Remove Kalman, unmaintained and broken

5 files changed, 0 insertions, 463 deletions

diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
deleted file mode 100644
index 15ccc8c5..00000000
--- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h
+++ /dev/null
@@ -1,94 +0,0 @@
-#pragma once
-/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
- * 
- * 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.
- */
-#ifndef INCLUDED_FTN_FILTER_H
-#define INCLUDED_FTN_FILTER_H
-
-#undef FTNOIR_TRACKER_BASE_LIB
-#define FTNOIR_TRACKER_BASE_EXPORT Q_DECL_IMPORT
-
-#include "ftnoir_filter_base/ftnoir_filter_base.h"
-#include "ui_ftnoir_kalman_filtercontrols.h"
-#include "facetracknoir/global-settings.h"
-#include <opencv2/opencv.hpp>
-#include <vector>
-#include <QString>
-#include <QIcon>
-#include <QWidget>
-#include <QObject>
-
-#define DEFAULT_ACCL 750
-
-class FTNOIR_FILTER_BASE_EXPORT FTNoIR_Filter : public IFilter
-{
-public:
-    FTNoIR_Filter();
-    virtual ~FTNoIR_Filter() {
-    }
-    void Initialize();
-    void FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget);
-    cv::KalmanFilter kalman;
-    double process_noise_covariance_matrix_all_values;
-    double posteriori_error_covariance_matrix_all_values;
-    double accl;
-};
-
-void kalman_load_settings(FTNoIR_Filter& self);
-void kalman_save_settings(FTNoIR_Filter& self);
-
-class FTNOIR_FILTER_BASE_EXPORT FTNoIR_FilterDll : public Metadata
-{
-public:
-    void getFullName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); }
-    void getShortName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); }
-    void getDescription(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); }
-    void getIcon(QIcon *icon){ *icon = QIcon(":/images/filter-16.png"); }
-};
-
-class FTNOIR_FILTER_BASE_EXPORT FilterControls: public QWidget, Ui::KalmanUICFilterControls, public IFilterDialog
-{
-    Q_OBJECT
-public:
-    explicit FilterControls() : settingsDirty(false) {
-        ui.setupUi(this);
-        QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");    // Registry settings (in HK_USER)
-        
-        QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-        QSettings iniFile( currentFile, QSettings::IniFormat );     // Application settings (in INI-file)
-        
-        iniFile.beginGroup("ftnoir-filter-kalman");
-        ui.post->setValue(iniFile.value("posteriori-error-covariance-matrix-all-values", "1e-12").toDouble());
-        ui.pnoise->setValue(iniFile.value("process-noise-covariance-matrix-all-values", "1e-14").toDouble());
-        ui.accl->setValue(iniFile.value("accel-coefficient", DEFAULT_ACCL).toDouble());
-        iniFile.endGroup();
-        connect(ui.btnOk, SIGNAL(clicked()), this, SLOT(doOK()));
-        connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
-        connect(ui.post, SIGNAL(valueChanged(double)), this, SLOT(settingsChanged(double)));
-        connect(ui.pnoise, SIGNAL(valueChanged(double)), this, SLOT(settingsChanged(double)));
-        connect(ui.accl, SIGNAL(valueChanged(double)), this, SLOT(settingsChanged(double)));
-        show();
-    }
-    virtual ~FilterControls() {}
-    void showEvent ( QShowEvent * event ) {
-        show();
-    }
-    
-    void Initialize(QWidget *parent, IFilter* ptr) {
-    }
-    
-    bool settingsDirty;
-    Ui::KalmanUICFilterControls ui;
-    
-public slots:
-    void doOK();
-    void doCancel();
-    void settingsChanged(double unused) {
-        settingsDirty = true;
-    }
-};
-
-#endif
diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
deleted file mode 100644
index 7b71712a..00000000
--- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
+++ /dev/null
@@ -1,211 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>KalmanUICFilterControls</class>
- <widget class="QWidget" name="KalmanUICFilterControls">
-  <property name="windowModality">
-   <enum>Qt::ApplicationModal</enum>
-  </property>
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>334</width>
-    <height>100</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="windowTitle">
-   <string>Filter settings</string>
-  </property>
-  <property name="windowIcon">
-   <iconset>
-    <normaloff>
-    images/facetracknoir.png</normaloff>
-    images/facetracknoir.png</iconset>
-  </property>
-  <property name="layoutDirection">
-   <enum>Qt::LeftToRight</enum>
-  </property>
-  <property name="autoFillBackground">
-   <bool>false</bool>
-  </property>
-  <property name="styleSheet">
-   <string notr="true"/>
-  </property>
-  <widget class="QPushButton" name="btnOk">
-   <property name="geometry">
-    <rect>
-     <x>173</x>
-     <y>70</y>
-     <width>73</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>OK</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="btnCancel">
