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used thread safe moving average for the quaternions

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Al Bernstein 2017-04-06 16:56:03 -07:00
parent de1fdfacca
commit e737456dcd
3 changed files with 7 additions and 7 deletions
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2
libraries/shared/src/SimpleMovingAverage.h
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@ -61,7 +61,7 @@ public:
const float WEIGHTING = 1.0f / (float)MAX_NUM_SAMPLES;
const float ONE_MINUS_WEIGHTING = 1.0f - WEIGHTING;
std::atomic<int> numSamples{ 0 };
T average;
std::atomic<T> average;
void clear() {
numSamples = 0;

8
plugins/hifiKinect/src/KinectPlugin.cpp
View file

@ -496,21 +496,21 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y);
// add moving average of orientation quaternion
glm::quat jointSample = jointOrientation * kinectToHandRight;
if (glm::dot(jointSample, _RightHandOrientationAverage.average) < 0) {
if (glm::dot(jointSample, _RightHandOrientationAverage.getAverage()) < 0) {
jointSample = -jointSample;
}
_RightHandOrientationAverage.addSample(jointSample);
_joints[j].orientation = glm::normalize(_RightHandOrientationAverage.average);
_joints[j].orientation = glm::normalize(_RightHandOrientationAverage.getAverage());
} else if (joints[j].JointType == JointType_HandLeft) {
// To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y
static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y);
// add moving average of orientation quaternion
glm::quat jointSample = jointOrientation * kinectToHandLeft;
if (glm::dot(jointSample, _LeftHandOrientationAverage.average) < 0) {
if (glm::dot(jointSample, _LeftHandOrientationAverage.getAverage()) < 0) {
jointSample = -jointSample;
}
_LeftHandOrientationAverage.addSample(jointSample);
_joints[j].orientation = glm::normalize(_LeftHandOrientationAverage.average);
_joints[j].orientation = glm::normalize(_LeftHandOrientationAverage.getAverage());
} else {
_joints[j].orientation = jointOrientation;
}

4
plugins/hifiKinect/src/KinectPlugin.h
View file

@ -62,8 +62,8 @@ public:
private:
// add variables for moving average
MovingAverage<glm::quat, 2> _LeftHandOrientationAverage;
MovingAverage<glm::quat, 2> _RightHandOrientationAverage;
ThreadSafeMovingAverage<glm::quat, 2> _LeftHandOrientationAverage;
ThreadSafeMovingAverage<glm::quat, 2> _RightHandOrientationAverage;
protected: