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feat: StepDetector update FPS, more FPS fixes

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This commit is contained in:
David Madl
2026-05-20 00:57:49 +02:00
parent f591f4950f
commit 60a5b109bb
6 changed files with 40 additions and 19 deletions
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9
google-tests/test3.cpp
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@@ -94,8 +94,8 @@ protected:
std::vector<bool> goods; std::vector<bool> goods;
public: public:
DebugRunningQuality(): lockedAt(-1), locked(false) {} DebugRunningQuality(double fps): RunningQuality(fps), lockedAt(-1), locked(false) {}
explicit DebugRunningQuality(bool disableSsf): RunningQuality(disableSsf), locked(false) {} explicit DebugRunningQuality(double fps, bool disableSsf): RunningQuality(fps, disableSsf), locked(false) {}
virtual ~DebugRunningQuality() {} virtual ~DebugRunningQuality() {}
bool isLocked() { return locked; } bool isLocked() { return locked; }
std::vector<double> getCorrs() { return corrs; } std::vector<double> getCorrs() { return corrs; }
@@ -126,7 +126,8 @@ TEST(SignalTest, resample_same_len) {
*/ */
TEST(SignalTest, RunningQuality_t1) { TEST(SignalTest, RunningQuality_t1) {
DebugRunningQuality sqi(true); double fps = 60.0;
DebugRunningQuality sqi(fps, true);
std::vector a {0.0, 0.3, 0.9, 1.0, 0.7, 0.5, 0.1}; std::vector a {0.0, 0.3, 0.9, 1.0, 0.7, 0.5, 0.1};
std::vector b {0.0, 0.3, 0.9, 1.0, 0.5, 0.5, 0.1}; std::vector b {0.0, 0.3, 0.9, 1.0, 0.5, 0.5, 0.1};
std::vector c {0.0, 0.3, 0.9, 1.0, 0.9, 0.5, 0.1}; std::vector c {0.0, 0.3, 0.9, 1.0, 0.9, 0.5, 0.1};
@@ -194,7 +195,7 @@ TEST(SignalTest, RunningQuality_t2) {
// Debug SQI // Debug SQI
DebugRunningQuality sqi; DebugRunningQuality sqi(fps);
std::vector<double> beat_buf; std::vector<double> beat_buf;
std::vector<double> ssf_buf; std::vector<double> ssf_buf;

2
google-tests/test4.cpp
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@@ -25,7 +25,7 @@ TEST(StepDetector, t1_sub_sample_resolution) {
// feed for actual test // feed for actual test
for (size_t i = 0; i < N; i++) { for (size_t i = 0; i < N; i++) {
const auto a_i = static_cast<float>(signal[i]); const auto a_i = static_cast<float>(signal[i]);
det.filter(ts, std::vector<float> {0.0f, a_i, 0.0f}); det.filter(ts * 1e9, std::vector<float> {0.0f, a_i, 0.0f});
ts += 1.0 / fps; ts += 1.0 / fps;
} }

21
pasada-lib/include/ssf_filter.h
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@@ -33,8 +33,8 @@ public:
*/ */
class SsfStepDetector { class SsfStepDetector {
protected: protected:
const size_t LEN_INIT; size_t LEN_INIT;
const size_t LEN_TH_WIN; size_t LEN_TH_WIN;
size_t num_samples; size_t num_samples;
double ssf_threshold; double ssf_threshold;
double ssf_threshold_nm1; double ssf_threshold_nm1;
@@ -50,6 +50,7 @@ public:
* @param len_refr duration of refractory period, in samples * @param len_refr duration of refractory period, in samples
*/ */
SsfStepDetector(double fps); SsfStepDetector(double fps);
~SsfStepDetector();
double filter(double val); double filter(double val);
double peek_threshold(); double peek_threshold();
@@ -62,18 +63,19 @@ public:
class RunningQuality { class RunningQuality {
protected: protected:
// TODO: make it a filter (output proper samples) // TODO: make it a filter (output proper samples)
// TODO: use fps info
/** template beat is resampled to this #samples */ /** template beat is resampled to this #samples */
const int BEAT_LEN = 120 /* 2*FPS for 30 bpm lower end */; int BEAT_LEN;
/** threshold for accepting initial beats */ /** threshold for accepting initial beats */
const double BEAT_CORR_THR_1 = 0.9; double BEAT_CORR_THR_1 = 0.9;
/** threshold for accepting subsequent beats */ /** threshold for accepting subsequent beats */
const double BEAT_CORR_THR_2 = 0.8; double BEAT_CORR_THR_2 = 0.8;
/** absolute SSF threshold for accepting any beat */ /** absolute SSF threshold for accepting any beat */
const double SSF_THRESHOLD = 5.0; double SSF_THRESHOLD = 5.0;
/** number of recent beats to use for beat template. must be even (alternating feet have different patterns; make it symmetric) */ /** number of recent beats to use for beat template. must be even (alternating feet have different patterns; make it symmetric) */
const int NUM_BEATS = 4; int NUM_BEATS = 4;
std::deque<std::vector<double> > beatTemplates; std::deque<std::vector<double> > beatTemplates;
std::vector<double> beatTemplate; std::vector<double> beatTemplate;
@@ -93,8 +95,8 @@ protected:
virtual void dispatchBeat(int idx, bool good, double posCorr); virtual void dispatchBeat(int idx, bool good, double posCorr);
public: public:
RunningQuality(); RunningQuality(double fps);
explicit RunningQuality(bool disableSsf); explicit RunningQuality(double fps, bool disableSsf);
virtual ~RunningQuality(); virtual ~RunningQuality();
// note: arg should be an iterator really, but can do later // note: arg should be an iterator really, but can do later
@@ -116,6 +118,7 @@ protected:
double sqi; double sqi;
public: public:
RunningQualityFilter(double fps); RunningQualityFilter(double fps);
~RunningQualityFilter();
double filter(double y, double ssf, double step); double filter(double y, double ssf, double step);
}; };