-   <property name="geometry">
-    <rect>
-     <x>250</x>
-     <y>70</y>
-     <width>73</width>
-     <height>25</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Cancel</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>30</y>
-     <width>169</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>process-noise-covariance</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="post">
-   <property name="geometry">
-    <rect>
-     <x>180</x>
-     <y>26</y>
-     <width>150</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="decimals">
-    <number>14</number>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.000001000000000</double>
-   </property>
-   <property name="value">
-    <double>0.500000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="pnoise">
-   <property name="geometry">
-    <rect>
-     <x>180</x>
-     <y>6</y>
-     <width>150</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="decimals">
-    <number>14</number>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.000001000000000</double>
-   </property>
-   <property name="value">
-    <double>0.500000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>10</y>
-     <width>165</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>post-error-matrix</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="margin">
-    <number>0</number>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_3">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>55</y>
-     <width>109</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>accel-coefficient</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="accl">
-   <property name="geometry">
-    <rect>
-     <x>181</x>
-     <y>47</y>
-     <width>150</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="decimals">
-    <number>6</number>
-   </property>
-   <property name="maximum">
-    <double>1000000000.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.000001000000000</double>
-   </property>
-   <property name="value">
-    <double>1.000000000000000</double>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
- <designerdata>
-  <property name="gridDeltaX">
-   <number>10</number>
-  </property>
-  <property name="gridDeltaY">
-   <number>10</number>
-  </property>
-  <property name="gridSnapX">
-   <bool>false</bool>
-  </property>
-  <property name="gridSnapY">
-   <bool>false</bool>
-  </property>
-  <property name="gridVisible">
-   <bool>true</bool>
-  </property>
- </designerdata>
- <slots>
-  <slot>startEngineClicked()</slot>
-  <slot>stopEngineClicked()</slot>
-  <slot>cameraSettingsClicked()</slot>
- </slots>
-</ui>
diff --git a/ftnoir_filter_kalman/images/filter-16-ac.png b/ftnoir_filter_kalman/images/filter-16-ac.png
deleted file mode 100644
index d263db2d..00000000
--- a/ftnoir_filter_kalman/images/filter-16-ac.png
+++ /dev/null
diff --git a/ftnoir_filter_kalman/kalman-filter.qrc b/ftnoir_filter_kalman/kalman-filter.qrc
deleted file mode 100644
index 9a7d75fa..00000000
--- a/ftnoir_filter_kalman/kalman-filter.qrc
+++ /dev/null
@@ -1,5 +0,0 @@
-<RCC>
-    <qresource prefix="/">
-        <file>images/filter-16-ac.png</file>
-    </qresource>
-</RCC>
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp
deleted file mode 100644
index f67b9d99..00000000
--- a/ftnoir_filter_kalman/kalman.cpp
+++ /dev/null
@@ -1,153 +0,0 @@
-/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
- * 
- * 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 "ftnoir_filter_kalman.h"
-#include "facetracknoir/global-settings.h"
-#include <QDebug>
-#include <math.h>
-
-void kalman_load_settings(FTNoIR_Filter& self) {
-    QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");    // Registry settings (in HK_USER)
-    
-    QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-    QSettings iniFile( currentFile, QSettings::IniFormat );     // Application settings (in INI-file)
-    
-    iniFile.beginGroup("ftnoir-filter-kalman");
-    self.process_noise_covariance_matrix_all_values = iniFile.value("process-noise-covariance-matrix-all-values", "1e-14").toDouble();
-    self.posteriori_error_covariance_matrix_all_values = iniFile.value("posteriori-error-covariance-matrix-all-values", "1e-12").toDouble();
-    self.accl = iniFile.value("accel-coefficient", DEFAULT_ACCL).toDouble();
-    iniFile.endGroup();
-}
-
-void kalman_save_settings(FilterControls& self) {
-    QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");    // Registry settings (in HK_USER)
-    
-    QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-    QSettings iniFile( currentFile, QSettings::IniFormat );     // Application settings (in INI-file)
-    
