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-rwxr-xr-xftnoir_filter_kalman/ftnoir_filter_kalman.h19
-rw-r--r--ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui85
-rw-r--r--ftnoir_filter_kalman/kalman.cpp11
3 files changed, 80 insertions, 35 deletions
diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
index f6224530..1f0b36fd 100755
--- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h
+++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
@@ -19,6 +19,14 @@
#include "opentrack/options.hpp"
using namespace options;
+struct settings : opts {
+ value<int> noise_stddev_slider;
+ // slider goes noise_stdder 0->50
+ static constexpr double mult_noise_stddev = .5;
+ settings() : opts("kalman-filter"), noise_stddev_slider(b, "noise-stddev", 10)
+ {}
+};
+
class OPENTRACK_EXPORT FTNoIR_Filter : public IFilter
{
public:
@@ -28,10 +36,12 @@ public:
// Set accel_stddev assuming moving 0.0->100.0 in dt=0.2 is 3 stddevs: (100.0*4/dt^2)/3.
const double accel_stddev = (100.0*4/(0.2*0.2))/3.0;
// TODO(abo): make noise_stddev a UI setting 0.0->10.0 with 0.1 resolution.
- const double noise_stddev = 1.0;
+ //const double noise_stddev = 1.0;
cv::KalmanFilter kalman;
double last_input[6];
QElapsedTimer timer;
+ settings s;
+ int prev_slider_pos;
};
class OPENTRACK_EXPORT FTNoIR_FilterDll : public Metadata
@@ -47,13 +57,14 @@ class OPENTRACK_EXPORT FilterControls: public IFilterDialog
public:
FilterControls() {
ui.setupUi(this);
- connect(ui.btnOk, SIGNAL(clicked()), this, SLOT(doOK()));
- connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
- show();
+ connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+ connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+ tie_setting(s.noise_stddev_slider, ui.noise_slider);
}
Ui::KalmanUICFilterControls ui;
void register_filter(IFilter*) override {}
void unregister_filter() override {}
+ settings s;
public slots:
void doOK();
void doCancel();
diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
index e0c849c9..69297102 100644
--- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
+++ b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
@@ -9,8 +9,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>334</width>
- <height>100</height>
+ <width>288</width>
+ <height>132</height>
</rect>
</property>
<property name="sizePolicy">
@@ -23,7 +23,7 @@
<string>Kalman settings</string>
</property>
<property name="windowIcon">
- <iconset resource="../ftnoir_filter_ewma2/ewma-filter.qrc">
+ <iconset resource="../facetracknoir/ui-res.qrc">
<normaloff>:/images/filter-16.png</normaloff>:/images/filter-16.png</iconset>
</property>
<property name="layoutDirection">
@@ -35,35 +35,60 @@
<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>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QFrame" name="frame">
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Noise standard deviation</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QSlider" name="noise_slider">
+ <property name="singleStep">
+ <number>1</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksAbove</enum>
+ </property>
+ <property name="tickInterval">
+ <number>10</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Written by Donovan Baarda, 2014</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
</widget>
<resources>
- <include location="../ftnoir_filter_ewma2/ewma-filter.qrc"/>
+ <include location="../facetracknoir/ui-res.qrc"/>
</resources>
<connections/>
<designerdata>
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp
index c5a600af..4939610b 100644
--- a/ftnoir_filter_kalman/kalman.cpp
+++ b/ftnoir_filter_kalman/kalman.cpp
@@ -11,6 +11,7 @@
FTNoIR_Filter::FTNoIR_Filter() {
reset();
+ prev_slider_pos = s.noise_stddev_slider;
}
// the following was written by Donovan Baarda <abo@minkirri.apana.org.au>
@@ -56,7 +57,8 @@ void FTNoIR_Filter::reset() {
0, 0, 0, 0, b, 0, 0, 0, 0, 0, a, 0,
0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, a);
cv::setIdentity(kalman.measurementMatrix);
- double noise_variance = noise_stddev * noise_stddev;
+ const double noise_stddev = s.noise_stddev_slider * s.mult_noise_stddev;
+ const double noise_variance = noise_stddev * noise_stddev;
cv::setIdentity(kalman.measurementNoiseCov, cv::Scalar::all(noise_variance));
cv::setIdentity(kalman.errorCovPost, cv::Scalar::all(accel_variance * 1e4));
for (int i = 0; i < 6; i++) {
@@ -67,6 +69,11 @@ void FTNoIR_Filter::reset() {
void FTNoIR_Filter::filter(const double* input, double *output)
{
+ if (prev_slider_pos != s.noise_stddev_slider)
+ {
+ reset();
+ prev_slider_pos = s.noise_stddev_slider;
+ }
// Start the timer if it's not running.
if (!timer.isValid())
timer.start();
@@ -108,10 +115,12 @@ void FTNoIR_Filter::filter(const double* input, double *output)
}
void FilterControls::doOK() {
+ s.b->save();
close();
}
void FilterControls::doCancel() {
+ s.b->reload();
close();
}