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feat: pass fps dynamically

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This commit is contained in:
David Madl
2026-05-19 22:36:24 +02:00
parent d4e0241590
commit 58ed5df87c
10 changed files with 71 additions and 50 deletions
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13
google-tests/test2.cpp
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@@ -79,7 +79,7 @@ TEST(HelloTest, Filter_Delta_U) {
// NOTE: later SSF must be fed -u, not u // NOTE: later SSF must be fed -u, not u
TEST(HelloTest, Filter_SSF) { TEST(HelloTest, Filter_SSF) {
SsfFilter f_ssf(3); SsfFilter f_ssf(FPS * 3/4); // target upslope_width = 3
std::vector x { 1.0, 3.0, 2.0, 5.0, 1.0, 1.5 }; std::vector x { 1.0, 3.0, 2.0, 5.0, 1.0, 1.5 };
// du { 1.0, 2.0, -1.0, 3.0, -4.0, 0.5 } // du { 1.0, 2.0, -1.0, 3.0, -4.0, 0.5 }
// duc { 1.0, 2.0, 0.0, 3.0, 0.0, 0.5 } // duc { 1.0, 2.0, 0.0, 3.0, 0.0, 0.5 }
@@ -116,8 +116,7 @@ TEST(HelloTest, Zong_SSF_Stage2) {
auto y_neg = apply_filter(f_neg, y); auto y_neg = apply_filter(f_neg, y);
// Stage 2: sum slope function // Stage 2: sum slope function
const size_t upslope_width = 4; SsfFilter f_ssf(FPS);
SsfFilter f_ssf(upslope_width);
auto ssf = apply_filter(f_ssf, y_neg); auto ssf = apply_filter(f_ssf, y_neg);
npy_save("test2/ssf_t2_ssf.npy", ssf); npy_save("test2/ssf_t2_ssf.npy", ssf);
@@ -148,22 +147,20 @@ TEST(HelloTest, Zong_SSF_Stage3) {
//std::cerr << "before stage 2" << std::endl; //std::cerr << "before stage 2" << std::endl;
// Stage 2: sum slope function // Stage 2: sum slope function
const size_t upslope_width = 4; SsfFilter f_ssf(FPS);
SsfFilter f_ssf(upslope_width);
auto ssf = apply_filter(f_ssf, y_neg); auto ssf = apply_filter(f_ssf, y_neg);
//std::cerr << "before stage 3" << std::endl; //std::cerr << "before stage 3" << std::endl;
// Stage 3: threshold detection // Stage 3: threshold detection
const size_t len_refr = (size_t) (FPS / (MAX_BPM / 60)); DebugSsfStepDetectorThreshold f_ssd_thr(FPS);
DebugSsfStepDetectorThreshold f_ssd_thr(len_refr);
auto ssf_threshold = apply_filter(f_ssd_thr, ssf); auto ssf_threshold = apply_filter(f_ssd_thr, ssf);
//std::cerr << "before writing results 1 and doing step detection" << std::endl; //std::cerr << "before writing results 1 and doing step detection" << std::endl;
npy_save("test2/ssf_t2_ssf_threshold.npy", ssf_threshold); npy_save("test2/ssf_t2_ssf_threshold.npy", ssf_threshold);
SsfStepDetector f_ssd(len_refr); SsfStepDetector f_ssd(FPS);
auto steps = apply_filter(f_ssd, ssf); auto steps = apply_filter(f_ssd, ssf);
//std::cerr << "before writing results 2" << std::endl; //std::cerr << "before writing results 2" << std::endl;

