Added a filter based on natural body movements, which reduces higher frequency noise and cancels low speed position drift

9 files changed, 1152 insertions, 0 deletions

diff --git a/filter-tom/CMakeLists.txt b/filter-tom/CMakeLists.txt
new file mode 100644
index 00000000..d98e90e2
--- /dev/null
+++ b/filter-tom/CMakeLists.txt
@@ -0,0 +1 @@
+otr_module(filter-tom)
diff --git a/filter-tom/filter_tom.cpp b/filter-tom/filter_tom.cpp
new file mode 100644
index 00000000..6bcfeae0
--- /dev/null
+++ b/filter-tom/filter_tom.cpp
@@ -0,0 +1,48 @@
+/* Copyright (c) 2023 Tom Brazier <tom_github@firstsolo.net>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+#include "filter_tom.h"
+#include "compat/math-imports.hpp"
+#include "compat/macros.h"
+
+#include "api/plugin-api.hpp"
+#include "opentrack/defs.hpp"
+
+#include <algorithm>
+
+tom::tom()
+{
+}
+
+void tom::filter(const double* input, double* output)
+{
+    // order of axes: x, y, z, yaw, pitch, roll
+    if (unlikely(first_run))
+    {
+        first_run = false;
+        t.start();
+
+        std::fill(speeds, speeds + 6, 0.0);
+        std::copy(input, input + 6, filtered_output);
+    }
+    else
+    {
+        const double dt = t.elapsed_seconds();
+        t.start();
+
+        for (int i = 0; i < 6; i++)
+        {
+            double speed = (input[i] - last_input[i]) / dt;
+            speeds[i] += dt * (double)s.responsiveness[i] * (speed - speeds[i]);
+            filtered_output[i] += dt * (double)s.responsiveness[i] * min(1.0, abs(speeds[i]) / (double)s.drift_speeds[i]) * (input[i] - filtered_output[i]);
+        }
+      }
+
+    std::copy(input, input + 6, last_input);
+    std::copy(filtered_output, filtered_output + 6, output);
+}
+
+OPENTRACK_DECLARE_FILTER(tom, dialog_tom, tomDll)
diff --git a/filter-tom/filter_tom.h b/filter-tom/filter_tom.h
new file mode 100644
index 00000000..0f6d07c2
--- /dev/null
+++ b/filter-tom/filter_tom.h
@@ -0,0 +1,93 @@
+/* Copyright (c) 2023 Tom Brazier <tom_github@firstsolo.net>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+#pragma once
+
+#include "ui_tom_filtercontrols.h"
+
+#include "api/plugin-api.hpp"
+#include "compat/timer.hpp"
+#include "options/options.hpp"
+
+using namespace options;
+
+struct settings_tom : opts
+{
+    value<slider_value> responsiveness[6];
+    value<slider_value> drift_speeds[6];
+
+    settings_tom() :
+        opts("tom-filter"),
+          responsiveness{ value<slider_value>(b, "x-responsiveness",        { 10.0, .0, 20.0 }),
+                          value<slider_value>(b, "y-responsiveness",        { 10.0, .0, 20.0 }),
+                          value<slider_value>(b, "z-responsiveness",        { 10.0, .0, 20.0 }),
+                          value<slider_value>(b, "yaw-responsiveness",      { 10.0, .0, 20.0 }),
+                          value<slider_value>(b, "pitch-responsiveness",    { 10.0, .0, 20.0 }),
+                          value<slider_value>(b, "roll-responsiveness",     { 10.0, .0, 20.0 }) },
+          drift_speeds{ value<slider_value>(b, "x-drift-speed",     { 50.0, 1.0, 200.0 }),
+                        value<slider_value>(b, "y-drift-speed",     { 50.0, 1.0, 200.0 }),
+                        value<slider_value>(b, "z-drift-speed",     { 50.0, 1.0, 200.0 }),
+                        value<slider_value>(b, "yaw-drift-speed",   { 100.0, 1.0, 400.0 }),
+                        value<slider_value>(b, "pitch-drift-speed", { 100.0, 1.0, 400.0 }),
+                        value<slider_value>(b, "roll-drift-speed",  { 100.0, 1.0, 400.0 }) }
+    {
+    }
+
+    /*    value<slider_value> kMinSmoothing, kMaxSmoothing, kSmoothingScaleCurve;
+    settings()
+        : opts("ewma-filter"),
+          kMinSmoothing(b, "min-smoothing", { .02, .01, 1 }),
+          kMaxSmoothing(b, "max-smoothing", { .7, .01, 1 }),
+          kSmoothingScaleCurve(b, "smoothing-scale-curve", { .8, .1, 5 })
+    {
+    }
+*/
+};
+
+struct tom : IFilter
+{
+    tom();
+    void filter(const double* input, double* output) override;
+    void center() override { first_run = true; }
+    module_status initialize() override { return status_ok(); }
+
+private:
+    double last_input[6]{};
+    double speeds[6]{};
+    double filtered_output[6]{};
+    Timer t;
+    settings_tom s;
+    bool first_run = true;
+};
+
+class dialog_tom : public IFilterDialog
+{
+    Q_OBJECT
+public:
+    dialog_tom();
+    void register_filter(IFilter*) override {}
+    void unregister_filter() override {}
+    void save() override;
+    void reload() override;
+    bool embeddable() noexcept override { return true; }
+    void set_buttons_visible(bool x) override;
+
+private:
+    Ui::UICdialog_tom ui;
+    settings_tom s;
+
+private slots:
+    void doOK();
+    void doCancel();
+};
+
+class tomDll : public Metadata
+{
+    Q_OBJECT
+
+    QString name() override { return tr("Tom"); }
+    QIcon icon() override { return QIcon(":/images/filter-16.png"); }
+};
diff --git a/filter-tom/filter_tom_dialog.cpp b/filter-tom/filter_tom_dialog.cpp
new file mode 100644
index 00000000..5a6ad3a4
--- /dev/null
+++ b/filter-tom/filter_tom_dialog.cpp
@@ -0,0 +1,88 @@
+/* Copyright (c) 2023 Tom Brazier <tom_github@firstsolo.net>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+#include "filter_tom.h"
+
+using namespace options;
+
+dialog_tom::dialog_tom()
+{
+    ui.setupUi(this);
+
+    tie_setting(s.responsiveness[0], ui.x_responsiveness_slider);
+    tie_setting(s.responsiveness[0], ui.x_responsiveness, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.responsiveness[1], ui.y_responsiveness_slider);
+    tie_setting(s.responsiveness[1], ui.y_responsiveness, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.responsiveness[2], ui.z_responsiveness_slider);
+    tie_setting(s.responsiveness[2], ui.z_responsiveness, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.responsiveness[3], ui.yaw_responsiveness_slider);
+    tie_setting(s.responsiveness[3], ui.yaw_responsiveness, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.responsiveness[4], ui.pitch_responsiveness_slider);
+    tie_setting(s.responsiveness[4], ui.pitch_responsiveness, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.responsiveness[5], ui.roll_responsiveness_slider);
