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clamp _rotationConstant and _translationConstante between 0 and 1.
re-organized apply structure, to prevent transforming invalid values.
This commit is contained in:
Anthony J. Thibault 2018-01-04 14:21:53 -08:00
parent 9beb3ac5b6
commit f0985a8a01
2 changed files with 27 additions and 18 deletions
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43
libraries/controllers/src/controllers/impl/filters/ExponentialSmoothingFilter.cpp
View file

@ -21,27 +21,36 @@ namespace controller {
Pose ExponentialSmoothingFilter::apply(Pose value) const {
// to perform filtering in sensor space, we need to compute the transformations.
auto userInputMapper = DependencyManager::get<UserInputMapper>();
const InputCalibrationData calibrationData = userInputMapper->getInputCalibrationData();
glm::mat4 sensorToAvatarMat = glm::inverse(calibrationData.avatarMat) * calibrationData.sensorToWorldMat;
glm::mat4 avatarToSensorMat = glm::inverse(calibrationData.sensorToWorldMat) * calibrationData.avatarMat;
if (value.isValid()) {
// transform pose into sensor space.
Pose sensorValue = value.transform(avatarToSensorMat);
// to perform filtering in sensor space, we need to compute the transformations.
auto userInputMapper = DependencyManager::get<UserInputMapper>();
const InputCalibrationData calibrationData = userInputMapper->getInputCalibrationData();
glm::mat4 sensorToAvatarMat = glm::inverse(calibrationData.avatarMat) * calibrationData.sensorToWorldMat;
glm::mat4 avatarToSensorMat = glm::inverse(calibrationData.sensorToWorldMat) * calibrationData.avatarMat;
if (value.isValid() && _oldSensorValue.isValid()) {
// transform pose into sensor space.
Pose sensorValue = value.transform(avatarToSensorMat);
// exponential smoothing filter
sensorValue.translation = _translationConstant * sensorValue.getTranslation() + (1.0f - _translationConstant) * _oldSensorValue.getTranslation();
sensorValue.rotation = safeMix(sensorValue.getRotation(), _oldSensorValue.getRotation(), _rotationConstant);
if (_prevSensorValue.isValid()) {
// exponential smoothing filter
sensorValue.translation = _translationConstant * sensorValue.getTranslation() + (1.0f - _translationConstant) * _prevSensorValue.getTranslation();
sensorValue.rotation = safeMix(sensorValue.getRotation(), _prevSensorValue.getRotation(), _rotationConstant);
_oldSensorValue = sensorValue;
// remember previous sensor space value.
_prevSensorValue = sensorValue;
// transform back into avatar space
return sensorValue.transform(sensorToAvatarMat);
// transform back into avatar space
return sensorValue.transform(sensorToAvatarMat);
} else {
// remember previous sensor space value.
_prevSensorValue = sensorValue;
// no previous value to smooth with, so return value unchanged
return value;
}
} else {
_oldSensorValue = sensorValue;
// return invalid value unchanged
return value;
}
}
@ -51,8 +60,8 @@ namespace controller {
if (parameters.isObject()) {
auto obj = parameters.toObject();
if (obj.contains(JSON_ROTATION) && obj.contains(JSON_TRANSLATION)) {
_rotationConstant = obj[JSON_ROTATION].toDouble();
_translationConstant = obj[JSON_TRANSLATION].toDouble();
_rotationConstant = glm::clamp((float)obj[JSON_ROTATION].toDouble(), 0.0f, 1.0f);
_translationConstant = glm::clamp((float)obj[JSON_TRANSLATION].toDouble(), 0.0f, 1.0f);
return true;
}
}

2
libraries/controllers/src/controllers/impl/filters/ExponentialSmoothingFilter.h
View file

@ -34,7 +34,7 @@ namespace controller {
float _translationConstant { 0.375f };
float _rotationConstant { 0.375f };
mutable Pose _oldSensorValue { Pose() }; // sensor space
mutable Pose _prevSensorValue { Pose() }; // sensor space
};
}