1 files changed, 0 insertions, 159 deletions
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
deleted file mode 100644
index 1e6e2ac4..00000000
--- a/filter-kalman/kalman.h
+++ /dev/null
@@ -1,159 +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 "compat/timer.hpp"
-#include "api/plugin-api.hpp"
-#include "options/options.hpp"
-using namespace options;
-
-// 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
-
-// nodiscard for placement new
-#ifdef _MSC_VER
-#   pragma warning(push)
-#   pragma warning(disable : 4834)
-#endif
-
-#include <Eigen/Core>
-#include <Eigen/LU>
-
-#ifdef _MSC_VER
-#   pragma warning(pop)
-#endif
-
-#include "ui_ftnoir_kalman_filtercontrols.h"
-#include <QString>
-#include <QWidget>
-
-static constexpr int NUM_STATE_DOF = 12;
-static constexpr 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);
-};
-
-struct KalmanProcessNoiseScaler
-{
-    MeasureMatrix
-        innovation_cov_estimate;
-    StateMatrix
-        base_cov; // baseline (unscaled) process noise covariance matrix
-    void init();
-    void update(KalmanFilter &kf, double dt);
-};
-
-
-struct DeadzoneFilter
-{
-    PoseVector last_output { PoseVector::Zero() },
-               dz_size     { PoseVector::Zero() };
-
-    DeadzoneFilter() = default;
-    void reset();
-    PoseVector filter(const PoseVector &input);
-};
-
-
-struct settings : opts {
-    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 double adaptivity_window_length = 0.25; // seconds
-    static constexpr double deadzone_scale = 8;
-    static constexpr double deadzone_exponent = 2.0;
-    static constexpr double process_sigma_pos = 0.5;
-    static constexpr double process_sigma_rot = 0.5;
-
-    static double map_slider_value(const slider_value &v);
-
-    settings() : opts("kalman-filter") {}
-};
-
-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() override { return status_ok(); }
-
-    double dt_since_last_input;
-    PoseVector last_input;
-    KalmanFilter kf;
-    KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
-    DeadzoneFilter dz_filter;
-    settings s;
-    slider_value prev_slider_pos[2] {
-        *s.noise_pos_slider_value,
-        *s.noise_rot_slider_value,
-    };
-    Timer timer;
-
-    bool first_run = true;
-};
-
-class kalmanDll : public Metadata
-{
-    Q_OBJECT
-
-    QString name() override { return tr("Kalman"); }
-    QIcon icon() override { 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&);
-};