.translation_alpha->value());
- iniFile.setValue("zoom-slowness", ui.spinZoom->value());
iniFile.setValue("deadzone", ui.deadzone->value());
iniFile.setValue("exponent", ui.expt->value());
iniFile.setValue("second-order-alpha", ui.order_2nd->value());
diff --git a/ftnoir_filter_base/ftnoir_filter_base.h b/ftnoir_filter_base/ftnoir_filter_base.h
index 48a4a6b9..800e5deb 100644
--- a/ftnoir_filter_base/ftnoir_filter_base.h
+++ b/ftnoir_filter_base/ftnoir_filter_base.h
@@ -13,7 +13,7 @@
struct IFilter
{
virtual ~IFilter() = 0;
- virtual void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position, const double *last_post_filter) = 0;
+ virtual void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position) = 0;
virtual void Initialize() = 0;
};
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index 3b208ef2..5f66be96 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -80,8 +80,7 @@ void FTNoIR_Filter::loadSettings() {
}
void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position,
- double *new_camera_position,
- const double *)
+ double *new_camera_position)
{
double delta;
double new_alpha;
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index 7f2f21e6..86e4b65c 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -45,7 +45,7 @@ public:
void Initialize() {}
void FilterHeadPoseData(const double *target_camera_position,
- double *new_camera_position, const double *);
+ double *new_camera_position);
void receiveSettings(double smin, double smax, double sexpt);
private:
diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
index 6c2cb6a9..da6df2b1 100644
--- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h
+++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
@@ -30,8 +30,7 @@ public:
}
void Initialize() virt_override;
void FilterHeadPoseData(const double *target_camera_position,
- double *new_camera_position,
- const double *) virt_override;
+ double *new_camera_position) virt_override;
cv::KalmanFilter kalman;
double prev_position[6];
double prev2_filter_pos[6];
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp
index 5ecd417c..629cfcc8 100644
--- a/ftnoir_filter_kalman/kalman.cpp
+++ b/ftnoir_filter_kalman/kalman.cpp
@@ -93,8 +93,7 @@ static inline T clamp(const T min, const T max, const T value)
}
void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
- double *new_camera_position,
- const double *)
+ double *new_camera_position)
{
bool new_target = false;
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-29 17:26:46 +0000