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Velocity filter eye pitch and yaw

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This commit is contained in:
David Rowe 2015-07-16 12:37:47 -07:00
parent 6b523ada2b
commit 228e8d4fc0
2 changed files with 35 additions and 9 deletions
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33
interface/src/devices/DdeFaceTracker.cpp
View file

@ -177,8 +177,14 @@ DdeFaceTracker::DdeFaceTracker(const QHostAddress& host, quint16 serverPort, qui
_filteredHeadTranslation(glm::vec3(0.0f)),
_lastBrowUp(0.0f),
_filteredBrowUp(0.0f),
_eyeGazePitch(0.0f),
_eyeGazeYaw(0.0f),
_eyePitch(0.0f),
_eyeYaw(0.0f),
_lastEyePitch(0.0f),
_lastEyeYaw(0.0f),
_filteredEyePitch(0.0f),
_filteredEyeYaw(0.0f),
_longTermAverageEyePitch(0.0f),
_longTermAverageEyeYaw(0.0f),
_lastEyeBlinks(),
_filteredEyeBlinks(),
_lastEyeCoefficients(),
@ -445,11 +451,24 @@ void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
// Eye pitch and yaw
// EyeDown coefficients work better over both +ve and -ve values than EyeUp values.
// EyeIn coefficients work better over both +ve and -ve values than EyeOut values.
// Confusingly, the sign of the EyeIn_R value is the same of EyeIn_L.
const float EYE_GAZE_PITCH_SCALE = -1500.0f; // Sign, scale, and average to be similar to Faceshift values.
_eyeGazePitch = EYE_GAZE_PITCH_SCALE * (_coefficients[_leftEyeDownIndex] + _coefficients[_rightEyeDownIndex]);
const float EYE_GAZE_YAW_SCALE = 2500.0f; // Scale and average to be similar to Faceshift values.
_eyeGazeYaw = EYE_GAZE_YAW_SCALE * (_coefficients[_leftEyeInIndex] + _coefficients[_rightEyeInIndex]);
// Pitch and yaw values are relative to the screen.
const float EYE_PITCH_SCALE = -1500.0f; // Sign, scale, and average to be similar to Faceshift values.
_eyePitch = EYE_PITCH_SCALE * (_coefficients[_leftEyeDownIndex] + _coefficients[_rightEyeDownIndex]);
const float EYE_YAW_SCALE = 2000.0f; // Scale and average to be similar to Faceshift values.
_eyeYaw = EYE_YAW_SCALE * (_coefficients[_leftEyeInIndex] + _coefficients[_rightEyeInIndex]);
if (isFiltering) {
const float EYE_VELOCITY_FILTER_STRENGTH = 0.005f;
float pitchVelocity = fabsf(_eyePitch - _lastEyePitch) / _averageMessageTime;
float pitchVelocityFilter = glm::clamp(pitchVelocity * EYE_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredEyePitch = pitchVelocityFilter * _eyePitch + (1.0f - pitchVelocityFilter) * _filteredEyePitch;
_lastEyePitch = _eyePitch;
_eyePitch = _filteredEyePitch;
float yawVelocity = fabsf(_eyeYaw - _lastEyeYaw) / _averageMessageTime;
float yawVelocityFilter = glm::clamp(yawVelocity * EYE_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredEyeYaw = yawVelocityFilter * _eyeYaw + (1.0f - yawVelocityFilter) * _filteredEyeYaw;
_lastEyeYaw = _eyeYaw;
_eyeYaw = _filteredEyeYaw;
}
// Velocity filter EyeBlink values
const float DDE_EYEBLINK_SCALE = 3.0f;

11
interface/src/devices/DdeFaceTracker.h
View file

@ -120,8 +120,15 @@ private:
float _lastBrowUp;
float _filteredBrowUp;
float _eyeGazePitch; // Degrees
float _eyeGazeYaw;
float _eyePitch; // Degrees, relative to screen
float _eyeYaw;
float _lastEyePitch;
float _lastEyeYaw;
float _filteredEyePitch;
float _filteredEyeYaw;
float _longTermAverageEyePitch = 0.0f;
float _longTermAverageEyeYaw = 0.0f;
bool _longTermAverageInitialized = false;
enum EyeState {
EYE_UNCONTROLLED,