1 files changed, 0 insertions, 179 deletions
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
deleted file mode 100644
index 431041dc..00000000
--- a/filter-kalman/kalman.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#pragma once
-/* Copyright (c) 2016 Michael Welter <mw.pub@welter-4d.de>
- *
- * 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 "ui_ftnoir_kalman_filtercontrols.h"
-#include "api/plugin-api.hpp"
-#include "options/options.hpp"
-using namespace options;
-#include "compat/timer.hpp"
-
-#include <Eigen/Core>
-#include <Eigen/LU>
-
-#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
-using StateToMeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_STATE_DOF>;
-using StateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_STATE_DOF>;
-using MeasureToStateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_MEASUREMENT_DOF>;
-using MeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_MEASUREMENT_DOF>;
-using StateVector = Eigen::Matrix<double, NUM_STATE_DOF, 1>;
-using PoseVector = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, 1>;
-
-struct KalmanFilter
-{
-    MeasureMatrix
-        measurement_noise_cov;
-    StateMatrix
-        process_noise_cov,
-        state_cov,
-        state_cov_prior,
-        transition_matrix;
-    MeasureToStateMatrix
-        kalman_gain;
-    StateToMeasureMatrix
-        measurement_matrix;
-    StateVector
-        state,
-        state_prior;
-    PoseVector
-        innovation;
-    void init();
-    void time_update();
-    void measurement_update(const PoseVector &measurement);
-
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-};
-
-struct KalmanProcessNoiseScaler
-{
-    MeasureMatrix
-        innovation_cov_estimate;
-    StateMatrix
-        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);
-
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-};
-
-
-struct settings : opts {
-    value<slider_value> noise_rot_slider_value;
-    value<slider_value> noise_pos_slider_value;
-
-    static constexpr inline double adaptivity_window_length = 0.25; // seconds
-    static constexpr inline double deadzone_scale = 8;
-    static constexpr inline double deadzone_exponent = 2.0;
-    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", slider_value(0.5, 0., 1.)),
-        noise_pos_slider_value(b, "noise-position-slider", slider_value(0.5, 0., 1.))
-    {}
-
-};
-
-class kalman : public IFilter
-{
-    PoseVector do_kalman_filter(const PoseVector &input, double dt, bool new_input);
-    void fill_transition_matrix(double dt);
-    void fill_process_noise_cov_matrix(StateMatrix &target, double dt) const;
-public:
-    kalman();
-    void reset();
-    void filter(const double *input, double *output) override;
-    void center() override { reset(); }
-    module_status initialize() { return status_ok(); }
-    PoseVector last_input;
-    Timer timer;
-    bool first_run;
-    double dt_since_last_input;
-    settings s;
-    KalmanFilter kf;
-    KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
-    DeadzoneFilter dz_filter;
-    slider_value prev_slider_pos[2];
-
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-};
-
-class kalmanDll : public Metadata
-{
-public:
-    QString name() { return otr_tr("Kalman"); }
-    QIcon icon() { return QIcon(":/images/filter-16.png"); }
-};
-
-class dialog_kalman: public IFilterDialog
-{
-    Q_OBJECT
-public:
-    dialog_kalman();
-    Ui::KalmanUICdialog_kalman ui;
-    void register_filter(IFilter*) override {}
-    void unregister_filter() override {}
-    settings s;
-    kalman *filter;
-public slots:
-    void doOK();
-    void doCancel();
-    void updateLabels(const slider_value&);
-};