From aa066bdd4622d4f6824fee864f6be6806813f04d Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 30 Oct 2015 07:37:41 +0100 Subject: move to subdirectory-based build system Closes #224 --- filter-accela/CMakeLists.txt | 2 + filter-accela/ftnoir_accela_filtercontrols.ui | 300 ++++++++++++++++++++++++++ filter-accela/ftnoir_filter_accela.cpp | 108 ++++++++++ filter-accela/ftnoir_filter_accela.h | 79 +++++++ filter-accela/ftnoir_filter_accela_dialog.cpp | 105 +++++++++ 5 files changed, 594 insertions(+) create mode 100644 filter-accela/CMakeLists.txt create mode 100644 filter-accela/ftnoir_accela_filtercontrols.ui create mode 100644 filter-accela/ftnoir_filter_accela.cpp create mode 100644 filter-accela/ftnoir_filter_accela.h create mode 100644 filter-accela/ftnoir_filter_accela_dialog.cpp (limited to 'filter-accela') diff --git a/filter-accela/CMakeLists.txt b/filter-accela/CMakeLists.txt new file mode 100644 index 00000000..5bfa8128 --- /dev/null +++ b/filter-accela/CMakeLists.txt @@ -0,0 +1,2 @@ +opentrack_boilerplate(opentrack-filter-accela) +target_link_libraries(opentrack-filter-accela opentrack-spline-widget) diff --git a/filter-accela/ftnoir_accela_filtercontrols.ui b/filter-accela/ftnoir_accela_filtercontrols.ui new file mode 100644 index 00000000..3ab9a78e --- /dev/null +++ b/filter-accela/ftnoir_accela_filtercontrols.ui @@ -0,0 +1,300 @@ + + + AccelaUICFilterControls + + + Qt::NonModal + + + + 0 + 0 + 501 + 359 + + + + Accela filter settings + + + + :/images/filter-16.png:/images/filter-16.png + + + + + + QFrame::NoFrame + + + QFrame::Raised + + + + + + 99 + + + 5 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 25 + + + + + + + + 0 + 0 + + + + Rotation sensitivity + + + + + + + Smoothing + + + + + + + + 48 + 0 + + + + 0 ms + + + + + + + 0° + + + + + + + 100 + + + 10 + + + 25 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 25 + + + + + + + Translation deadzone + + + + + + + Rotation deadzone + + + + + + + 100 + + + Qt::Horizontal + + + + + + + 0° + + + + + + + 100 + + + Qt::Horizontal + + + + + + + 0mm + + + + + + + + 0 + 0 + + + + Translation sensitivity + + + + + + + 0mm + + + + + + + 99 + + + 5 + + + Qt::Horizontal + + + QSlider::TicksAbove + + + 25 + + + + + + + + + + + 0 + 0 + + + + QDialogButtonBox::Cancel|QDialogButtonBox::Ok + + + + + + + + + + + + + + 0 + 0 + + + + + 7 + + + + QFrame::NoFrame + + + <html><head/><body><p align="justify"><br/><span style=" font-size:10pt;">Accela by </span><a href="https://github.com/sthalik"><span style=" font-size:10pt; text-decoration: underline; color:#0057ae;">Stanisław Halik</span></a><span style=" font-size:10pt;"><br/>Thanks to </span><a href="https://github.com/dbaarda"><span style=" font-size:10pt; text-decoration: underline; color:#0057ae;">Donovan Baarda</span></a></p><p align="right"><span style=" font-size:10pt;">2012-2015</span></p><p align="right"><br/></p></body></html> + + + Qt::RichText + + + false + + + Qt::AlignCenter + + + true + + + 0 + + + 0 + + + true + + + Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse + + + + + + + + 10 + + + + <html><head/><body><p>Visit <a href="https://github.com/opentrack/opentrack/wiki/Accela-in-opentrack-2.3"><span style=" text-decoration: underline; color:#0000ff;">our wiki</span></a> for description of the settings.