8
google-tests/test3.cpp
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@@ -174,22 +174,20 @@ TEST(SignalTest, RunningQuality_t2) {
//std::cerr << "before stage 2" << std::endl; //std::cerr << "before stage 2" << std::endl;
// Stage 2: sum slope function // Stage 2: sum slope function
const size_t upslope_width = 4; SsfFilter f_ssf(FPS);
SsfFilter f_ssf(upslope_width);
auto ssf = apply_filter(f_ssf, y_neg); auto ssf = apply_filter(f_ssf, y_neg);
//std::cerr << "before stage 3" << std::endl; //std::cerr << "before stage 3" << std::endl;
// Stage 3: threshold detection // Stage 3: threshold detection
const size_t len_refr = (size_t) (FPS / (MAX_BPM / 60)); DebugSsfStepDetectorThreshold f_ssd_thr(FPS);
DebugSsfStepDetectorThreshold f_ssd_thr(len_refr);
auto ssf_threshold = apply_filter(f_ssd_thr, ssf); auto ssf_threshold = apply_filter(f_ssd_thr, ssf);
//std::cerr << "before writing results 1 and doing step detection" << std::endl; //std::cerr << "before writing results 1 and doing step detection" << std::endl;
npy_save("test2/ssf_t3_ssf_threshold.npy", ssf_threshold); npy_save("test2/ssf_t3_ssf_threshold.npy", ssf_threshold);
SsfStepDetector f_ssd(len_refr); SsfStepDetector f_ssd(FPS);
auto steps = apply_filter(f_ssd, ssf); auto steps = apply_filter(f_ssd, ssf);
//std::cerr << "before writing results 2" << std::endl; //std::cerr << "before writing results 2" << std::endl;

6
google-tests/test4.cpp
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@@ -13,12 +13,12 @@ TEST(StepDetector, t1_sub_sample_resolution) {
std::vector<double> signal = fetch_y_axis(s); std::vector<double> signal = fetch_y_axis(s);
const size_t N = signal.size(); const size_t N = signal.size();
const size_t N_INIT = SsfStepDetector::initial_samples(); const size_t N_INIT = SsfStepDetector::initial_samples(FPS);
StepDetector det(nullptr, true); StepDetector det(FPS, nullptr, true);
// initialize: feed for priming the filters // initialize: feed for priming the filters
det.primeFilters(signal); det.primeFilters(FPS, signal);
// feed for actual test // feed for actual test
for (size_t i = 0; i < N; i++) { for (size_t i = 0; i < N; i++) {

8
google-tests/test5.cpp
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@@ -40,15 +40,13 @@ TEST(HelloTest, Zong_SSF_Test5_a1) {
//std::cerr << "before stage 2" << std::endl; //std::cerr << "before stage 2" << std::endl;
// Stage 2: sum slope function // Stage 2: sum slope function
const size_t upslope_width = 4; SsfFilter f_ssf(FPS);
SsfFilter f_ssf(upslope_width);
auto ssf = apply_filter(f_ssf, y_neg); auto ssf = apply_filter(f_ssf, y_neg);
//std::cerr << "before stage 3" << std::endl; //std::cerr << "before stage 3" << std::endl;
// Stage 3: threshold detection // Stage 3: threshold detection
const size_t len_refr = (size_t) (FPS / (MAX_BPM / 60)); DebugSsfStepDetectorThreshold f_ssd_thr(FPS);
DebugSsfStepDetectorThreshold f_ssd_thr(len_refr);
auto ssf_threshold = apply_filter(f_ssd_thr, ssf); auto ssf_threshold = apply_filter(f_ssd_thr, ssf);
//std::cerr << "before writing results 1 and doing step detection" << std::endl; //std::cerr << "before writing results 1 and doing step detection" << std::endl;
@@ -57,7 +55,7 @@ TEST(HelloTest, Zong_SSF_Test5_a1) {
npy_save("test5/ssf_a1_ssf.npy", ssf); npy_save("test5/ssf_a1_ssf.npy", ssf);
npy_save("test5/ssf_a1_ssf_threshold.npy", ssf_threshold); npy_save("test5/ssf_a1_ssf_threshold.npy", ssf_threshold);
SsfStepDetector f_ssd(len_refr); SsfStepDetector f_ssd(FPS);
auto steps = apply_filter(f_ssd, ssf); auto steps = apply_filter(f_ssd, ssf);
//std::cerr << "before writing results 2" << std::endl; //std::cerr << "before writing results 2" << std::endl;

