From f104a617cacec81260651358cb67f2ab982340a2 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 29 Jun 2013 21:03:09 +0200 Subject: Remove Kalman filter again, unsuitable for nonlinear systems --- CMakeLists.txt | 15 +- ftnoir_filter_kalman/ftnoir_filter_kalman.h | 87 --------- .../ftnoir_kalman_filtercontrols.ui | 211 --------------------- ftnoir_filter_kalman/images/filter-16-ac.png | Bin 725 -> 0 bytes ftnoir_filter_kalman/kalman-filter.qrc | 5 - ftnoir_filter_kalman/kalman.cpp | 156 --------------- 6 files changed, 1 insertion(+), 473 deletions(-) delete mode 100644 ftnoir_filter_kalman/ftnoir_filter_kalman.h delete mode 100644 ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui delete mode 100644 ftnoir_filter_kalman/images/filter-16-ac.png delete mode 100644 ftnoir_filter_kalman/kalman-filter.qrc delete mode 100644 ftnoir_filter_kalman/kalman.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 79d7903c..c6176b6e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -131,14 +131,6 @@ if(NOT SDK_FACEAPI_ONLY) QT4_WRAP_UI(opentrack-filter-accela-uih ${opentrack-filter-accela-ui}) QT4_ADD_RESOURCES(opentrack-filter-accela-rcc ${opentrack-filter-accela-rc}) - file(GLOB opentrack-filter-kalman-c "ftnoir_filter_kalman/*.cpp") - file(GLOB opentrack-filter-kalman-h "ftnoir_filter_kalman/*.h") - QT4_WRAP_CPP(opentrack-filter-kalman-moc ${opentrack-filter-kalman-h}) - file(GLOB opentrack-filter-kalman-ui "ftnoir_filter_kalman/*.ui") - file(GLOB opentrack-filter-kalman-rc "ftnoir_filter_kalman/*.qrc") - QT4_WRAP_UI(opentrack-filter-kalman-uih ${opentrack-filter-kalman-ui}) - QT4_ADD_RESOURCES(opentrack-filter-kalman-rcc ${opentrack-filter-kalman-rc}) - file(GLOB opentrack-filter-ewma-c "ftnoir_filter_ewma2/*.cpp") file(GLOB opentrack-filter-ewma-h "ftnoir_filter_ewma2/*.h") QT4_WRAP_CPP(opentrack-filter-ewma-moc ${opentrack-filter-ewma-h}) @@ -325,11 +317,6 @@ endif() add_library(opentrack-filter-accela SHARED ${opentrack-filter-accela-c} ${opentrack-filter-accela-moc} ${opentrack-filter-accela-uih} ${opentrack-filter-accela-rcc}) target_link_libraries(opentrack-filter-accela ${MY_QT_LIBS} opentrack-spline-widget) - if(OpenCV_FOUND) - add_library(opentrack-filter-kalman SHARED ${opentrack-filter-kalman-c} ${opentrack-filter-kalman-moc} ${opentrack-filter-kalman-uih} ${opentrack-filter-kalman-rcc}) - target_link_libraries(opentrack-filter-kalman ${MY_QT_LIBS} ${OpenCV_LIBS}) - endif() - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) SET_TARGET_PROPERTIES(opentrack-filter-accela PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt") @@ -535,7 +522,7 @@ if(NOT SDK_FACEAPI_ONLY) endif() if(OpenCV_FOUND) - install(TARGETS opentrack-tracker-pt opentrack-filter-kalman RUNTIME DESTINATION . LIBRARY DESTINATION .) + install(TARGETS opentrack-tracker-pt RUNTIME DESTINATION . LIBRARY DESTINATION .) endif() install(TARGETS diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h deleted file mode 100644 index 59169612..00000000 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ /dev/null @@ -1,87 +0,0 @@ -#pragma once -/* Copyright (c) 2013 Stanisław Halik - * - * 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. - */ -#ifndef INCLUDED_FTN_FILTER_H -#define INCLUDED_FTN_FILTER_H - -#undef FTNOIR_TRACKER_BASE_LIB -#define FTNOIR_TRACKER_BASE_EXPORT Q_DECL_IMPORT - -#include "ftnoir_filter_base/ftnoir_filter_base.h" -#include "ui_ftnoir_kalman_filtercontrols.h" -#include "facetracknoir/global-settings.h" -#include -#include -#include -#include -#include -#include - -class FTNOIR_FILTER_BASE_EXPORT FTNoIR_Filter : public IFilter -{ -public: - FTNoIR_Filter(); - virtual ~FTNoIR_Filter() { - } - void Initialize(); - void FilterHeadPoseData(double *current_camera_position, - double *target_camera_position, - double *new_camera_position, - double *last_post_filter_values); - cv::KalmanFilter kalman; - double prev_position[6]; -}; - -void kalman_load_settings(FTNoIR_Filter& self); -void kalman_save_settings(FTNoIR_Filter& self); - -class FTNOIR_FILTER_BASE_EXPORT FTNoIR_FilterDll : public Metadata -{ -public: - void getFullName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } - void getShortName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } - void getDescription(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } - void getIcon(QIcon *icon){ *icon = QIcon(":/images/filter-16.png"); } -}; - -class FTNOIR_FILTER_BASE_EXPORT FilterControls: public QWidget, Ui::KalmanUICFilterControls, public IFilterDialog -{ - Q_OBJECT -public: - explicit FilterControls() : settingsDirty(false) { - ui.setupUi(this); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - - QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup("ftnoir-filter-kalman"); - iniFile.endGroup(); - connect(ui.btnOk, SIGNAL(clicked()), this, SLOT(doOK())); - connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); - show(); - } - virtual ~FilterControls() {} - void showEvent ( QShowEvent * event ) { - show(); - } - - void Initialize(QWidget *parent, IFilter* ptr) { - } - - bool