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ElasticFilterNode.cxx

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00001 /* ========================================================================
00002  * Copyright (c) 2006,
00003  * Institute for Computer Graphics and Vision
00004  * Graz University of Technology
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are
00009  * met:
00010  *
00011  * Redistributions of source code must retain the above copyright notice,
00012  * this list of conditions and the following disclaimer.
00013  *
00014  * Redistributions in binary form must reproduce the above copyright
00015  * notice, this list of conditions and the following disclaimer in the
00016  * documentation and/or other materials provided with the distribution.
00017  *
00018  * Neither the name of the Graz University of Technology nor the names of
00019  * its contributors may be used to endorse or promote products derived from
00020  * this software without specific prior written permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
00023  * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
00024  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
00025  * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
00026  * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
00027  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
00028  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
00029  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00030  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00031  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033  * ========================================================================
00034  * PROJECT: OpenTracker
00035  * ======================================================================== */
00042 /* ======================================================================= */
00043 
00044 // this will remove the warning 4786
00045 #include "../tool/disable4786.h"
00046 
00047 #include "ElasticFilterNode.h"
00048 
00049 
00050 #ifndef OT_NO_ELASTICFILTER_SUPPORT
00051 
00052 
00053 namespace ot {
00054 
00055     // constructor method
00056     ElasticFilterNode::ElasticFilterNode( float force_, float damp_, int frequency_, int offset_ )
00057         : currentEvent(), vEvent()
00058     {
00059         frequency = frequency_;
00060         offset = offset_;
00061 
00062         force = force_;
00063         damp = damp_;
00064 
00065         init = false;
00066     } 
00067 
00068     // tests the confidence value and only forwards passing events
00069     void ElasticFilterNode::onEventGenerated( Event& event, Node & generator )
00070     {
00071         //printf("ElasticFilterNode::onEventGenerated() \n");
00072         if (!init){
00073             currentEvent = event;
00074             init = true;
00075 
00076         }
00077         targetEvent = event;
00078         // we have to pass on the other information as well
00079         currentEvent.getButton() = event.getButton();
00080         currentEvent.getConfidence() = event.getConfidence();
00081     }
00082 
00083     void ElasticFilterNode::push() {
00084         // maybe we should us absolute timing, but for now we try without
00085         // double curTime = OSUtils::currentTime();
00086         // double dt = lastTime - curTime;
00087         if (init) {
00088             //printf("ElasticFilterNode::push() \n");
00089 
00090             Event dEvent;
00091 
00092             // calculate current offset from target
00093             dEvent.getPosition()[0] = targetEvent.getPosition()[0] - currentEvent.getPosition()[0];
00094             dEvent.getPosition()[1] = targetEvent.getPosition()[1] - currentEvent.getPosition()[1];
00095             dEvent.getPosition()[2] = targetEvent.getPosition()[2] - currentEvent.getPosition()[2];
00096 
00097             // calculate velocity
00098             vEvent.getPosition()[0] += (float)(dEvent.getPosition()[0] * force * 0.1);
00099             vEvent.getPosition()[1] += (float)(dEvent.getPosition()[1] * force * 0.1);
00100             vEvent.getPosition()[2] += (float)(dEvent.getPosition()[2] * force * 0.1);
00101         
00102             // damp velocity
00103             vEvent.getPosition()[0] *= 1.0f - damp;
00104             vEvent.getPosition()[1] *= 1.0f - damp;
00105             vEvent.getPosition()[2] *= 1.0f - damp;
00106      
00107             // add velocity to current event
00108             currentEvent.getPosition()[0] += vEvent.getPosition()[0];
00109             currentEvent.getPosition()[1] += vEvent.getPosition()[1];
00110             currentEvent.getPosition()[2] += vEvent.getPosition()[2];
00111                 
00112             MathUtils::slerp(currentEvent.getOrientation(), targetEvent.getOrientation(), force*(1-damp)*0.1f, dEvent.getOrientation());
00113         
00114             for (int i=0; i< 4; i++)
00115                 currentEvent.getOrientation()[i] = dEvent.getOrientation()[i]; // copy ??
00116 
00117             currentEvent.timeStamp();
00118             updateObservers(currentEvent);
00119         }
00120     }
00121 
00122 } // namespace ot
00123 
00124 
00125 #else
00126 #pragma message(">>> OT_NO_BUTTON_SUPPORT")
00127 #endif //OT_NO_ELASTICFILTER_SUPPORT
00128 
00129 
00130 /* 
00131  * ------------------------------------------------------------
00132  *   End of ElasticFilterNode.cxx
00133  * ------------------------------------------------------------
00134  *   Automatic Emacs configuration follows.
00135  *   Local Variables:
00136  *   mode:c++
00137  *   c-basic-offset: 4
00138  *   eval: (c-set-offset 'substatement-open 0)
00139  *   eval: (c-set-offset 'case-label '+)
00140  *   eval: (c-set-offset 'statement 'c-lineup-runin-statements)
00141  *   eval: (setq indent-tabs-mode nil)
00142  *   End:
00143  * ------------------------------------------------------------ 
00144  */

copyright (c) 2006 Graz University of Technology