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Move the smoothing implementation to a different file
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@joaquimrocha @iaguis
joaquimrocha authored and iaguis committed Aug 29, 2012
1 parent 949c568 commit 9ff7a6f
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Showing 4 changed files with 285 additions and 224 deletions.
5 changes: 4 additions & 1 deletion skeltrack/Makefile.am
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,8 @@ lib_LTLIBRARIES = lib@PRJ_API_NAME@.la
# libskeltrack
source_c = \
skeltrack-joint.c \
skeltrack-skeleton.c
skeltrack-skeleton.c \
skeltrack-smooth.c

source_h = \
skeltrack.h \
Expand Down Expand Up @@ -55,6 +56,8 @@ skeltrack_HEADERS = \
$(source_h) \
$(source_h_priv)

noinst_HEADERS = skeltrack-smooth.h

# introspection support
if HAVE_INTROSPECTION

Expand Down
242 changes: 19 additions & 223 deletions skeltrack/skeltrack-skeleton.c
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@
#include <stdlib.h>

#include "skeltrack-skeleton.h"
#include "skeltrack-smooth.h"

#define SKELTRACK_SKELETON_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE ((obj), \
SKELTRACK_TYPE_SKELETON, \
Expand Down Expand Up @@ -125,12 +126,8 @@ struct _SkeltrackSkeletonPrivate
guint16 shoulders_offset;

gboolean enable_smoothing;
gfloat smoothing_factor;
guint joints_persistency;
SkeltrackJointList smoothed_joints;
SkeltrackJointList trend_joints;
guint blank_frames;
guint joints_persistency_counter[SKELTRACK_JOINT_MAX_JOINTS];
SmoothData smooth_data;
};

/* @TODO: Expose these to the user */
Expand Down Expand Up @@ -171,7 +168,6 @@ static void skeltrack_skeleton_get_property (GObject *obj,
GValue *value,
GParamSpec *pspec);

static void reset_joints_persistency_counter (SkeltrackSkeletonPrivate *priv);

static void clean_tracking_resources (SkeltrackSkeleton *self);

Expand Down Expand Up @@ -416,12 +412,12 @@ skeltrack_skeleton_init (SkeltrackSkeleton *self)
g_mutex_init (&priv->track_joints_mutex);

priv->enable_smoothing = ENABLE_SMOOTHING_DEFAULT;
priv->smoothing_factor = SMOOTHING_FACTOR_DEFAULT;
priv->smoothed_joints = NULL;
priv->trend_joints = NULL;
priv->joints_persistency = JOINTS_PERSISTENCY_DEFAULT;
priv->smooth_data.smoothing_factor = SMOOTHING_FACTOR_DEFAULT;
priv->smooth_data.smoothed_joints = NULL;
priv->smooth_data.trend_joints = NULL;
priv->smooth_data.joints_persistency = JOINTS_PERSISTENCY_DEFAULT;
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
priv->joints_persistency_counter[i] = JOINTS_PERSISTENCY_DEFAULT;
priv->smooth_data.joints_persistency_counter[i] = JOINTS_PERSISTENCY_DEFAULT;
}

static void
Expand All @@ -439,8 +435,8 @@ skeltrack_skeleton_finalize (GObject *obj)

g_mutex_clear (&self->priv->track_joints_mutex);

skeltrack_joint_list_free (self->priv->smoothed_joints);
skeltrack_joint_list_free (self->priv->trend_joints);
skeltrack_joint_list_free (self->priv->smooth_data.smoothed_joints);
skeltrack_joint_list_free (self->priv->smooth_data.trend_joints);

clean_tracking_resources (self);