</p></body></html> + + + true + + + + + + + + + + buttonBox + + + + + + + startEngineClicked() + stopEngineClicked() + cameraSettingsClicked() + + diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp new file mode 100644 index 00000000..62d1598d --- /dev/null +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -0,0 +1,108 @@ +/* Copyright (c) 2012-2015 Stanislaw Halik + * + * 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 "ftnoir_filter_accela.h" +#include +#include +#include +#include +#include "opentrack/plugin-api.hpp" + +static constexpr double rot_gains[][2] = { + { 2.66, 110 }, + { 2.33, 80 }, + { 2, 50 }, + { 1.66, 30 }, + { 1.33, 15 }, + { 1, 5 }, + { .66, 1.4 }, + { .33, .4 }, + { 0, 0 }, + { -1, 0 } +}; + +static constexpr double trans_gains[][2] = { + { 2, 400 }, + { 1.66, 120 }, + { 1.33, 40 }, + { 1, 10 }, + { .66, 2 }, + { .33, .6 }, + { 0, 0 }, + { -1, 0 } +}; + +constexpr double settings_accela::mult_rot; +constexpr double settings_accela::mult_trans; +constexpr double settings_accela::mult_rot_dz; +constexpr double settings_accela::mult_trans_dz; +constexpr double settings_accela::mult_ewma; + +FTNoIR_Filter::FTNoIR_Filter() : first_run(true) +{ + rot.setMaxInput(rot_gains[0][0]); + trans.setMaxInput(trans_gains[0][0]); + rot.setMaxOutput(rot_gains[0][1]); + trans.setMaxOutput(trans_gains[0][1]); + + for (int i = 0; rot_gains[i][0] >= 0; i++) + { + rot.addPoint(QPointF(rot_gains[i][0], rot_gains[i][1])); + } + for (int i = 0; trans_gains[i][0] >= 0; i++) + { + trans.addPoint(QPointF(trans_gains[i][0], trans_gains[i][1])); + } +} + +void FTNoIR_Filter::filter(const double* input, double *output) +{ + if (first_run) + { + for (int i = 0; i < 6; i++) + { + const double f = input[i]; + output[i] = f; + last_output[i] = f; + smoothed_input[i] = f; + } + first_run = false; + t.start(); + return; + } + + const double rot_t = (1+s.rot_threshold) * s.mult_rot; + const double trans_t = (1+s.trans_threshold) * s.mult_trans; + + const double dt = t.elapsed() * 1e-9; + t.start(); + + const double RC = s.mult_ewma * s.ewma / 1000.; // seconds + const double alpha = dt/(dt+RC); + const double rot_dz = s.rot_deadzone * s.mult_rot_dz; + const double trans_dz = s.trans_deadzone * s.mult_trans_dz; + + for (int i = 0; i < 6; i++) + { + Map& m = i >= 3 ? rot : trans; + + smoothed_input[i] = smoothed_input[i] * (1.-alpha) + input[i] * alpha; + + const double in = smoothed_input[i]; + + const double vec = in - last_output[i]; + const double dz = i >= 3 ? rot_dz : trans_dz; + const double vec_ = std::max(0., fabs(vec) - dz); + const double thres = i >= 3 ? rot_t : trans_t; + const double val = m.getValue(vec_ / thres); + const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val; + + last_output[i] = output[i] = result; + } +} + +OPENTRACK_DECLARE_FILTER(FTNoIR_Filter, FilterControls, FTNoIR_FilterDll) + diff --git a/filter-accela/ftnoir_filter_accela.h b/filter-accela/ftnoir_filter_accela.h new file mode 100644 index 00000000..b15e0cea --- /dev/null +++ b/filter-accela/ftnoir_filter_accela.h @@ -0,0 +1,79 @@ +/* Copyright (c) 2012-2015 Stanislaw Halik + * + * 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. + */ +#pragma once +#include "ui_ftnoir_accela_filtercontrols.h" +#include "opentrack/plugin-api.hpp" +#include "spline-widget/functionconfig.h" +#include +#include +#include + +#include "opentrack/options.hpp" +using namespace options; +#include "opentrack-compat/timer.hpp" + +struct settings_accela : opts { + value rot_threshold, trans_threshold, ewma, rot_deadzone, trans_deadzone; + static constexpr double mult_rot = 4. / 100.; + static constexpr double mult_trans = 4. / 100.; + static constexpr double mult_rot_dz = 2. / 100.; + static constexpr double mult_trans_dz = 2. / 100.; + static constexpr double mult_ewma = 1.25; + settings_accela() : + opts("Accela"), + rot_threshold(b, "rotation-threshold", 30), + trans_threshold(b, "translation-threshold", 50), + ewma(b, "ewma", 2), + rot_deadzone(b, "rotation-deadzone", 0), + trans_deadzone(b, "translation-deadzone", 0) + {} +}; + +class FTNoIR_Filter : public IFilter +{ +public: + FTNoIR_Filter(); + void filter(const double* input, double *output) override; + void center() override { first_run = true; } + Map rot, trans; +private: + settings_accela s; + bool first_run; + double last_output[6]; + double