void PointerMapper::compute(HandResolver& hand_resolver, Reprojector& reprojector)
{
active = false;
if (calibrated)
{
float dist_max = value_store.get_float("dist_max", 0);
float dist = get_distance(pt_palm, pt_index);
float ratio = dist / dist_max;
// COUT << ratio << endl;
}
else
{
float dist_max = value_store.get_float("dist_max", 0);
float dist = get_distance(pt_palm, pt_index);
if (dist > dist_max)
dist_max = dist;
value_store.set_float("dist_max", dist_max);
}
pt_palm = reprojector.reproject_to_3d(hand_resolver.pt_precise_palm0.x, hand_resolver.pt_precise_palm0.y,
hand_resolver.pt_precise_palm1.x, hand_resolver.pt_precise_palm1.y);
compute_cursor_point(index_down, hand_resolver.pt_precise_index0, hand_resolver.pt_precise_index1,
pt_index, reprojector, pt_cursor_index, dist_cursor_index_plane, actuate_dist, "compute_index");
compute_cursor_point(thumb_down, hand_resolver.pt_precise_thumb0, hand_resolver.pt_precise_thumb1,
pt_thumb, reprojector, pt_cursor_thumb, dist_cursor_thumb_plane, actuate_dist + 10, "compute_thumb");
if (pt_cursor_index.y > 1500)
{
pose_name = "";
index_down = false;
}
if (calibrated)
{
if (!index_down)
thumb_down = false;
compute_pinch_to_zoom(hand_resolver);
}
}
void PointerMapper::compute_cursor_point(bool& target_down, Point2f& pt_target0, Point2f& pt_target1, Point3f& pt_target,
Reprojector& reprojector, Point2f& pt_cursor, float& dist_cursor_target_plane,
const float actuation_dist, string name)
{
LowPassFilter* low_pass_filter = value_store.get_low_pass_filter("low_pass_filter" + name);
if (do_reset)
{
do_reset = false;
low_pass_filter->reset();
}
if (pt_target0.x != -1 && pt_target1.x != -1)
{
active = true;
pt_target = reprojector.reproject_to_3d(pt_target0.x, pt_target0.y, pt_target1.x, pt_target1.y);
if (calibrated)
{
Point3f pt_target_projected;
float dist_target_plane;
project_to_plane(pt_target, pt_target_projected, dist_target_plane);
rect_warper.warp(pt_target_projected.x, pt_target_projected.y, pt_cursor.x, pt_cursor.y);
if (value_store.has_point2f("pt_cursor" + name))
{
Point2f temp = value_store.get_point2f("pt_cursor" + name);
float alpha = get_distance(pt_cursor, temp) / 1000;
if (alpha < 0.05)
alpha = 0.05;
else if (alpha > 1)
alpha = 1;
// low_pass_filter->compute(alpha, 0.5, "alpha" + name);
low_pass_filter->compute(pt_cursor, alpha, "pt_cursor" + name);
}
value_store.set_point2f("pt_cursor" + name, pt_cursor);
float hit_dist = compute_hit_dist(pt_target_projected);
dist_cursor_target_plane = dist_target_plane - hit_dist;
low_pass_filter->compute(dist_cursor_target_plane, 0.2, "dist_cursor_target_plane");
float hit_dist_processed = hit_dist;
// float hit_dist_processed_old = value_store.get_float("hit_dist_processed_old" + name, hit_dist_processed);
// hit_dist_processed += ((hit_dist_processed - hit_dist_processed_old) * 0.25);
// value_store.set_float("hit_dist_processed_old" + name, hit_dist_processed);
float dist_cursor_target_plane_no_lowpass = dist_target_plane - hit_dist_processed;
if (dist_cursor_target_plane_no_lowpass <= actuation_dist + 2)
value_store.set_bool("actuated" + name, true);
if (value_store.get_bool("actuated" + name))
{
target_down = true;
if (dist_cursor_target_plane_no_lowpass > actuation_dist + 5)
{
target_down = false;
value_store.set_bool("actuated" + name, false);
}
}
}
}
else
low_pass_filter->reset();
}