+    tie_setting(s.responsiveness[5], ui.roll_responsiveness, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.drift_speeds[0], ui.x_drift_speed_slider);
+    tie_setting(s.drift_speeds[0], ui.x_drift_speed, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.drift_speeds[1], ui.y_drift_speed_slider);
+    tie_setting(s.drift_speeds[1], ui.y_drift_speed, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.drift_speeds[2], ui.z_drift_speed_slider);
+    tie_setting(s.drift_speeds[2], ui.z_drift_speed, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.drift_speeds[3], ui.yaw_drift_speed_slider);
+    tie_setting(s.drift_speeds[3], ui.yaw_drift_speed, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.drift_speeds[4], ui.pitch_drift_speed_slider);
+    tie_setting(s.drift_speeds[4], ui.pitch_drift_speed, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+
+    tie_setting(s.drift_speeds[5], ui.roll_drift_speed_slider);
+    tie_setting(s.drift_speeds[5], ui.roll_drift_speed, [](double x)
+        { return QStringLiteral("%1").arg(x, 0, 'f', 2); });
+}
+
+void dialog_tom::doOK()
+{
+    save();
+    close();
+}
+
+void dialog_tom::doCancel()
+{
+    close();
+}
+
+void dialog_tom::save()
+{
+    s.b->save();
+}
+
+void dialog_tom::reload()
+{
+    s.b->reload();
+}
+
+void dialog_tom::set_buttons_visible(bool x)
+{
+    ui.buttonBox->setVisible(x);
+}
diff --git a/filter-tom/lang/nl_NL.ts b/filter-tom/lang/nl_NL.ts
new file mode 100644
index 00000000..ce0aefe3
--- /dev/null
+++ b/filter-tom/lang/nl_NL.ts
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="nl_NL">
+<context>
+    <name>UICdialog_tom</name>
+    <message>
+        <source>Dialog</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>°/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mm/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Responsiveness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>10.0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Drift speeds</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>50</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>100</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Natural movement filter: cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>tomDll</name>
+    <message>
+        <source>Tom</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/filter-tom/lang/ru_RU.ts b/filter-tom/lang/ru_RU.ts
new file mode 100644
index 00000000..b72d73ad
--- /dev/null
+++ b/filter-tom/lang/ru_RU.ts
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ru_RU">
+<context>
+    <name>UICdialog_tom</name>
+    <message>
+        <source>Dialog</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>°/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mm/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Responsiveness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>10.0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Drift speeds</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>50</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>100</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Natural movement filter: cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>tomDll</name>
+    <message>
+        <source>Tom</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/filter-tom/lang/stub.ts b/filter-tom/lang/stub.ts
new file mode 100644
index 00000000..f212040f
--- /dev/null
+++ b/filter-tom/lang/stub.ts
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="stub">
+<context>
+    <name>UICdialog_tom</name>
+    <message>
+        <source>Dialog</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>°/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mm/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Responsiveness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>10.0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Drift speeds</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>50</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>100</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Natural movement filter: cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>tomDll</name>
+    <message>
+        <source>Tom</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/filter-tom/lang/zh_CN.ts b/filter-tom/lang/zh_CN.ts
new file mode 100644
index 00000000..5a322913
--- /dev/null
+++ b/filter-tom/lang/zh_CN.ts
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>UICdialog_tom</name>
+    <message>
+        <source>Dialog</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>°/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>mm/s</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Responsiveness</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>10.0</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Drift speeds</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>50</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>100</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Natural movement filter: cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>tomDll</name>
+    <message>
+        <source>Tom</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/filter-tom/tom_filtercontrols.ui b/filter-tom/tom_filtercontrols.ui
new file mode 100644
index 00000000..1a135c1e
--- /dev/null
+++ b/filter-tom/tom_filtercontrols.ui
@@ -0,0 +1,610 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UICdialog_tom</class>
+ <widget class="QDialog" name="UICdialog_tom">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>438</width>
+    <height>559</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Responsiveness</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>X</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="x_responsiveness">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10.0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QSlider" name="x_responsiveness_slider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="maximum">
+         <number>40</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Y</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="y_responsiveness">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10.0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSlider" name="y_responsiveness_slider">
