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Merge pull request #3239 from lzuwei/add_cara_face_tracker

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Reduce Jerks in head rotation when using Cara Face Tracker
This commit is contained in:
Philip Rosedale 2014-08-04 07:55:33 -07:00
commit 5a51950771
2 changed files with 30 additions and 32 deletions
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53
interface/src/devices/CaraFaceTracker.cpp
View file

@ -37,6 +37,7 @@ static QString sampleJson = "[{\"id\":1, \
static const glm::vec3 DEFAULT_HEAD_ORIGIN(0.0f, 0.0f, 0.0f);
static const float TRANSLATION_SCALE = 1.0f;
static const int NUM_BLENDSHAPE_COEFF = 30;
static const int NUM_SMOOTHING_SAMPLES = 3;
struct CaraPerson {
struct CaraPose {
@ -217,9 +218,9 @@ private:
CaraFaceTracker::CaraFaceTracker() :
_lastReceiveTimestamp(0),
_previousPitch(0.0f),
_previousYaw(0.0f),
_previousRoll(0.0f),
_pitchAverage(NUM_SMOOTHING_SAMPLES),
_yawAverage(NUM_SMOOTHING_SAMPLES),
_rollAverage(NUM_SMOOTHING_SAMPLES),
_eyeGazeLeftPitch(0.0f),
_eyeGazeLeftYaw(0.0f),
_eyeGazeRightPitch(0.0f),
@ -252,9 +253,9 @@ CaraFaceTracker::CaraFaceTracker() :
CaraFaceTracker::CaraFaceTracker(const QHostAddress& host, quint16 port) :
_lastReceiveTimestamp(0),
_previousPitch(0.0f),
_previousYaw(0.0f),
_previousRoll(0.0f),
_pitchAverage(NUM_SMOOTHING_SAMPLES),
_yawAverage(NUM_SMOOTHING_SAMPLES),
_rollAverage(NUM_SMOOTHING_SAMPLES),
_eyeGazeLeftPitch(0.0f),
_eyeGazeLeftYaw(0.0f),
_eyeGazeRightPitch(0.0f),
@ -371,6 +372,7 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer) {
CaraPerson person = CaraPacketDecoder::extractOne(buffer, &jsonError);
if(jsonError.error == QJsonParseError::NoError) {
//do some noise filtering to the head poses
//reduce the noise first by truncating to 1 dp
person.pose.roll = glm::floor(person.pose.roll * 10) / 10;
@ -386,43 +388,39 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer) {
float theta = 2 * acos(r.w);
if (theta > EPSILON) {
float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
const float AVERAGE_CARA_FRAME_TIME = 0.033f;
const float AVERAGE_CARA_FRAME_TIME = 0.04f;
const float ANGULAR_VELOCITY_MIN = 1.2f;
const float YAW_STANDARD_DEV_DEG = 2.5f;
_headAngularVelocity = theta / AVERAGE_CARA_FRAME_TIME * glm::vec3(r.x, r.y, r.z) / rMag;
_pitchAverage.updateAverage(person.pose.pitch);
_rollAverage.updateAverage(person.pose.roll);
//use the angular velocity for roll and pitch, if it's below the threshold don't move
if(glm::abs(_headAngularVelocity.x) < ANGULAR_VELOCITY_MIN) {
person.pose.pitch = _previousPitch;
}
//could use the angular velocity to detemine whether to update pitch and roll to further remove the noise.
//use the angular velocity for roll and pitch, update if > THRESHOLD
//if(glm::abs(_headAngularVelocity.x) > ANGULAR_VELOCITY_MIN) {
// _pitchAverage.updateAverage(person.pose.pitch);
//}
if(glm::abs(_headAngularVelocity.z) < ANGULAR_VELOCITY_MIN) {
person.pose.roll = _previousRoll;
}
//if(glm::abs(_headAngularVelocity.z) > ANGULAR_VELOCITY_MIN) {
// _rollAverage.updateAverage(person.pose.roll);;
//}
//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 the standard deviation which is around 2.5
// (this will introduce some jerks but will not encounter lag)
// < the standard deviation 2.5 deg, no move
if(glm::abs(person.pose.yaw - _previousYaw) < YAW_STANDARD_DEV_DEG) {
// > the standard deviation 2.5 deg, update the yaw smoothing average
if(glm::abs(person.pose.yaw - _yawAverage.getAverage()) > YAW_STANDARD_DEV_DEG) {
//qDebug() << "Yaw Diff: " << glm::abs(person.pose.yaw - _previousYaw);
person.pose.yaw = _previousYaw;
_yawAverage.updateAverage(person.pose.yaw);
}
//update the previous angles
_previousPitch = person.pose.pitch;
_previousYaw = person.pose.yaw;
_previousRoll = person.pose.roll;
//set the new rotation
newRotation = glm::quat(glm::vec3(DEGTORAD(person.pose.pitch), DEGTORAD(person.pose.yaw), DEGTORAD(-person.pose.roll)));
newRotation = glm::quat(glm::vec3(DEGTORAD(_pitchAverage.getAverage()), DEGTORAD(_yawAverage.getAverage()), DEGTORAD(-_rollAverage.getAverage())));
}
else {
//no change in position
newRotation = glm::quat(glm::vec3(DEGTORAD(_previousPitch), DEGTORAD(_previousYaw), DEGTORAD(-_previousRoll)));
//no change in position, use previous averages
newRotation = glm::quat(glm::vec3(DEGTORAD(_pitchAverage.getAverage()), DEGTORAD(_yawAverage.getAverage()), DEGTORAD(-_rollAverage.getAverage())));
_headAngularVelocity = glm::vec3(0,0,0);
}
@ -456,4 +454,3 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer) {
float CaraFaceTracker::getBlendshapeCoefficient(int index) const {
return (index >= 0 && index < (int)_blendshapeCoefficients.size()) ? _blendshapeCoefficients[index] : 0.0f;
}

9
interface/src/devices/CaraFaceTracker.h
View file

@ -14,6 +14,7 @@
#include <QUdpSocket>
#include <SimpleMovingAverage.h>
#include "FaceTracker.h"
/*!
@ -90,10 +91,10 @@ private:
//head tracking
glm::vec3 _headAngularVelocity;
//pose history
float _previousPitch;
float _previousYaw;
float _previousRoll;
//pose average
SimpleMovingAverage _pitchAverage;
SimpleMovingAverage _yawAverage;
SimpleMovingAverage _rollAverage;
// eye gaze degrees
float _eyeGazeLeftPitch;