2
google-tests/test_helpers.cpp
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@@ -46,7 +46,7 @@ std::vector<double> fetch_y_axis(npy::npy_data<double>& acc, int dim) {
return signal; return signal;
} }
DebugSsfStepDetectorThreshold::DebugSsfStepDetectorThreshold(size_t len_refr) : SsfStepDetector(len_refr) {} DebugSsfStepDetectorThreshold::DebugSsfStepDetectorThreshold(double fps) : SsfStepDetector(fps) {}
double DebugSsfStepDetectorThreshold::filter(double val) { double DebugSsfStepDetectorThreshold::filter(double val) {
this->SsfStepDetector::filter(val); this->SsfStepDetector::filter(val);
return peek_threshold(); return peek_threshold();

2
google-tests/test_helpers.h
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@@ -27,7 +27,7 @@ std::vector<double> fetch_y_axis(npy::npy_data<double>& acc, int dim = 1);
/** Returns the ssf_threshold as the filter output for debugging. */ /** Returns the ssf_threshold as the filter output for debugging. */
class DebugSsfStepDetectorThreshold : public SsfStepDetector { class DebugSsfStepDetectorThreshold : public SsfStepDetector {
public: public:
DebugSsfStepDetectorThreshold(size_t len_refr); DebugSsfStepDetectorThreshold(double fps);
double filter(double val); double filter(double val);
}; };

10
pasada-lib/include/ssf_filter.h
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@@ -18,11 +18,10 @@
*/ */
class SsfFilter { class SsfFilter {
protected: protected:
size_t sw;
Filt f_delta_u; Filt f_delta_u;
Filt f_window; Filt f_window;
public: public:
SsfFilter(size_t upslope_width); SsfFilter(double fps);
double filter(double val); double filter(double val);
}; };
@@ -44,16 +43,17 @@ protected:
size_t n_refr; size_t n_refr;
bool is_refr; bool is_refr;
double ssf_nm1; double ssf_nm1;
size_t ssf_usw2;
Filt f_ssf_mean; Filt f_ssf_mean;
public: public:
/** /**
* @param len_refr duration of refractory period, in samples * @param len_refr duration of refractory period, in samples
*/ */
SsfStepDetector(size_t len_refr); SsfStepDetector(double fps);
double filter(double val); double filter(double val);
double peek_threshold(); double peek_threshold();
static size_t initial_samples(); static size_t initial_samples(double fps);
}; };
/** /**
@@ -115,7 +115,7 @@ protected:
std::vector<double> ssf_buf; std::vector<double> ssf_buf;
double sqi; double sqi;
public: public:
RunningQualityFilter(size_t upslope_width); RunningQualityFilter(double fps);
double filter(double y, double ssf, double step); double filter(double y, double ssf, double step);
}; };

4
pasada-lib/include/step_detector.h
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@@ -36,7 +36,7 @@ protected:
std::vector<double> buf_out; std::vector<double> buf_out;
public: public:
StepDetector(StepListener *listener, bool debug = false); StepDetector(double fps, StepListener *listener, bool debug = false);
void filter(std::vector<float> values); void filter(std::vector<float> values);
std::vector<double> getBufSsd(); std::vector<double> getBufSsd();
std::vector<double> getBufSqi(); std::vector<double> getBufSqi();
@@ -46,7 +46,7 @@ public:
* Prime the filters using the given input signal. * Prime the filters using the given input signal.
* Used for debugging (non-realtime processing) to align the signal. * Used for debugging (non-realtime processing) to align the signal.
*/ */
void primeFilters(std::vector<double> sig); void primeFilters(double fps, std::vector<double> sig);
}; };
#endif //PASADASUPERPROJECT_STEP_DETECTOR_H #endif //PASADASUPERPROJECT_STEP_DETECTOR_H