settingsDirty; - Ui::KalmanUICFilterControls ui; - -public slots: - void doOK(); - void doCancel(); - void settingsChanged(double unused) { - settingsDirty = true; - } -}; - -#endif diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui deleted file mode 100644 index 7b71712a..00000000 --- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui +++ /dev/null @@ -1,211 +0,0 @@ - - - KalmanUICFilterControls - - - Qt::ApplicationModal - - - - 0 - 0 - 334 - 100 - - - - - 0 - 0 - - - - Filter settings - - - - - images/facetracknoir.png - images/facetracknoir.png - - - Qt::LeftToRight - - - false - - - - - - - - 173 - 70 - 73 - 25 - - - - OK - - - - - - 250 - 70 - 73 - 25 - - - - Cancel - - - - - - 9 - 30 - 169 - 16 - - - - process-noise-covariance - - - - - - 180 - 26 - 150 - 22 - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop - - - 14 - - - 1.000000000000000 - - - 0.000001000000000 - - - 0.500000000000000 - - - - - - 180 - 6 - 150 - 22 - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop - - - 14 - - - 1.000000000000000 - - - 0.000001000000000 - - - 0.500000000000000 - - - - - - 9 - 10 - 165 - 16 - - - - post-error-matrix - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop - - - 0 - - - - - - 9 - 55 - 109 - 16 - - - - accel-coefficient - - - - - - 181 - 47 - 150 - 22 - - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop - - - 6 - - - 1000000000.000000000000000 - - - 0.000001000000000 - - - 1.000000000000000 - - - - - - - - 10 - - - 10 - - - false - - - false - - - true - - - - startEngineClicked() - stopEngineClicked() - cameraSettingsClicked() - - diff --git a/ftnoir_filter_kalman/images/filter-16-ac.png b/ftnoir_filter_kalman/images/filter-16-ac.png deleted file mode 100644 index d263db2d..00000000 Binary files a/ftnoir_filter_kalman/images/filter-16-ac.png and /dev/null differ diff --git a/ftnoir_filter_kalman/kalman-filter.qrc b/ftnoir_filter_kalman/kalman-filter.qrc deleted file mode 100644 index 9a7d75fa..00000000 --- a/ftnoir_filter_kalman/kalman-filter.qrc +++ /dev/null @@ -1,5 +0,0 @@ - - - images/filter-16-ac.png - - diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp deleted file mode 100644 index 51af35e1..00000000 --- a/ftnoir_filter_kalman/kalman.cpp +++ /dev/null @@ -1,156 +0,0 @@ -/* Copyright (c) 2013 Stanisław Halik - * - * 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. - */ -#include "ftnoir_filter_kalman.h" -#include "facetracknoir/global-settings.h" -#include -#include - -void kalman_load_settings(FTNoIR_Filter& self) { - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - - QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup("ftnoir-filter-kalman"); - iniFile.endGroup(); -} - -void kalman_save_settings(FilterControls& self) { - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - - QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup("ftnoir-filter-kalman"); - iniFile.endGroup(); -} - -FTNoIR_Filter::FTNoIR_Filter() { - kalman_load_settings(*this); - Initialize(); -} - -// the following was written by Donovan Baarda -// https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b -void FTNoIR_Filter::Initialize() { - const double accel_variance = 1e-4; - const double noise_variance = 1e1; - kalman.init(12, 6, 0, CV_64F); - kalman.transitionMatrix = (cv::Mat_(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, - 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; - kalman.processNoiseCov = (cv::Mat_(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); - 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++) - prev_position[i] = 0; -} - -void FTNoIR_Filter::FilterHeadPoseData(double *current_camera_position, - double *target_camera_position, - double *new_camera_position, - double *last_post_filter_values) -{ - bool new_target = false; - - for (int i = 0; i < 6; i++) - if (prev_position[i] != target_camera_position[i]) - { - new_target = true; - break; - } - - cv::Mat output = kalman.predict(); - - if (new_target) { - cv::Mat measurement(6, 1, CV_64F); - for (int i = 0; i < 3; i++) { - measurement.at(i) = target_camera_position[i+3]; - measurement.at(i+3) = target_camera_position[i]; - } - kalman.correct(measurement); - } - - for (int i = 0; i < 3; i++) { - new_camera_position[i] = output.at(i+3); - new_camera_position[i+3] = output.at(i); - prev_position[i] = target_camera_position[i]; - prev_position[i+3] = target_camera_position[i+3]; - } -} - -void FilterControls::doOK() { - kalman_save_settings(*this); - close(); -} - -void FilterControls::doCancel() { - if (settingsDirty) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - kalman_save_settings(*this); - this->close(); - break; - case QMessageBox::Discard: - this->close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - this->close(); - } -} - -extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() -{ - return new FTNoIR_FilterDll; -} - -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor() -{ - return new FTNoIR_Filter; -} - -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() { - return new FilterControls; -} -- cgit v1.2.3