diff options
Diffstat (limited to 'tracker-tobii-eyex/tobii-eyex.cpp')
| -rw-r--r-- | tracker-tobii-eyex/tobii-eyex.cpp | 173 |
1 files changed, 77 insertions, 96 deletions
diff --git a/tracker-tobii-eyex/tobii-eyex.cpp b/tracker-tobii-eyex/tobii-eyex.cpp index 74c31240..1a2f922b 100644 --- a/tracker-tobii-eyex/tobii-eyex.cpp +++ b/tracker-tobii-eyex/tobii-eyex.cpp @@ -6,6 +6,8 @@ #include <vector> #include <algorithm> #include <iterator> +#include <utility> +#include <numeric> #include <QDebug> #include <QMutexLocker> #include <QMessageBox> @@ -36,51 +38,80 @@ static inline tobii_eyex_tracker& to_self(TX_USERPARAM param) return *reinterpret_cast<tobii_eyex_tracker*>(param); } -template<typename t> -static constexpr t clamp(t datum, t min, t max) +// there's an underflow in spline code, can't use 1e0 +static constexpr const double spline_max = 1e2; + +void rel_settings::make_spline_(part* functors, unsigned len) { - return ((datum > max) ? max : ((datum < min) ? min : datum)); + acc_mode_spline.removeAllPoints(); + + double lastx = 0, lasty = 0; + + using std::accumulate; + + const double inv_norm_y = 1./accumulate(functors, functors + len, 1e-4, [](double acc, const part& functor) { return acc + functor.norm; }); + const double inv_norm_x = 1./accumulate(functors, functors + len, 1e-4, [](double acc, const part& functor) { return acc + functor.len; }); + + for (unsigned k = 0; k < len; k++) + { + part& fun = functors[k]; + + const double xscale = fun.len * spline_max * inv_norm_x; + const double maxx = fun.f(1); + const double yscale = fun.norm * spline_max * inv_norm_y * (maxx < 1e-3 ? 0 : 1./maxx); + + for (unsigned i = 0; i <= fun.nparts; i++) + { + const double x = lastx + (fun.nparts == 0 ? 1 : i) / (1.+fun.nparts) * xscale; + const double y = lasty + clamp(fun.f(x) * yscale, 0, spline_max); + qDebug() << k << i << x << y; + acc_mode_spline.addPoint(x, y); + } + + lastx += xscale; + lasty += yscale; + } } -void rel_settings::draw_spline() +/* + def plot(f): + rng = arange(-1 + .01, 1, 1e-4) + plt.plot(rng, map(f, rng)) +*/ + +double rel_settings::gain(double value) { - spline& spline = acc_mode_spline; + return acc_mode_spline.get_value_no_save(value * spline_max) / spline_max; +} - spline.removeAllPoints(); +void rel_settings::make_spline() +{ + const double log_c = 1./std::log(log_slope()); - static constexpr float std_norm_expt = 1.f/3; - const float norm_expt = std_norm_expt * float(expt_norm->cur()); - static constexpr float std_norm_lin = 2.f/3; - const float norm_lin = clamp((1-norm_expt) * lin_norm->cur() * std_norm_lin, 0., 1.); + part functors[] + { + { 1, dz_len(), 0, [](double) { return 0; } }, + { 5, expt_len(), expt_norm(), [=](double x) { return std::pow(x, expt_slope()); } }, + { 7, 1 - dz_len() - expt_len() - log_len(), std::max(0., 1 - expt_norm() - log_norm()), [](double x) { return x; } }, + { 7, log_len(), log_norm(), [=](double x) { return std::log(1+x)*log_c; } }, + }; + make_spline_(functors, std::distance(std::begin(functors), std::end(functors))); } rel_settings::rel_settings() : opts("tobii-eyex-relative-mode"), - speed(b, "speed", s(5, .1, 10)), - dz_end_pt(b, "deadzone-length", s(4, 0, 15)), - expt_slope(b, "exponent-slope", s(1.5, 1.25, 3)), - expt_norm(b, "exponent-norm", s(1, .25, 4)), - lin_norm(b, "linear-norm", s(1, .25, 4)), + speed(b, "speed", s(3, .1, 10)), + dz_len(b, "deadzone-length", s(.04, 0, .2)), + expt_slope(b, "exponent-slope", s(1.75, 