diff options
| -rw-r--r-- | filter-accela-hamilton/accela_hamilton.cpp | 71 | ||||
| -rw-r--r-- | filter-accela-hamilton/accela_hamilton.h | 8 |
2 files changed, 40 insertions, 39 deletions
diff --git a/filter-accela-hamilton/accela_hamilton.cpp b/filter-accela-hamilton/accela_hamilton.cpp index 5e7660a8..7fde90b8 100644 --- a/filter-accela-hamilton/accela_hamilton.cpp +++ b/filter-accela-hamilton/accela_hamilton.cpp @@ -6,14 +6,13 @@ * copyright notice and this permission notice appear in all copies. */ #include "accela_hamilton.h" -#include "compat/math.hpp" #include "api/plugin-api.hpp" #include "opentrack/defs.hpp" #include <algorithm> -#include <QDebug> -#include <QMutexLocker> +#include "compat/math.hpp" +#include "compat/hamilton-tools.h" #include "compat/math-imports.hpp" #include "compat/time.hpp" @@ -26,10 +25,10 @@ accela_hamilton::accela_hamilton() void accela_hamilton::filter(const double* input, double *output) { - constexpr float EPSILON = 1e-15F; + constexpr double EPSILON = 1e-15F; - const QQuaternion current_rot = QQuaternion::fromEulerAngles(input[Pitch], input[Yaw], input[Roll]); - const QVector3D current_pos(input[TX], input[TY], input[TZ]); + const tQuat current_rot = QuatFromYPR(input + Yaw); + const tVector current_pos(input[TX], input[TY], input[TZ]); if (unlikely(first_run)) { @@ -44,38 +43,38 @@ void accela_hamilton::filter(const double* input, double *output) return; } - const float pos_thres{s.pos_smoothing}; - const float pos_dz{ s.pos_deadzone}; + const double pos_thres{s.pos_smoothing}; + const double pos_dz{ s.pos_deadzone}; - const float dt = t.elapsed_seconds(); + const double dt = t.elapsed_seconds(); t.start(); // Position { - const QVector3D delta = current_pos - last_position; - const float delta_len = delta.length(); - QVector3D delta_normed = delta_len>0.F ? delta/delta_len : QVector3D(); // Zero vector when length was zero. - const float gain = dt*spline_pos.get_value_no_save(std::max(0.F, delta_len-pos_dz) / pos_thres); - const QVector3D output_pos = last_position + gain * delta_normed; - output[TX] = output_pos.x(); - output[TY] = output_pos.y(); - output[TZ] = output_pos.z(); + const tVector delta = current_pos - last_position; + const double delta_len = VectorLength(delta); + const tVector delta_normed = delta_len>0. ? delta/delta_len : tVector(); // Zero vector when length was zero. + const double gain = dt*spline_pos.get_value_no_save(std::max(0., delta_len-pos_dz) / pos_thres); + const tVector output_pos = last_position + (delta_normed * gain); + output[TX] = output_pos.v[0]; + output[TY] = output_pos.v[1]; + output[TZ] = output_pos.v[2]; last_position = output_pos; } // Zoom smoothing: - const float zoomed_smoothing = [this](float output_z) { + const double zoomed_smoothing = [this](double output_z) { // Local copies because accessing settings involves thread synchronization // and I don't like this in the middle of math. - const float max_zoomed_smoothing {s.max_zoomed_smoothing}; - const float max_z {s.max_z}; + const double max_zoomed_smoothing {s.max_zoomed_smoothing}; + const double max_z {s.max_z}; // Movement toward the monitor is negative. Negate and clamp it to get a positive value - const float z = std::clamp(-output_z, 0.F, max_z); + const double z = std::clamp(-output_z, 0., max_z); return max_zoomed_smoothing * z / (max_z + EPSILON); }(output[TZ]); - const float rot_dz{ s.rot_deadzone}; - const float rot_thres = float{s.rot_smoothing} + zoomed_smoothing; + const double rot_dz{ s.rot_deadzone}; + const double rot_thres = double{s.rot_smoothing} + zoomed_smoothing; // Rotation { @@ -85,19 +84,21 @@ void accela_hamilton::filter(const double* input, double *output) // the new orientation, but that's fine. // Compute rotation angle and axis which brings the previous orientation to the current rotation - QVector3D axis; - float angle; - (last_rotation.conjugated() * current_rot).getAxisAndAngle(&axis, &angle); - // Apply the Accela gain magic. Also need to multiply with dt here. - angle = std::max(0.f, angle - std::copysign(rot_dz, angle)) / rot_thres; - const float gain_angle = dt*spline_rot.get_value_no_save(std::abs(angle)) * signum(angle); - // Rotate toward the measured orientation. We take the already computed axis. But the angle is now the accela gain. - const QQuaternion output_rot = last_rotation * QQuaternion::fromAxisAndAngle(axis, gain_angle); + const double angle = AngleBetween(last_rotation, current_rot); + // Apply the Accela gain magic. The "gain_angle" is the desired rotation from the old orientation + // towards the current. Then alpha is the blending factor for the SLerp operation. It is normalized + // to the range [0,1] where 1 corresponds to the current orientation, i.e. it is the fractional + // rotation relative to the "gain_angle". EPSILON is added to prevent division by zero. + // Additionally we use std::min(1., ...) to clamp the blending. alpha>1 would probably not make much + // sense since it would mean extrapolation beyond the current orientation. And it would be a rare + // edge case. Secondly idk if Slerp supports alpha>1. + const double normalized_angle = std::max(0., angle - rot_dz) / rot_thres; + const double gain_angle = dt*spline_rot.get_value_no_save(std::abs(normalized_angle)); + const double alpha = std::min(1., gain_angle / (angle + EPSILON)); + // Rotate toward the measured orientation. + const tQuat output_rot = Slerp(last_rotation, current_rot, alpha); // And back to Euler angles - const QVector3D output_euler = output_rot.toEulerAngles(); - output[Pitch] = output_euler.x(); - output[Yaw] = output_euler.y(); - output[Roll] = output_euler.z(); + QuatToYPR(output_rot, output + Yaw); last_rotation = output_rot; } } diff --git a/filter-accela-hamilton/accela_hamilton.h b/filter-accela-hamilton/accela_hamilton.h index ccd74fbf..1afbfd8c 100644 --- a/filter-accela-hamilton/accela_hamilton.h +++ b/filter-accela-hamilton/accela_hamilton.h @@ -13,11 +13,11 @@ #include "api/plugin-api.hpp" #include "compat/timer.hpp" #include "compat/variance.hpp" +#include "compat/hamilton-tools.h" #include <QMutex> #include <QTimer> -#include <QQuaternion> -#include <QVector3D> + //#define DEBUG_ACCELA @@ -30,8 +30,8 @@ struct accela_hamilton : IFilter module_status initialize() override { return status_ok(); } private: settings_accela_hamilton s; - QVector3D last_position = {}; - QQuaternion last_rotation = {}; + tVector last_position = {}; + tQuat last_rotation = {}; Timer t; #if defined DEBUG_ACCELA Timer debug_timer; |