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Add velocity filtering to DDE head movement

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Based on filtering code in Faceshift.cpp.
This commit is contained in:
David Rowe 2015-04-16 15:47:02 -07:00
parent 3e484ee208
commit c46f21152f
2 changed files with 48 additions and 3 deletions
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44
interface/src/devices/DdeFaceTracker.cpp
View file

@ -17,6 +17,8 @@
#include <QJsonObject>
#include <QElapsedTimer>
#include <GLMHelpers.h>
#include "DdeFaceTracker.h"
#include "FaceshiftConstants.h"
#include "InterfaceLogging.h"
@ -267,6 +269,8 @@ float DdeFaceTracker::getBlendshapeCoefficient(int index) const {
void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
if(buffer.size() > MIN_PACKET_SIZE) {
bool isFitering = Menu::getInstance()->isOptionChecked(MenuOption::DDEFiltering);
Packet packet;
int bytesToCopy = glm::min((int)sizeof(packet), buffer.size());
memset(&packet.name, '\n', MAX_NAME_SIZE + 1);
@ -287,11 +291,36 @@ void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
translation -= _referenceTranslation;
translation /= LEAN_DAMPING_FACTOR;
translation.x *= -1;
_headTranslation = translation;
if (isFitering) {
glm::vec3 linearVelocity = (translation - _lastHeadTranslation) / _averageMessageTime;
const float LINEAR_VELOCITY_FILTER_STRENGTH = 0.3f;
float velocityFilter = glm::clamp(1.0f - glm::length(linearVelocity) *
LINEAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredHeadTranslation = velocityFilter * _filteredHeadTranslation + (1.0f - velocityFilter) * translation;
_lastHeadTranslation = translation;
_headTranslation = _filteredHeadTranslation;
} else {
_headTranslation = translation;
}
// Compute relative rotation
rotation = glm::inverse(_referenceRotation) * rotation;
_headRotation = rotation;
if (isFitering) {
glm::quat r = rotation * glm::inverse(_headRotation);
float theta = 2 * acos(r.w);
glm::vec3 angularVelocity;
if (theta > EPSILON) {
float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
angularVelocity = theta / _averageMessageTime * glm::vec3(r.x, r.y, r.z) / rMag;
} else {
angularVelocity = glm::vec3(0, 0, 0);
}
const float ANGULAR_VELOCITY_FILTER_STRENGTH = 0.3f;
_headRotation = safeMix(_headRotation, rotation, glm::clamp(glm::length(angularVelocity) *
ANGULAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f));
} else {
_headRotation = rotation;
}
// Translate DDE coefficients to Faceshift compatible coefficients
for (int i = 0; i < NUM_EXPRESSIONS; i += 1) {
@ -339,7 +368,16 @@ void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
= glm::clamp(DDE_COEFFICIENT_SCALES[i] * _coefficients[i], 0.0f, 1.0f);
}
} else {
// Calculate average frame time
const float FRAME_AVERAGING_FACTOR = 0.99f;
quint64 usecsNow = usecTimestampNow();
if (_lastMessageReceived != 0) {
_averageMessageTime = FRAME_AVERAGING_FACTOR * _averageMessageTime
+ (1.0f - FRAME_AVERAGING_FACTOR) * (float)(usecsNow - _lastMessageReceived) / 1000000.0f;
}
_lastMessageReceived = usecsNow;
} else {
qCDebug(interfaceapp) << "[Error] DDE Face Tracker Decode Error";
}
_lastReceiveTimestamp = usecTimestampNow();

7
interface/src/devices/DdeFaceTracker.h
View file

@ -23,6 +23,8 @@
#include "FaceTracker.h"
const float STARTING_DDE_MESSAGE_TIME = 0.033f;
class DdeFaceTracker : public FaceTracker, public Dependency {
Q_OBJECT
SINGLETON_DEPENDENCY
@ -100,6 +102,11 @@ private:
int _jawOpenIndex;
QVector<float> _coefficients;
quint64 _lastMessageReceived = 0;
float _averageMessageTime = STARTING_DDE_MESSAGE_TIME;
glm::vec3 _lastHeadTranslation = glm::vec3(0.0f);
glm::vec3 _filteredHeadTranslation = glm::vec3(0.0f);
};
#endif // hifi_DdeFaceTracker_h