diff options
| -rw-r--r-- | cmake/FindEigen3.cmake | 8 | ||||
| -rw-r--r-- | filter-kalman/kalman.cpp | 33 | ||||
| -rw-r--r-- | filter-kalman/kalman.h | 83 |
3 files changed, 63 insertions, 61 deletions
diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake index 2206ce43..b43208f9 100644 --- a/cmake/FindEigen3.cmake +++ b/cmake/FindEigen3.cmake @@ -80,5 +80,11 @@ else (EIGEN3_INCLUDE_DIR) endif(EIGEN3_INCLUDE_DIR) if(EIGEN3_FOUND) - add_definitions(-DEIGEN_MPL2_ONLY) + add_definitions( + -DEIGEN_MPL2_ONLY=1 + -DEIGEN_MAX_CPP_VER=17 + -DEIGEN_DEFAULT_DENSE_INDEX_TYPE=int + -DEIGEN_NO_DEBUG=1 + -DEIGEN_DONT_PARALLELIZE=1 + ) endif() diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp index 83898853..472f01f0 100644 --- a/filter-kalman/kalman.cpp +++ b/filter-kalman/kalman.cpp @@ -76,6 +76,10 @@ void KalmanProcessNoiseScaler::update(KalmanFilter &kf, double dt) //qDebug() << "alpha = " << alpha; } +void DeadzoneFilter::reset() +{ + last_output = PoseVector::Zero(); +} PoseVector DeadzoneFilter::filter(const PoseVector &input) { @@ -151,7 +155,8 @@ PoseVector kalman::do_kalman_filter(const PoseVector &input, double dt, bool new -kalman::kalman() { +kalman::kalman() +{ reset(); } @@ -289,5 +294,31 @@ void dialog_kalman::doCancel() close(); } +double settings::map_slider_value(const slider_value& v_) +{ + const double v = v_; +#if 0 + //return std::pow(10., v * 4. - 3.); +#else + constexpr int min_log10 = -3; + constexpr int max_log10 = 1; + constexpr int num_divisions = max_log10 - min_log10; + /* ascii art representation of slider + // ----- // ------// ------// ------- // 4 divisions + -3 - 2 -1 0 1 power of 10 + | | + | f + left_side_log10 + | + left_side_log10 + */ + const int k = v * num_divisions; // in which division are we?! + const double f = v * num_divisions - k; // where in the division are we?! + const double ff = f * 9. + 1.; + const double multiplier = int(ff * 10.) / 10.; + const int left_side_log10 = min_log10 + k; + const double val = std::pow(10., left_side_log10) * multiplier; + return val; +#endif +} OPENTRACK_DECLARE_FILTER(kalman, dialog_kalman, kalmanDll) diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h index 094e106c..30f9e90f 100644 --- a/filter-kalman/kalman.h +++ b/filter-kalman/kalman.h @@ -6,20 +6,26 @@ * copyright notice and this permission notice appear in all copies. */ -#include "ui_ftnoir_kalman_filtercontrols.h" +#include "compat/timer.hpp" #include "api/plugin-api.hpp" #include "options/options.hpp" using namespace options; -#include "compat/timer.hpp" + +// Eigen can't check for SSE3 on MSVC +#if defined _MSC_VER && defined __SSE2__ +# define EIGEN_VECTORIZE_SSE3 +// this hardware is 10 years old +# define EIGEN_VECTORIZE_SSE4_1 +# define EIGEN_VECTORIZE_SSE4_2 +#endif #include <Eigen/Core> #include <Eigen/LU> +#include "ui_ftnoir_kalman_filtercontrols.h" #include <QString> #include <QWidget> -#include <atomic> - static constexpr inline int NUM_STATE_DOF = 12; static constexpr inline int NUM_MEASUREMENT_DOF = 6; // These vectors are compile time fixed size, stack allocated @@ -48,11 +54,10 @@ struct KalmanFilter state_prior; PoseVector innovation; + void init(); void time_update(); void measurement_update(const PoseVector &measurement); - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; struct KalmanProcessNoiseScaler @@ -63,32 +68,23 @@ struct KalmanProcessNoiseScaler base_cov; // baseline (unscaled) process noise covariance matrix void init(); void update(KalmanFilter &kf, double dt); - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; struct DeadzoneFilter { - PoseVector - last_output, - dz_size; - DeadzoneFilter() : - last_output(PoseVector::Zero()), - dz_size(PoseVector::Zero()) - {} - void reset() { - last_output = PoseVector::Zero(); - } - PoseVector filter(const PoseVector &input); + PoseVector last_output { PoseVector::Zero() }, + dz_size { PoseVector::Zero() }; - EIGEN_MAKE_ALIGNED_OPERATOR_NEW + DeadzoneFilter() = default; + void reset(); + PoseVector filter(const PoseVector &input); }; struct settings : opts { - value<slider_value> noise_rot_slider_value; - value<slider_value> noise_pos_slider_value; + value<slider_value> noise_rot_slider_value { b, "noise-rotation-slider", { .5, 0, 1 } }; + value<slider_value> noise_pos_slider_value { b, "noise-position-slider", { .5, 0, 1 } }; static constexpr inline double adaptivity_window_length = 0.25; // seconds static constexpr inline double deadzone_scale = 8; @@ -96,39 +92,9 @@ struct settings : opts { static constexpr inline double process_sigma_pos = 0.5; static constexpr inline double process_sigma_rot = 0.5; - static double map_slider_value(const slider_value &v_) - { - const double v = v_; -#if 0 - //return std::pow(10., v * 4. - 3.); -#else - constexpr int min_log10 = -3; - constexpr int max_log10 = 1; - constexpr int num_divisions = max_log10 - min_log10; - /* ascii art representation of slider - // ----- // ------// ------// ------- // 4 divisions - -3 - 2 -1 0 1 power of 10 - | | - | f + left_side_log10 - | - left_side_log10 - */ - const int k = v * num_divisions; // in which division are we?! - const double f = v * num_divisions - k; // where in the division are we?! - const double ff = f * 9. + 1.; - const double multiplier = int(ff * 10.) / 10.; - const int left_side_log10 = min_log10 + k; - const double val = std::pow(10., left_side_log10) * multiplier; - return val; -#endif - } - - settings() : - opts("kalman-filter"), - noise_rot_slider_value(b, "noise-rotation-slider", { .5, 0., 1. }), - noise_pos_slider_value(b, "noise-position-slider", { .5, 0., 1. }) - {} + static double map_slider_value(const slider_value &v); + settings() : opts("kalman-filter") {} }; class kalman : public IFilter @@ -141,7 +107,8 @@ public: void reset(); void filter(const double *input, double *output) override; void center() override { reset(); } - module_status initialize() { return status_ok(); } + module_status initialize() override { return status_ok(); } + PoseVector last_input; Timer timer; bool first_run; @@ -151,16 +118,14 @@ public: KalmanProcessNoiseScaler kf_adaptive_process_noise_cov; DeadzoneFilter dz_filter; slider_value prev_slider_pos[2]; - - EIGEN_MAKE_ALIGNED_OPERATOR_NEW }; class kalmanDll : public Metadata { Q_OBJECT - QString name() { return tr("Kalman"); } - QIcon icon() { return QIcon(":/images/filter-16.png"); } + QString name() override { return tr("Kalman"); } + QIcon icon() override { return QIcon(":/images/filter-16.png"); } }; class dialog_kalman: public IFilterDialog |