1
pasada-lib/include/step_detector.h
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@@ -51,6 +51,7 @@ protected:
Resampler res_x; Resampler res_x;
Resampler res_y; Resampler res_y;
Resampler res_z; Resampler res_z;
double fps;
public: public:
StepDetector(double fps, StepListener *listener, bool debug = false); StepDetector(double fps, StepListener *listener, bool debug = false);

13
pasada-lib/ssf_filter.cpp
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@@ -86,6 +86,7 @@ SsfStepDetector::SsfStepDetector(double fps) :
{ {
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");
} }
SsfStepDetector::~SsfStepDetector() {}
double SsfStepDetector::filter(double ssf) { double SsfStepDetector::filter(double ssf) {
double ssf_mean = f_ssf_mean.filter(ssf) / ((double) LEN_TH_WIN); double ssf_mean = f_ssf_mean.filter(ssf) / ((double) LEN_TH_WIN);
double rv = 0.0; double rv = 0.0;
@@ -154,8 +155,13 @@ void RunningQuality::replaceTemplate(std::vector<double>& x) {
void RunningQuality::dispatchLocked() { /* implement me, add Listener etc. */ } void RunningQuality::dispatchLocked() { /* implement me, add Listener etc. */ }
void RunningQuality::dispatchBeat(int idx, bool good, double posCorr) { /* implement me, add Listener etc. */ } void RunningQuality::dispatchBeat(int idx, bool good, double posCorr) { /* implement me, add Listener etc. */ }
RunningQuality::RunningQuality(): beatCorrThr2(BEAT_CORR_THR_2), justLocked(false), idx(0), disableSsf(false) {} static int get_beat_len(double fps) {
RunningQuality::RunningQuality(bool disableSsf): beatCorrThr2(BEAT_CORR_THR_2), justLocked(false), idx(0), disableSsf(disableSsf) {} /* 2*FPS for 30 bpm lower end */
return 2.0 * fps;
}
RunningQuality::RunningQuality(double fps): BEAT_LEN(get_beat_len(fps)), beatCorrThr2(BEAT_CORR_THR_2), justLocked(false), idx(0), disableSsf(false) {}
RunningQuality::RunningQuality(double fps, bool disableSsf): BEAT_LEN(get_beat_len(fps)), beatCorrThr2(BEAT_CORR_THR_2), justLocked(false), idx(0), disableSsf(disableSsf) {}
RunningQuality::~RunningQuality() {} RunningQuality::~RunningQuality() {}
// note: arg should be an iterator really, but can do later // note: arg should be an iterator really, but can do later
@@ -221,7 +227,8 @@ bool RunningQuality::append(std::vector<double> &rawBeat, std::vector<double> &r
} }
RunningQualityFilter::RunningQualityFilter(double fps) : sqi(0.0) {} RunningQualityFilter::RunningQualityFilter(double fps) : f_sqi(fps), sqi(0.0) {}
RunningQualityFilter::~RunningQualityFilter() {}
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) {

13
pasada-lib/step_detector.cpp
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@@ -12,7 +12,8 @@ StepDetector::StepDetector(double fps, StepListener *listener, bool debug) :
f_ssf(fps), f_ssf(fps),
f_ssd(fps), f_ssd(fps),
f_sqi(fps), f_sqi(fps),
debug(debug) debug(debug),
fps(0.0)
{} {}
static int gravity_num_taps(double fps) { static int gravity_num_taps(double fps) {
@@ -50,6 +51,14 @@ void StepDetector::filter(double ts, std::vector<float> values) {
res_x.push(ts, values[0]); res_x.push(ts, values[0]);
res_y.push(ts, values[1]); res_y.push(ts, values[1]);
res_z.push(ts, values[2]); res_z.push(ts, values[2]);
// as soon as there is 'fps' information, re-init the classes requiring fps info
if (fps == 0.0 && res_x.peek()) {
fps = res_x.get_fs();
f_grav = GravityFilter(fps);
f_ssf = SsfFilter(fps);
f_ssd = SsfStepDetector(fps);
f_sqi = RunningQualityFilter(fps);
}
while (res_x.peek()) { while (res_x.peek()) {
double x = res_x.get(), y = res_y.get(), z = res_z.get(); double x = res_x.get(), y = res_y.get(), z = res_z.get();
std::vector<double> samp { x, y, z }; std::vector<double> samp { x, y, z };
@@ -85,7 +94,7 @@ double StepDetector::primeFilters(double fps, std::vector<double> sig) {
double ts = 0; double ts = 0;
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]);
filter(ts, std::vector<float> {0.0f, a_i, 0.0f}); filter(ts * 1e9, std::vector<float> {0.0f, a_i, 0.0f});
ts += 1.0 / fps; ts += 1.0 / fps;
} }
// clear debug buffers // clear debug buffers