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-rw-r--r--filter-kalman/ftnoir_kalman_filtercontrols.ui24
-rw-r--r--filter-kalman/kalman.h27
2 files changed, 39 insertions, 12 deletions
diff --git a/filter-kalman/ftnoir_kalman_filtercontrols.ui b/filter-kalman/ftnoir_kalman_filtercontrols.ui
index 2e9bcae7..6ec18ba8 100644
--- a/filter-kalman/ftnoir_kalman_filtercontrols.ui
+++ b/filter-kalman/ftnoir_kalman_filtercontrols.ui
@@ -9,7 +9,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>431</width>
+ <width>438</width>
<height>141</height>
</rect>
</property>
@@ -52,11 +52,14 @@
<item row="0" column="1">
<widget class="QSlider" name="noiseRotSlider">
<property name="maximum">
- <number>10000</number>
+ <number>400</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
+ <property name="pageStep">
+ <number>100</number>
+ </property>
<property name="tracking">
<bool>true</bool>
</property>
@@ -67,10 +70,10 @@
<bool>false</bool>
</property>
<property name="tickPosition">
- <enum>QSlider::NoTicks</enum>
+ <enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
- <number>10</number>
+ <number>100</number>
</property>
</widget>
</item>
@@ -84,16 +87,19 @@
<item row="1" column="1">
<widget class="QSlider" name="noisePosSlider">
<property name="maximum">
- <number>10000</number>
+ <number>400</number>
+ </property>
+ <property name="pageStep">
+ <number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
- <enum>QSlider::NoTicks</enum>
+ <enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
- <number>10</number>
+ <number>100</number>
</property>
</widget>
</item>
@@ -101,7 +107,7 @@
<widget class="QLabel" name="noiseRotLabel">
<property name="minimumSize">
<size>
- <width>60</width>
+ <width>65</width>
<height>0</height>
</size>
</property>
@@ -114,7 +120,7 @@
<widget class="QLabel" name="noisePosLabel">
<property name="minimumSize">
<size>
- <width>60</width>
+ <width>65</width>
<height>0</height>
</size>
</property>
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index 3bb5aad2..3c9466a5 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -96,10 +96,31 @@ struct settings : opts {
static constexpr double process_sigma_pos = 0.5;
static constexpr double process_simga_rot = 0.5;
- static double map_slider_value(const slider_value &v)
+ static double map_slider_value(const slider_value &v_)
{
- //return std::pow(4., v * 5. - 4.) / 4. * 10.; // not so much difference, except that it is harder to adjust the min-max range.
- return std::pow(10., v * 4. - 3.);
+ 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() :