smoothed_input[6]; + Timer t; +}; + +class FilterControls: public IFilterDialog +{ + Q_OBJECT +public: + FilterControls(); + void register_filter(IFilter* filter); + void unregister_filter(); +private: + Ui::AccelaUICFilterControls ui; + void discard(); + void save(); + FTNoIR_Filter* accela_filter; + settings_accela s; +private slots: + void doOK(); + void doCancel(); + void update_ewma_display(int value); + void update_rot_display(int value); + void update_trans_display(int value); + void update_rot_dz_display(int value); + void update_trans_dz_display(int value); +}; + +class FTNoIR_FilterDll : public Metadata +{ +public: + QString name() { return QString("Accela"); } + QIcon icon() { return QIcon(":/images/filter-16.png"); } +}; diff --git a/filter-accela/ftnoir_filter_accela_dialog.cpp b/filter-accela/ftnoir_filter_accela_dialog.cpp new file mode 100644 index 00000000..599cb716 --- /dev/null +++ b/filter-accela/ftnoir_filter_accela_dialog.cpp @@ -0,0 +1,105 @@ +/* Copyright (c) 2012-2015 Stanislaw Halik + * + * 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 "ftnoir_filter_accela.h" +#include +#include +#include +#include +#include "opentrack/plugin-api.hpp" +#include "spline-widget/qfunctionconfigurator.h" +#include + +FilterControls::FilterControls() : + accela_filter(nullptr) +{ + ui.setupUi( this ); + + connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); + connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); + + connect(ui.rotation_slider, SIGNAL(valueChanged(int)), this, SLOT(update_rot_display(int))); + connect(ui.translation_slider, SIGNAL(valueChanged(int)), this, SLOT(update_trans_display(int))); + connect(ui.ewma_slider, SIGNAL(valueChanged(int)), this, SLOT(update_ewma_display(int))); + connect(ui.rot_dz_slider, SIGNAL(valueChanged(int)), this, SLOT(update_rot_dz_display(int))); + connect(ui.trans_dz_slider, SIGNAL(valueChanged(int)), this, SLOT(update_trans_dz_display(int))); + + tie_setting(s.rot_threshold, ui.rotation_slider); + tie_setting(s.trans_threshold, ui.translation_slider); + tie_setting(s.ewma, ui.ewma_slider); + tie_setting(s.rot_deadzone, ui.rot_dz_slider); + tie_setting(s.trans_deadzone, ui.trans_dz_slider); + + update_rot_display(ui.rotation_slider->value()); + update_trans_display(ui.translation_slider->value()); + update_ewma_display(ui.ewma_slider->value()); + update_rot_dz_display(ui.rot_dz_slider->value()); + update_trans_dz_display(ui.trans_dz_slider->value()); +} + +void FilterControls::register_filter(IFilter* filter) +{ + accela_filter = static_cast(filter); +//#define LEAKING_DEBUG +#ifdef LEAKING_DEBUG + auto d = new QDialog(); + auto r = new QFunctionConfigurator(d); + r->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); + r->setConfig(&accela_filter->rot, ""); + r->setFixedSize(800, 300); + d->show(); +#endif +} + +void FilterControls::unregister_filter() +{ + accela_filter = nullptr; +} + +void FilterControls::doOK() { + save(); + this->close(); +} + +void FilterControls::doCancel() { + discard(); + close(); +} + +void FilterControls::discard() +{ + s.b->reload(); +} + +void FilterControls::save() { + s.b->save(); +} + +void FilterControls::update_rot_display(int value) +{ + ui.rot_gain->setText(QString::number((value + 1) * s.mult_rot) + "°"); +} + +void FilterControls::update_trans_display(int value) +{ + ui.trans_gain->setText(QString::number((value + 1) * s.mult_trans) + "mm"); +} + +void FilterControls::update_ewma_display(int value) +{ + ui.ewma_label->setText(QString::number(value * s.mult_ewma) + "ms"); +} + +void FilterControls::update_rot_dz_display(int value) +{ + ui.rot_dz->setText(QString::number(value * s.mult_rot_dz) + "°"); +} + +void FilterControls::update_trans_dz_display(int value) +{ + ui.trans_dz->setText(QString::number(value * s.mult_trans_dz) + "mm"); +} + -- cgit v1.2.3