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fix: tuned the roll and pitch jitter, round to nearest 1 dp instead of whole number

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Zu 2014-07-25 18:05:17 +08:00
parent 98bb995aba
commit 1bc6d4bf0f
1 changed files with 24 additions and 12 deletions
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36
interface/src/devices/CaraFaceTracker.cpp
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@ -386,9 +386,14 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
//qDebug() << "Parsing took: " << timer.elapsed() << " msecs";
//do some noise filtering to the head poses
person.pose.roll = glm::round(person.pose.roll);
person.pose.pitch = glm::round(person.pose.pitch);
person.pose.yaw = glm::round(person.pose.yaw);
//person.pose.roll = glm::round(person.pose.roll);
//person.pose.pitch = glm::round(person.pose.pitch);
//person.pose.yaw = glm::round(person.pose.yaw);
//reduce the noise first by truncating to 1 dp
person.pose.roll = glm::floor(person.pose.roll * 10) / 10;
person.pose.pitch = glm::floor(person.pose.pitch * 10) / 10;
person.pose.yaw = glm::floor(person.pose.yaw * 10) / 10;
qDebug() << person.toString();
@ -403,32 +408,39 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer)
float AVERAGE_CARA_FRAME_TIME = 0.033f;
_headAngularVelocity = theta / AVERAGE_CARA_FRAME_TIME * glm::vec3(r.x, r.y, r.z) / rMag;
if(glm::abs(_headAngularVelocity.x) < 1.0f)
//use the angular velocity for roll and pitch, if it's below the threshold don't move
if(glm::abs(_headAngularVelocity.x) < 1.2f)
{
person.pose.pitch = _previousPitch;
//qDebug() << "NO change in pitch";
}
if(glm::abs(person.pose.yaw - _previousYaw) < 2.5f)
{
qDebug() << "Yaw Diff: " << glm::abs(person.pose.yaw - _previousYaw);
person.pose.yaw = _previousYaw;
}
if(glm::abs(_headAngularVelocity.z) < 1.0f)
if(glm::abs(_headAngularVelocity.z) < 1.2f)
{
//qDebug() << "NO change in roll";
person.pose.roll = _previousRoll;
}
//for yaw, the jitter is great, you can't use angular velocity because it swings too much
//use the previous and current yaw, calculate the
//abs difference and move it the difference is above a certain angle. (this will introduce some
//jerks but will not encounter lag)
if(glm::abs(person.pose.yaw - _previousYaw) < 2.5f) // < than 2.5 deg, no move
{
qDebug() << "Yaw Diff: " << glm::abs(person.pose.yaw - _previousYaw);
person.pose.yaw = _previousYaw;
}
//update the previous angles
_previousPitch = person.pose.pitch;
_previousYaw = person.pose.yaw;
_previousRoll = person.pose.roll;
newRotation = glm::quat(glm::vec3(DEGTORAD(person.pose.pitch), DEGTORAD(person.pose.yaw), DEGTORAD(person.pose.roll)));
//set the new rotation
newRotation = glm::quat(glm::vec3(DEGTORAD(person.pose.pitch), DEGTORAD(person.pose.yaw), DEGTORAD(-person.pose.roll)));
}
else
{
//no change in position
//qDebug() << "NO change in rotation";
newRotation = glm::quat(glm::vec3(DEGTORAD(_previousPitch), DEGTORAD(_previousYaw), DEGTORAD(_previousRoll)));
_headAngularVelocity = glm::vec3(0,0,0);
}