-    iniFile.beginGroup("ftnoir-filter-kalman");
-    iniFile.setValue("process-noise-covariance-matrix-all-values", self.ui.pnoise->value());
-    iniFile.setValue("posteriori-error-covariance-matrix-all-values", self.ui.post->value());
-    iniFile.setValue("accel-coefficient", self.ui.accl->value());
-    iniFile.endGroup();
-}
-
-FTNoIR_Filter::FTNoIR_Filter() {
-    kalman_load_settings(*this);
-    Initialize();
-}
-
-// the following was written by Donovan Baarda <abo@minkirri.apana.org.au>
-// https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b
-// minor changes to order of magnitude -sh
-void FTNoIR_Filter::Initialize() {
-    kalman.init(12, 6, 0, CV_64F);
-    double accel_variance = 1e-2;
-    kalman.transitionMatrix = (cv::Mat_<double>(12, 12) <<
-    1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
-    0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
-    0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0,
-    0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0,
-    0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0,
-    0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1,
-    0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
-    0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
-    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
-    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1);
-    double a = 0.25 * accel_variance;
-    double b = 0.5 * accel_variance;
-    double c = 1.0 * accel_variance;
-    kalman.processNoiseCov = (cv::Mat_<double>(12, 12) <<
-    a, 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0,
-    0, a, 0, 0, 0, 0, 0, b, 0, 0, 0, 0,
-    0, 0, a, 0, 0, 0, 0, 0, b, 0, 0, 0,
-    0, 0, 0, a, 0, 0, 0, 0, 0, b, 0, 0,
-    0, 0, 0, 0, a, 0, 0, 0, 0, 0, b, 0,
-    0, 0, 0, 0, 0, a, 0, 0, 0, 0, 0, b,
-    b, 0, 0, 0, 0, 0, c, 0, 0, 0, 0, 0,
-    0, b, 0, 0, 0, 0, 0, c, 0, 0, 0, 0,
-    0, 0, b, 0, 0, 0, 0, 0, c, 0, 0, 0,
-    0, 0, 0, b, 0, 0, 0, 0, 0, c, 0, 0,
-    0, 0, 0, 0, b, 0, 0, 0, 0, 0, c, 0,
-    0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, c);
-    cv::setIdentity(kalman.measurementMatrix);
-    cv::setIdentity(kalman.measurementNoiseCov, cv::Scalar::all(accl));
-    cv::setIdentity(kalman.errorCovPost, cv::Scalar::all(accel_variance * 1e-4));
-}
-
-void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget) {
-    cv::Mat output = kalman.predict();
-    if (newTarget) {
-        cv::Mat measurement(6, 1, CV_64F);
-        measurement.at<double>(0) = target_camera_position->yaw;
-        measurement.at<double>(1) = target_camera_position->pitch;
-        measurement.at<double>(2) = target_camera_position->roll;
-        measurement.at<double>(3) = target_camera_position->x;
-        measurement.at<double>(4) = target_camera_position->y;
-        measurement.at<double>(5) = target_camera_position->z;
-        kalman.correct(measurement);
-    }
-    new_camera_position->yaw = output.at<double>(0);
-    new_camera_position->pitch = output.at<double>(1);
-    new_camera_position->roll = output.at<double>(2);
-    new_camera_position->x = output.at<double>(3);
-    new_camera_position->y = output.at<double>(4);
-    new_camera_position->z = output.at<double>(5);
-    target_camera_position->yaw = output.at<double>(0);
-    target_camera_position->pitch = output.at<double>(1);
-    target_camera_position->roll = output.at<double>(2);
-    target_camera_position->x = output.at<double>(3);
-    target_camera_position->y = output.at<double>(4);
-    target_camera_position->z = output.at<double>(5);
-}
-
-void FilterControls::doOK() {
-    kalman_save_settings(*this);
-    close();
-}
-
-void FilterControls::doCancel() {
-    if (settingsDirty) {
-        int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
-        
-        qDebug() << "doCancel says: answer =" << ret;
-        
-        switch (ret) {
-            case QMessageBox::Save:
-                kalman_save_settings(*this);
-                this->close();
-                break;
-            case QMessageBox::Discard:
-                this->close();
-                break;
-            case QMessageBox::Cancel:
-                // Cancel was clicked
-                break;
-            default:
-                // should never be reached
-                break;
-        }
-    }
-    else {
-        this->close();
-    }
-}
-
-extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
-{
-    return new FTNoIR_FilterDll;
-}
-
-extern "C" FTNOIR_FILTER_BASE_EXPORT void* CALLING_CONVENTION GetConstructor()
-{
-    return (IFilter*) new FTNoIR_Filter;
-}
-
-extern "C" FTNOIR_FILTER_BASE_EXPORT void* CALLING_CONVENTION GetDialog() {
-    return (IFilterDialog*) new FilterControls;
-}