54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
//
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// Created by david on 15.03.2026.
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//
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#include "step_detector.h"
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StepDetector::StepDetector(double fps, StepListener *listener, bool debug) :
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listener(listener),
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f_neg(1, 0, 0, std::vector<double> {-1.0}),
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f_ssf(fps),
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f_ssd(fps),
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f_sqi(fps),
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debug(debug)
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{}
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#if (FPS != 60)
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#error "FPS must currently be 60, as highpass taps are pre-computed for that value"
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#endif
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void StepDetector::filter(std::vector<float> values) {
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// TODO: later on, we should use a vector projection towards gravity
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auto s1 = (double) values[1]; // take y-axis value for now
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auto s2 = f_neg.filter(s1);
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auto s3 = f_ssf.filter(s2);
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auto s4 = f_ssd.filter(s3);
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auto q5 = f_sqi.filter(s2, s3, s4);
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if (debug) {
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buf_ssd.push_back(s4);
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buf_sqi.push_back(q5);
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buf_out.push_back(s4 * (q5 > 0.0 ? 1.0 : 0.0));
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}
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// is step, step quality is OK, and we have a listener?
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if(s4 > 0.0 && q5 > 0.0 && listener != nullptr) {
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listener->playBeat();
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}
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}
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std::vector<double> StepDetector::getBufSsd() { return buf_ssd; }
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std::vector<double> StepDetector::getBufSqi() { return buf_sqi; }
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std::vector<double> StepDetector::getBufOut() { return buf_out; }
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void StepDetector::primeFilters(double fps, std::vector<double> sig) {
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const size_t N_INIT = SsfStepDetector::initial_samples(fps);
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// initialize: feed for priming the filters
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for (size_t i = 0; i < N_INIT; i++) {
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const auto a_i = static_cast<float>(sig[i]);
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filter(std::vector<float> {0.0f, a_i, 0.0f});
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}
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// clear debug buffers
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buf_ssd.clear();
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buf_sqi.clear();
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buf_out.clear();
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}
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