From 0038b0435334c56070bff84a2ec6c7ccfff7d062 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 27 Oct 2013 10:41:33 +0100 Subject: accela: implement variable exponent Signed-off-by: Stanislaw Halik --- .../ftnoir_accela_filtercontrols.ui | 29 ++++++++++++++++++++++ ftnoir_filter_accela/ftnoir_filter_accela.cpp | 21 +++++++++------- ftnoir_filter_accela/ftnoir_filter_accela.h | 3 ++- .../ftnoir_filter_accela_dialog.cpp | 9 +++++-- 4 files changed, 50 insertions(+), 12 deletions(-) (limited to 'ftnoir_filter_accela') diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui index 1d3e95ef..5ba33614 100644 --- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui +++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui @@ -286,6 +286,35 @@ background:none; + + + + Exponent + + + + + + + + 0 + 0 + + + + 3 + + + 0.050000000000000 + + + 100.000000000000000 + + + 0.050000000000000 + + + diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index 63c82722..73a9dd8f 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -38,21 +38,23 @@ void FTNoIR_Filter::loadSettings() { deadzone = iniFile.value("deadzone", 0.0).toDouble(); // bigger means less filtering static const double init_scaling[] = { - 1.5, // X - 1.5, // Y + 1, // X + 1, // Y 1, // Z - 0.8, // Yaw - 0.9, // Pitch - 1.25 // Roll + 1, // Yaw + 1, // Pitch + 1 // Roll }; for (int i = 0; i < 6; i++) { scaling[i] = iniFile.value(QString("axis-%1").arg(QString::number(i)), init_scaling[i]).toDouble(); } + expt = iniFile.value("exponent", 2.0).toDouble(); + iniFile.endGroup(); } -void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, double dz) +void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, double dz, double exponent) { QMutexLocker foo(&mutex); @@ -60,12 +62,13 @@ void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, d translation_alpha = trans; zoom_factor = zoom_fac; deadzone = dz; + expt = exponent; } -static inline double parabola(const double a, const double x, const double dz) +static inline double parabola(const double a, const double x, const double dz, const double expt) { const double a1 = 1./a; - return a1 * pow(std::max(x - dz, 1e-3), 1.975); + return a1 * pow(std::max(x - dz, 1e-3), expt); } void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, @@ -93,7 +96,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, const double x = fabs(vec); const double a = i >= 3 ? rotation_alpha : translation_alpha; const double reduction = 1. / std::max(1., 1. + zoom_factor * -last_post_filter_values[TZ] / 1000); - const double velocity = parabola(a, x * scaling[i], deadzone) * reduction; + const double velocity = parabola(a, x * scaling[i], deadzone, expt) * reduction; const double result = current_camera_position[i] + velocity * sign; const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i]; new_camera_position[i] = current_camera_position[i] = done ? target_camera_position[i] : result; diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h index 1808e026..8c770df9 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.h +++ b/ftnoir_filter_accela/ftnoir_filter_accela.h @@ -47,7 +47,7 @@ public: void Initialize() { first_run = true; } - void receiveSettings(double rot, double trans, double zoom_fac, double deadzone); + void receiveSettings(double rot, double trans, double zoom_fac, double deadzone, double expt); private: QMutex mutex; void loadSettings(); @@ -56,6 +56,7 @@ private: double current_camera_position[6]; double scaling[6]; double deadzone; + double expt; }; //******************************************************************************************************* diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp index ca3377e1..88c0a794 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp @@ -63,6 +63,8 @@ FilterControls::FilterControls() : connect(boxen[i], SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); } + connect(ui.expt, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); + qDebug() << "FilterControls() says: started"; } @@ -184,6 +186,8 @@ void FilterControls::loadSettings() { boxen[i]->setValue(iniFile.value(QString("axis-%1").arg(QString::number(i)), init_scaling[i]).toDouble()); } + ui.expt->setValue(iniFile.value("exponent", 2.0).toDouble()); + iniFile.endGroup(); settingsDirty = false; @@ -200,13 +204,14 @@ void FilterControls::save() { qDebug() << "FTNoIR_Filter::save() says: iniFile = " << currentFile; - double rot, trans, zoom, deadzone; + double rot, trans, zoom, deadzone, expt; iniFile.beginGroup ( "Accela" ); iniFile.setValue("rotation-alpha", rot = ui.rotation_alpha->value()); iniFile.setValue("translation-alpha", trans = ui.translation_alpha->value()); iniFile.setValue("zoom-slowness", zoom = ui.spinZoom->value()); iniFile.setValue("deadzone", deadzone = ui.deadzone->value()); + iniFile.setValue("exponent", expt = ui.expt->value()); QDoubleSpinBox* boxen[] = { ui.doubleSpinBox, @@ -226,7 +231,7 @@ void FilterControls::save() { settingsDirty = false; if (accela_filter) - accela_filter->receiveSettings(rot, trans, zoom, deadzone); + accela_filter->receiveSettings(rot, trans, zoom, deadzone, expt); } //////////////////////////////////////////////////////////////////////////////// -- cgit v1.2.3