Expand Down Expand Up @@ -488,12 +484,12 @@ skeltrack_skeleton_set_property (GObject *obj,
break;

case PROP_SMOOTHING_FACTOR:
self->priv->smoothing_factor = g_value_get_float (value);
self->priv->smooth_data.smoothing_factor = g_value_get_float (value);
break;

case PROP_JOINTS_PERSISTENCY:
self->priv->joints_persistency = g_value_get_uint (value);
reset_joints_persistency_counter (self->priv);
self->priv->smooth_data.joints_persistency = g_value_get_uint (value);
reset_joints_persistency_counter (&self->priv->smooth_data);
break;

case PROP_ENABLE_SMOOTHING:
Expand Down Expand Up @@ -547,11 +543,11 @@ skeltrack_skeleton_get_property (GObject *obj,
break;

case PROP_SMOOTHING_FACTOR:
g_value_set_float (value, self->priv->smoothing_factor);
g_value_set_float (value, self->priv->smooth_data.smoothing_factor);
break;

case PROP_JOINTS_PERSISTENCY:
g_value_set_uint (value, self->priv->joints_persistency);
g_value_set_uint (value, self->priv->smooth_data.joints_persistency);
break;

case PROP_ENABLE_SMOOTHING:
Expand Down Expand Up @@ -1668,206 +1664,6 @@ set_left_and_right_from_extremas (SkeltrackSkeleton *self,
g_slice_free1 (matrix_size * sizeof (gint), dist_right_b);
}

static gfloat
holt_double_exp_formula_st (gfloat alpha,
gfloat previous_trend,
gfloat current_value,
gfloat previous_smoothed_value)
{
return alpha * current_value +
(1.0 - alpha) * (previous_smoothed_value + previous_trend);
}

static gfloat
holt_double_exp_formula_bt (gfloat beta,
gfloat previous_trend,
gfloat current_smoothed_value,
gfloat previous_smoothed_value)
{
return beta * (current_smoothed_value - previous_smoothed_value) +
(1.0 - beta) * previous_trend;
}

static void
holt_double_exp_joint (gfloat alpha,
gfloat beta,
SkeltrackJoint *smoothed_joint,
SkeltrackJoint *current_joint,
SkeltrackJoint *trend_joint)
{
gfloat new_x, new_y, new_z, new_screen_x, new_screen_y;
new_x = holt_double_exp_formula_st (alpha,
trend_joint->x,
current_joint->x,
smoothed_joint->x);
new_y = holt_double_exp_formula_st (alpha,
trend_joint->y,
current_joint->y,
smoothed_joint->y);
new_z = holt_double_exp_formula_st (alpha,
trend_joint->z,
current_joint->z,
smoothed_joint->z);
new_screen_x = holt_double_exp_formula_st (alpha,
trend_joint->screen_x,
current_joint->screen_x,
smoothed_joint->screen_x);
new_screen_y = holt_double_exp_formula_st (alpha,
trend_joint->screen_y,
current_joint->screen_y,
smoothed_joint->screen_y);
trend_joint->x = holt_double_exp_formula_bt (beta,
trend_joint->x,
new_x,
smoothed_joint->x);
trend_joint->y = holt_double_exp_formula_bt (beta,
trend_joint->y,
new_y,
smoothed_joint->y);
trend_joint->z = holt_double_exp_formula_bt (beta,
trend_joint->z,
new_z,
smoothed_joint->z);
trend_joint->screen_x = holt_double_exp_formula_bt (beta,
trend_joint->screen_x,
new_screen_x,
smoothed_joint->screen_x);
trend_joint->screen_y = holt_double_exp_formula_bt (beta,
trend_joint->screen_y,
new_screen_y,
smoothed_joint->screen_y);
smoothed_joint->x = new_x;
smoothed_joint->y = new_y;
smoothed_joint->z = new_z;
smoothed_joint->screen_x = new_screen_x;
smoothed_joint->screen_y = new_screen_y;
}

static void
reset_joints_persistency_counter (SkeltrackSkeletonPrivate *priv)
{
guint i;
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
priv->joints_persistency_counter[i] = priv->joints_persistency;
}
}

static void
decrease_joints_persistency (SkeltrackSkeletonPrivate *priv)
{
guint i;
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
SkeltrackJoint *smoothed_joint = NULL;
SkeltrackJoint *trend_joint = NULL;

