@webarkit/jsartoolkit-nft/js/one-euro-filter.js

Emscripten port of ARToolKit5 to JavaScript. It is a lighter version of Jsartoolkit5 with only NFT markerless support

// Ref: https://jaantollander.com/post/noise-filtering-using-one-euro-filter/#mjx-eqn%3A1

const smoothingFactor = (te, cutoff) => {
  const r = 2 * Math.PI * cutoff * te;
  return r / (r + 1);
};

const exponentialSmoothing = (a, x, xPrev) => {
  return a * x + (1 - a) * xPrev;
};

class OneEuroFilter {
  constructor({ minCutOff, beta }) {
    this.minCutOff = minCutOff;
    this.beta = beta;
    this.dCutOff = 0.001; // period in milliseconds, so default to 0.001 = 1Hz

    this.xPrev = null;
    this.dxPrev = null;
    this.tPrev = null;
    this.initialized = false;
  }

  reset() {
    this.initialized = false;
  }

  filter(t, x) {
    if (!this.initialized) {
      this.initialized = true;
      this.xPrev = x;
      this.dxPrev = x.map(() => 0);
      this.tPrev = t;
      return x;
    }

    const { xPrev, tPrev, dxPrev } = this;

    //console.log("filter", x, xPrev, x.map((xx, i) => x[i] - xPrev[i]));

    const te = t - tPrev;

    const ad = smoothingFactor(te, this.dCutOff);

    const dx = [];
    const dxHat = [];
    const xHat = [];
    for (let i = 0; i < x.length; i++) {
      // The filtered derivative of the signal.
      dx[i] = (x[i] - xPrev[i]) / te;
      dxHat[i] = exponentialSmoothing(ad, dx[i], dxPrev[i]);

      // The filtered signal
      const cutOff = this.minCutOff + this.beta * Math.abs(dxHat[i]);
      const a = smoothingFactor(te, cutOff);
      xHat[i] = exponentialSmoothing(a, x[i], xPrev[i]);
    }

    // update prev
    this.xPrev = xHat;
    this.dxPrev = dxHat;
    this.tPrev = t;

    return xHat;
  }
}