1.25, 3)), + expt_len(b, "exponent-length", s(.25, 0, .5)), + expt_norm(b, "exponent-norm", s(.3, .1, .5)), + log_slope(b, "log-slope", s(2.75, 1.25, 10)), + log_len(b, "log-len", s(.1, 0, .2)), + log_norm(b, "log-norm", s(.1, .05, .3)), acc_mode_spline(100, 100, "") { - QObject::connect(&dz_end_pt, - static_cast<void(base_value::*)(const slider_value&) const>(&base_value::valueChanged), - this, - &rel_settings::draw_spline); - QObject::connect(&expt_slope, - static_cast<void(base_value::*)(const slider_value&) const>(&base_value::valueChanged), - this, - &rel_settings::draw_spline); - QObject::connect(&expt_norm, - static_cast<void(base_value::*)(const slider_value&) const>(&base_value::valueChanged), - this, - &rel_settings::draw_spline); - QObject::connect(&lin_norm, - static_cast<void(base_value::*)(const slider_value&) const>(&base_value::valueChanged), - this, - &rel_settings::draw_spline); - draw_spline(); + make_spline(); } tobii_eyex_tracker::tobii_eyex_tracker() : @@ -287,67 +318,16 @@ void tobii_eyex_tracker::start_tracker(QFrame*) dbg_verbose("api initialized"); } -// the gain function was prototyped in python with jupyter qtconsole. -// you can use qtconsole's inline matplotlib support to see the gain function. -// the `piecewise' function assumes monotonic growth or constant value for all functions. -/* - -from math import * -from itertools import izip -import matplotlib -import matplotlib.pyplot as plt - -try: - import IPython - IPython.get_ipython().magic(u'matplotlib inline') -except: - pass - -def frange(from_, to_, step_=1e-4): - i = from_ - while True: - yield i - i += step_ - if i >= to_: - break - -def plot_fn(fn, from_=0., to_=1., step=None): - if step is None: - step = max(1e-4, (to_-from_)*1e-4) - xs = [i for i in frange(from_, to_, step)] - plt.plot(xs, map(fn, xs)) - -def piecewise(x, funs, bounds): - y = 0. - last_bound = 0. - norm = 0. - for fun in funs: - norm += fun(1.) - for fun, bound in izip(funs, bounds): - if x > bound: - y += fun(1.) - else: - b = bound - last_bound - x_ = (x - last_bound) / b - y += fun(x_) - break - last_bound = bound - return y / norm - -def f(x): return x**1.75 -def g(x): return 1.75*1.75*x -def h(x): return log(1+x)/log(2.5) -def zero(x): return 0. - -plot_fn(lambda x: piecewise(x, [zero, f, g, h], [.05, .25, .7, 1.])) - -*/ - tobii_eyex_tracker::num tobii_eyex_tracker::gain(num x_) { return 1; } +static inline double signum(double x) +{ + return !(x < 0) - (x < 0); +} + void tobii_eyex_tracker::data(double* data) { TX_REAL px, py, dw, dh, x_, y_; @@ -378,20 +358,21 @@ void tobii_eyex_tracker::data(double* data) { const double dt = t.elapsed_seconds(); t.start(); - // XXX TODO make slider - static constexpr double v = 300; - const double x = gain(x_); - const double y = gain(y_); + using std::fabs; + + static constexpr double max_yaw = 45, max_pitch = 30; + static constexpr double c_yaw = 3; + static constexpr double c_pitch = c_yaw * max_pitch / max_yaw; - const double yaw_delta = (x * v) * dt; - const double pitch_delta = (y * -v) * dt; + const double yaw_delta = gain(fabs(x_)) * signum(x_) * c_yaw * dt; + const double pitch_delta = gain(fabs(y_)) * signum(y_) * c_pitch * dt; yaw += yaw_delta; pitch += pitch_delta; - yaw = clamp(yaw, -180., 180.); - pitch = clamp(pitch, -60., 60.); + yaw = clamp(yaw, -max_yaw, max_yaw); + pitch = clamp(pitch, -max_pitch, max_pitch); } if (do_center) |