if (priv->smoothed_joints)
smoothed_joint = priv->smoothed_joints[i];
if (priv->trend_joints)
trend_joint = priv->trend_joints[i];

if (smoothed_joint != NULL || trend_joint != NULL)
{
if (priv->joints_persistency_counter[i] > 0)
priv->joints_persistency_counter[i]--;
else
{
skeltrack_joint_free (smoothed_joint);
skeltrack_joint_free (trend_joint);
if (smoothed_joint)
priv->smoothed_joints[i] = NULL;
if (trend_joint)
priv->trend_joints[i] = NULL;
priv->joints_persistency_counter[i] = priv->joints_persistency;
}
}
}
}

static void
smooth_joints (SkeltrackSkeletonPrivate *priv,
SkeltrackJointList new_joints)
{
guint i;

if (new_joints == NULL)
{
decrease_joints_persistency (priv);
return;
}

if (priv->smoothed_joints == NULL)
{
priv->smoothed_joints = skeltrack_joint_list_new ();
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
priv->smoothed_joints[i] = skeltrack_joint_copy (new_joints[i]);
}
return;
}
if (priv->trend_joints == NULL)
{
priv->trend_joints = skeltrack_joint_list_new ();
}

for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
SkeltrackJoint *joint, *smoothed_joint, *trend_joint;

smoothed_joint = priv->smoothed_joints[i];
trend_joint = priv->trend_joints[i];
joint = new_joints[i];
if (joint == NULL)
{
if (smoothed_joint != NULL)
{
if (priv->joints_persistency_counter[i] > 0)
priv->joints_persistency_counter[i]--;
else
{
skeltrack_joint_free (smoothed_joint);
skeltrack_joint_free (trend_joint);
priv->smoothed_joints[i] = NULL;
priv->trend_joints[i] = NULL;
priv->joints_persistency_counter[i] = priv->joints_persistency;
}
}
continue;
}
priv->joints_persistency_counter[i] = priv->joints_persistency;

if (smoothed_joint == NULL)
{
priv->smoothed_joints[i] = skeltrack_joint_copy (joint);
continue;
}

if (trend_joint == NULL)
{
/* First case (when there are only initial values) */
trend_joint = g_slice_new0 (SkeltrackJoint);
trend_joint->x = joint->x - smoothed_joint->x;
trend_joint->y = joint->y - smoothed_joint->y;
trend_joint->z = joint->z - smoothed_joint->z;
trend_joint->screen_x = joint->screen_x - smoothed_joint->screen_x;
trend_joint->screen_y = joint->screen_y - smoothed_joint->screen_y;
priv->trend_joints[i] = trend_joint;
}
else
{
/* @TODO: Check if we should give the control of each factor
independently (data-smoothing-factor and trend-smoothing-factor).
*/
holt_double_exp_joint (priv->smoothing_factor,
priv->smoothing_factor,
smoothed_joint,
joint,
trend_joint);
}
}
}

static SkeltrackJoint **
track_joints (SkeltrackSkeleton *self)
{
Expand Down Expand Up @@ -1931,22 +1727,22 @@ track_joints (SkeltrackSkeleton *self)

if (self->priv->enable_smoothing)
{
smooth_joints (self->priv, joints);
smooth_joints (&self->priv->smooth_data, joints);

if (self->priv->smoothed_joints != NULL)
if (self->priv->smooth_data.smoothed_joints != NULL)
{
guint i;
smoothed = skeltrack_joint_list_new ();
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
SkeltrackJoint *smoothed_joint, *smooth, *trend;
smoothed_joint = NULL;
smooth = self->priv->smoothed_joints[i];
smooth = self->priv->smooth_data.smoothed_joints[i];
if (smooth != NULL)
{
if (self->priv->trend_joints != NULL)
if (self->priv->smooth_data.trend_joints != NULL)
{
trend = self->priv->trend_joints[i];
trend = self->priv->smooth_data.trend_joints[i];
if (trend != NULL)
{
smoothed_joint = g_slice_new0 (SkeltrackJoint);
Expand Down
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