56
pasada-lib/ssf_filter.cpp
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@@ -27,11 +27,18 @@ static std::vector<double> make_ones(size_t sw) {
return ones; return ones;
} }
SsfFilter::SsfFilter(size_t upslope_width) : static int get_upslope_width(double fps) {
sw(upslope_width), // was 4 at 60 fps = 66.7 ms
if (fps == 4.0) throw std::invalid_argument("check SsfFilter ctor call, must pass fps now"); // nice-to remove
int usw = static_cast<int>(std::round(0.0667 * fps));
if (usw == 0) throw std::invalid_argument("upslope_width = 0 computed - low fps?");
return usw;
}
SsfFilter::SsfFilter(double fps) :
// Filt(N, shift, offset, taps) // Filt(N, shift, offset, taps)
f_delta_u(2, 0, 0, std::vector<double> {1.0, -1.0}), f_delta_u(2, 0, 0, std::vector<double> {1.0, -1.0}),
f_window(upslope_width, 0, 0, make_ones(upslope_width)) f_window(get_upslope_width(fps), 0, 0, make_ones(get_upslope_width(fps)))
{} {}
double SsfFilter::filter(double val) { double SsfFilter::filter(double val) {
double du = f_delta_u.filter(val); double du = f_delta_u.filter(val);
@@ -40,18 +47,41 @@ double SsfFilter::filter(double val) {
return ssf; return ssf;
} }
size_t SsfStepDetector::initial_samples() { return (size_t) (3.0 * FPS); }
SsfStepDetector::SsfStepDetector(size_t len_refr) : static size_t get_initial_samples(double fps) {
if (fps == 12.0) throw std::invalid_argument("check SsfStepDetector ctor call, must pass fps now"); // nice-to remove
int init_samp = static_cast<int>(std::round(3.0 * fps));
if (init_samp == 0) throw std::invalid_argument("init_samp = 0 computed - low fps?");
return init_samp;
}
size_t SsfStepDetector::initial_samples(double fps) { return get_initial_samples(fps); }
static size_t get_len_refr(double fps) {
if (fps == 12.0) throw std::invalid_argument("check SsfStepDetector ctor call, must pass fps now"); // nice-to remove
size_t len_refr = static_cast<size_t>(std::round(fps / (MAX_BPM / 60)));
if (len_refr == 0) throw std::invalid_argument("len_refr = 0 computed - low fps?");
return len_refr;
}
static int get_len_ssf_th_smoothing(double fps) {
// was 6 at 60 fps = 100 ms
if (fps == 12.0) throw std::invalid_argument("check SsfStepDetector ctor call, must pass fps now"); // nice-to remove
int sts = static_cast<int>(std::round(0.100 * fps));
if (sts == 0) throw std::invalid_argument("len_ssf_th_smoothing = 0 computed - low fps?");
return sts;
}
SsfStepDetector::SsfStepDetector(double fps) :
// note: also change above, in initial_samples() // note: also change above, in initial_samples()
LEN_INIT((size_t) (3.0 * FPS)), // initial window length for ssf_threshold LEN_INIT(get_initial_samples(fps)), // initial window length for ssf_threshold
LEN_TH_WIN((size_t) (3.0 * FPS)), // subsequent window length for ssf_threshold LEN_TH_WIN(get_initial_samples(fps)), // subsequent window length for ssf_threshold
num_samples(0), num_samples(0),
ssf_threshold(std::numeric_limits<double>::infinity()), ssf_threshold(std::numeric_limits<double>::infinity()),
ssf_threshold_nm1(std::numeric_limits<double>::infinity()), ssf_threshold_nm1(std::numeric_limits<double>::infinity()),
f_ssf_threshold_smoothing(6, 0, 0, make_ones(6)), f_ssf_threshold_smoothing(get_len_ssf_th_smoothing(fps), 0, 0, make_ones(get_len_ssf_th_smoothing(fps))),
len_refr(len_refr), n_refr(0), is_refr(false), len_refr(get_len_refr(fps)), n_refr(0), is_refr(false),
ssf_nm1(0.0), ssf_nm1(0.0),
ssf_usw2(get_upslope_width(fps)/2),
f_ssf_mean(LEN_TH_WIN, 0, 0, make_ones(LEN_TH_WIN)) f_ssf_mean(LEN_TH_WIN, 0, 0, make_ones(LEN_TH_WIN))
{ {
assert (LEN_INIT >= LEN_TH_WIN && "LEN_INIT < LEN_TH_WIN, check normalization of initial ssf_threshold"); assert (LEN_INIT >= LEN_TH_WIN && "LEN_INIT < LEN_TH_WIN, check normalization of initial ssf_threshold");
@@ -89,12 +119,10 @@ double SsfStepDetector::filter(double ssf) {
} else if (num_samples > LEN_TH_WIN) { } else if (num_samples > LEN_TH_WIN) {
//DEBUG_PRINT(std::cerr << "adaptive threshold setting" << std::endl); //DEBUG_PRINT(std::cerr << "adaptive threshold setting" << std::endl);
// adaptive threshold setting // adaptive threshold setting
// +2 is half the window size // the ssf peak comes SsfFilter.upslope_width/2 = 3 samples (half-window + 1 sample) after the crossing
// TODO: param upon SsfFilter.upslope_width/2 instead of hardcoding -- also f_ssf_threshold_smoothing(), nb. should be even number if (num_samples == n_refr + ssf_usw2 + 1) {
if (num_samples == n_refr + 2) {
//DEBUG_PRINT(std::cerr << "setting adaptive threshold setting" << std::endl); //DEBUG_PRINT(std::cerr << "setting adaptive threshold setting" << std::endl);
ssf_threshold_nm1 = ssf_threshold; ssf_threshold_nm1 = ssf_threshold;
// the ssf peak comes 3 samples (half-window + 1 sample) after the crossing
ssf_threshold = f_ssf_threshold_smoothing.filter(ssf) / ((double) f_ssf_threshold_smoothing.size()) * 0.6; ssf_threshold = f_ssf_threshold_smoothing.filter(ssf) / ((double) f_ssf_threshold_smoothing.size()) * 0.6;
} }
} }
@@ -193,7 +221,7 @@ bool RunningQuality::append(std::vector<double> &rawBeat, std::vector<double> &r
} }
RunningQualityFilter::RunningQualityFilter(size_t upslope_width) : sqi(0.0) {} RunningQualityFilter::RunningQualityFilter(double fps) : sqi(0.0) {}
double RunningQualityFilter::filter(double y, double ssf, double step) { double RunningQualityFilter::filter(double y, double ssf, double step) {
if (step == 1.0) { if (step == 1.0) {

