From 4a22154737b991c7e6e268c3ee56caee164c3df5 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Mon, 8 Jul 2013 11:35:42 -0700
Subject: [PATCH] Fix for leaning, smoothing.

---
 interface/src/Avatar.cpp | 5 +++++
 interface/src/Webcam.cpp | 7 +++++--
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/interface/src/Avatar.cpp b/interface/src/Avatar.cpp
index 174a0a4aa5..d471bd166b 100755
--- a/interface/src/Avatar.cpp
+++ b/interface/src/Avatar.cpp
@@ -306,6 +306,11 @@ void Avatar::updateFromGyrosAndOrWebcam(bool gyroLook, const glm::vec3& amplifyA
             if (joints.size() > i && joints[i].isValid) {
                 JointData data = { i, joints[i].orientation };
                 _joints.push_back(data);
+                
+                if (i == AVATAR_JOINT_CHEST) {
+                    // if we have a chest rotation, don't apply lean based on head
+                    estimatedPosition = glm::vec3();
+                }
             }
         }
     } else {
diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index 28026697a9..2ca7260ffe 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -214,7 +214,7 @@ void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const Rota
             if (!_joints[i].isValid) {
                 continue;
             }
-            const float JOINT_SMOOTHING = 0.5f;
+            const float JOINT_SMOOTHING = 0.95f;
             _estimatedJoints[i].isValid = true;
             _estimatedJoints[i].position = glm::mix(_joints[i].position - origin,
                 _estimatedJoints[i].position, JOINT_SMOOTHING);
@@ -380,7 +380,9 @@ void FrameGrabber::grabFrame() {
         format = GL_RGB;
         
         Mat depth = Mat(_depthMetaData.YRes(), _depthMetaData.XRes(), CV_16UC1, (void*)_depthGenerator.GetDepthMap());
-        depth.convertTo(_grayDepthFrame, CV_8UC1, 256.0 / 2048.0);
+        const double EIGHT_BIT_MAX = 255;
+        const double ELEVEN_BIT_MAX = 2047;
+        depth.convertTo(_grayDepthFrame, CV_8UC1, EIGHT_BIT_MAX / ELEVEN_BIT_MAX);
         
         _userID = 0;
         XnUInt16 userCount = 1; 
@@ -493,6 +495,7 @@ bool FrameGrabber::init() {
         _userGenerator.GetSkeletonCap().RegisterToCalibrationComplete(calibrationCompleted, 0, calibrationCompleteCallback);
         
         _userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
+        //_userGenerator.GetSkeletonCap().SetSmoothing(0.9f);
         
         _xnContext.StartGeneratingAll();
         return true;