Project import generated by Copybara.

GitOrigin-RevId: c3919b8aaf432b2e4a1f0cf404b2cbfe37dad35e

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.cc

@@ -2,11 +2,24 @@
 
 namespace mediapipe {
 namespace autoflip {
+namespace {
+int Median(const std::deque<std::pair<uint64, int>>& positions_raw) {
+  std::deque<int> positions;
+  for (const auto& position : positions_raw) {
+    positions.push_back(position.second);
+  }
 
+  size_t n = positions.size() / 2;
+  nth_element(positions.begin(), positions.begin() + n, positions.end());
+  return positions[n];
+}
+}  // namespace
 ::mediapipe::Status KinematicPathSolver::AddObservation(int position,
                                                         const uint64 time_us) {
   if (!initialized_) {
     current_position_px_ = position;
+    raw_positions_at_time_.push_front(
+        std::pair<uint64, int>(time_us, position));
     current_time_ = time_us;
     initialized_ = true;
     current_velocity_deg_per_s_ = 0;
@@ -16,13 +29,26 @@ namespace autoflip {
         << "update_rate_seconds must be greater than 0.";
     RET_CHECK_GE(options_.min_motion_to_reframe(), options_.reframe_window())
         << "Reframe window cannot exceed min_motion_to_reframe.";
+    RET_CHECK_GE(options_.filtering_time_window_us(), 0)
+        << "update_rate_seconds must be greater than 0.";
     return ::mediapipe::OkStatus();
   }
 
   RET_CHECK(current_time_ < time_us)
       << "Observation added before a prior observations.";
 
-  double delta_degs = (position - current_position_px_) / pixels_per_degree_;
+  raw_positions_at_time_.push_front(std::pair<uint64, int>(time_us, position));
+  while (raw_positions_at_time_.size() > 1) {
+    if (static_cast<int64>(raw_positions_at_time_.back().first) <
+        static_cast<int64>(time_us) - options_.filtering_time_window_us()) {
+      raw_positions_at_time_.pop_back();
+    } else {
+      break;
+    }
+  }
+
+  double delta_degs = (Median(raw_positions_at_time_) - current_position_px_) /
+                      pixels_per_degree_;
 
   // If the motion is smaller than the min, don't use the update.
   if (abs(delta_degs) < options_.min_motion_to_reframe()) {

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.h

@@ -15,6 +15,8 @@
 #ifndef MEDIAPIPE_EXAMPLES_DESKTOP_AUTOFLIP_QUALITY_UNIFORM_ACCELERATION_PATH_SOLVER_H_
 #define MEDIAPIPE_EXAMPLES_DESKTOP_AUTOFLIP_QUALITY_UNIFORM_ACCELERATION_PATH_SOLVER_H_
 
+#include <deque>
+
 #include "mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.pb.h"
 #include "mediapipe/framework/port/integral_types.h"
 #include "mediapipe/framework/port/ret_check.h"
@@ -61,6 +63,8 @@ class KinematicPathSolver {
   double current_position_px_;
   double current_velocity_deg_per_s_;
   uint64 current_time_;
+  // History of observations (second) and their time (first).
+  std::deque<std::pair<uint64, int>> raw_positions_at_time_;
 };
 
 }  // namespace autoflip

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.proto

@@ -20,4 +20,6 @@ message KinematicOptions {
   // where delta_time_s is the time since the last frame.
   optional double update_rate_seconds = 5 [default = 0.20];
   optional double max_update_rate = 6 [default = 0.8];
+  // History time window of observations to be median filtered.
+  optional int64 filtering_time_window_us = 7 [default = 0];
 }

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver_test.cc

@@ -81,6 +81,46 @@ TEST(KinematicPathSolverTest, PassNotEnoughMotionSmallImg) {
   EXPECT_EQ(state, 400);
 }
 
+TEST(KinematicPathSolverTest, PassEnoughMotionFiltered) {
+  KinematicOptions options;
+  // Set min motion to 2deg
+  options.set_min_motion_to_reframe(1.0);
+  options.set_update_rate(1);
+  options.set_max_velocity(1000);
+  options.set_filtering_time_window_us(3000000);
+  // Set degrees / pixel to 16.6
+  KinematicPathSolver solver(options, 0, 1000, 1000.0 / kWidthFieldOfView);
+  int state;
+  MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 0));
+  // Move target by 20px / 16.6 = 1.2deg
+  MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 1));
+  MP_ASSERT_OK(solver.AddObservation(520, kMicroSecInSec * 2));
+  MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 3));
+  MP_ASSERT_OK(solver.GetState(&state));
+  // Expect cam to not move.
+  EXPECT_EQ(state, 500);
+}
+
+TEST(KinematicPathSolverTest, PassEnoughMotionNotFiltered) {
+  KinematicOptions options;
+  // Set min motion to 2deg
+  options.set_min_motion_to_reframe(1.0);
+  options.set_update_rate(1);
+  options.set_max_velocity(1000);
+  options.set_filtering_time_window_us(0);
+  // Set degrees / pixel to 16.6
+  KinematicPathSolver solver(options, 0, 1000, 1000.0 / kWidthFieldOfView);
+  int state;
+  MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 0));
+  // Move target by 20px / 16.6 = 1.2deg
+  MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 1));
+  MP_ASSERT_OK(solver.AddObservation(520, kMicroSecInSec * 2));
+  MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 3));
+  MP_ASSERT_OK(solver.GetState(&state));
+  // Expect cam to not move.
+  EXPECT_EQ(state, 519);
+}
+
 TEST(KinematicPathSolverTest, PassEnoughMotionLargeImg) {
   KinematicOptions options;
   // Set min motion to 1deg