+        <property name="maximum">
+         <number>40</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Z</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="z_responsiveness">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10.0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QSlider" name="z_responsiveness_slider">
+        <property name="maximum">
+         <number>40</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLabel" name="yaw_responsiveness">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10.0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QSlider" name="yaw_responsiveness_slider">
+        <property name="maximum">
+         <number>40</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_9">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QLabel" name="pitch_responsiveness">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10.0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="2">
+       <widget class="QSlider" name="pitch_responsiveness_slider">
+        <property name="maximum">
+         <number>40</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="0">
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="1">
+       <widget class="QLabel" name="roll_responsiveness">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>10.0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="2">
+       <widget class="QSlider" name="roll_responsiveness_slider">
+        <property name="maximum">
+         <number>40</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_2">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Natural movement filter by Tom Brazier: Cancels higher frequency noise and the natural tendency for our heads to drift even when we think we are sitting still.</string>
+     </property>
+     <property name="textFormat">
+      <enum>Qt::PlainText</enum>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Drift speeds</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Z</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QSlider" name="y_drift_speed_slider">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>200</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="0">
+       <widget class="QLabel" name="label_12">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="y_drift_speed">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>50</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="2">
+       <widget class="QLabel" name="label_24">
+        <property name="text">
+         <string>°/s</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="2">
+       <widget class="QLabel" name="label_23">
+        <property name="text">
+         <string>mm/s</string>
+        </property>
+       </widget>
+      </item>
+      <item row="9" column="2">
+       <widget class="QLabel" name="label_25">
+        <property name="text">
+         <string>°/s</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="3">
+       <widget class="QSlider" name="z_drift_speed_slider">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>200</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QLabel" name="z_drift_speed">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>50</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="1">
+       <widget class="QLabel" name="roll_drift_speed">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>100</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_13">
+        <property name="text">
+         <string>Y</string>
+        </property>
+       </widget>
+      </item>
+      <item row="9" column="1">
+       <widget class="QLabel" name="pitch_drift_speed">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>100</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="9" column="0">
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="9" column="3">
+       <widget class="QSlider" name="pitch_drift_speed_slider">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>400</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>X</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="1">
+       <widget class="QLabel" name="yaw_drift_speed">
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>100</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_14">
+        <property name="text">
+         <string>mm/s</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_22">
+        <property name="text">
+         <string>mm/s</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QSlider" name="x_drift_speed_slider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>200</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="2">
+       <widget class="QLabel" name="label_26">
+        <property name="text">
+         <string>°/s</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="3">
+       <widget class="QSlider" name="yaw_drift_speed_slider">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>400</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="3">
+       <widget class="QSlider" name="roll_drift_speed_slider">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>400</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="x_drift_speed">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>30</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>50</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="6" column="0">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="label_15">
+     <property name="text">
+      <string>Instructions: Set all sliders to minimum. Then on an axis by axis basis: First, increase responsiveness until the filter only just cancels jerkiness for faster head movements. Second, increase drift speed until the filter only just cancels drift movement when your head is still.</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+     </property>
+     <property name="wordWrap">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>UICdialog_tom</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>UICdialog_tom</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>