diff options
Diffstat (limited to 'FTNoIR_Filter_EWMA2')
| -rw-r--r-- | FTNoIR_Filter_EWMA2/ftnoir_filter_ewma2.cpp | 18 |
1 files changed, 18 insertions, 0 deletions
diff --git a/FTNoIR_Filter_EWMA2/ftnoir_filter_ewma2.cpp b/FTNoIR_Filter_EWMA2/ftnoir_filter_ewma2.cpp index 957f5aecd..7bdac328c 100644 --- a/FTNoIR_Filter_EWMA2/ftnoir_filter_ewma2.cpp +++ b/FTNoIR_Filter_EWMA2/ftnoir_filter_ewma2.cpp @@ -1,6 +1,10 @@ #include "ftnoir_filter_base.h"
#include "math.h"
#include <QDebug>
+#include <QFile>
+#include <QCoreApplication>
+
+//#define LOG_OUTPUT
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
@@ -157,6 +161,7 @@ void FTNoIR_Filter_EWMA2::FilterHeadPoseData(THeadPoseData *current_camera_posit for (i=0;i<6;i++)
{
output[i]=target[i];
+ prev_alpha[i] = 0.0f;
}
new_camera_position->x=target[0];
@@ -215,6 +220,19 @@ void FTNoIR_Filter_EWMA2::FilterHeadPoseData(THeadPoseData *current_camera_posit // output[i]=(smoothed_alpha[i]*target[i])+((1.0f-smoothed_alpha[i])*prev_output[i]);
}
+
+ #ifdef LOG_OUTPUT
+ // Use this for some debug-output to file...
+ QFile data(QCoreApplication::applicationDirPath() + "\\EWMA_output.txt");
+ if (data.open(QFile::WriteOnly | QFile::Append)) {
+ QTextStream out(&data);
+ out << "output:\t" << output[0] << "\t" << output[1] << "\t" << output[2] << "\t" << output[3] << "\t" << output[4] << "\t" << output[5] << '\n';
+ out << "target:\t" << target[0] << "\t" << target[1] << "\t" << target[2] << "\t" << target[3] << "\t" << target[4] << "\t" << target[5] << '\n';
+ out << "prev_output:\t" << prev_output[0] << "\t" << prev_output[1] << "\t" << prev_output[2] << "\t" << prev_output[3] << "\t" << prev_output[4] << "\t" << prev_output[5] << '\n';
+ out << "largest_alpha:\t" << largest_alpha << '\n';
+ }
+ #endif
+
new_camera_position->x=output[0];
new_camera_position->y=output[1];
new_camera_position->z=output[2];
|