12
pasada-lib/step_detector.cpp
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@@ -19,13 +19,13 @@ static std::vector<double> hpf_taps_a {1. , -4.83056552, 9.33652742, -9.
static size_t upslope_width = 4; static size_t upslope_width = 4;
const size_t len_refr = (size_t) (FPS / (MAX_BPM / 60)); const size_t len_refr = (size_t) (FPS / (MAX_BPM / 60));
StepDetector::StepDetector(StepListener *listener, bool debug) : StepDetector::StepDetector(double fps, StepListener *listener, bool debug) :
listener(listener), listener(listener),
f_highpass(hpf_taps_b, hpf_taps_a), f_highpass(hpf_taps_b, hpf_taps_a),
f_neg(1, 0, 0, std::vector<double> {-1.0}), f_neg(1, 0, 0, std::vector<double> {-1.0}),
f_ssf(upslope_width), f_ssf(fps),
f_ssd(len_refr), f_ssd(fps),
f_sqi(upslope_width), f_sqi(fps),
debug(debug) debug(debug)
{} {}
@@ -56,8 +56,8 @@ std::vector<double> StepDetector::getBufSsd() { return buf_ssd; }
std::vector<double> StepDetector::getBufSqi() { return buf_sqi; } std::vector<double> StepDetector::getBufSqi() { return buf_sqi; }
std::vector<double> StepDetector::getBufOut() { return buf_out; } std::vector<double> StepDetector::getBufOut() { return buf_out; }
void StepDetector::primeFilters(std::vector<double> sig) { void StepDetector::primeFilters(double fps, std::vector<double> sig) {
const size_t N_INIT = SsfStepDetector::initial_samples(); const size_t N_INIT = SsfStepDetector::initial_samples(fps);
// initialize: feed for priming the filters // initialize: feed for priming the filters
for (size_t i = 0; i < N_INIT; i++) { for (size_t i = 0; i < N_INIT; i++) {
const auto a_i = static_cast<float>(sig[i]); const auto a_i = static_cast<float>(sig[i]);