From c8917c62d6415706380102c78af3c99a127722ed Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 12 Jan 2014 12:47:10 +0100
Subject: accela: implement separate rot/trans deadbands

---
 .../ftnoir_accela_filtercontrols.ui                | 152 +++++++++++++--------
 ftnoir_filter_accela/ftnoir_filter_accela.cpp      |   7 +-
 ftnoir_filter_accela/ftnoir_filter_accela.h        |   6 +-
 .../ftnoir_filter_accela_dialog.cpp                |   3 +-
 4 files changed, 104 insertions(+), 64 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 54493041..a3deacbd 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>215</width>
-    <height>285</height>
+    <width>261</width>
+    <height>330</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -54,19 +54,16 @@
    <property name="horizontalSpacing">
     <number>7</number>
    </property>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label_2">
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_3">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+      <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="text">
-      <string>Rotation</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+      <string>Translation</string>
      </property>
     </widget>
    </item>
@@ -98,16 +95,33 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="label_3">
+   <item row="0" column="0">
+    <widget class="QLabel" name="label_2">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="text">
-      <string>Translation</string>
+      <string>Rotation</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label_10">
+     <property name="text">
+      <string>Exponent</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="label_12">
+     <property name="text">
+      <string>Order #3</string>
      </property>
     </widget>
    </item>
@@ -143,15 +157,8 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="0">
-    <widget class="QLabel" name="label_12">
-     <property name="text">
-      <string>Order #3</string>
-     </property>
-    </widget>
-   </item>
    <item row="5" column="1">
-    <widget class="QDoubleSpinBox" name="deadzone">
+    <widget class="QDoubleSpinBox" name="rot_deadzone">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
        <horstretch>0</horstretch>
@@ -178,35 +185,6 @@
      </property>
     </widget>
    </item>
-   <item row="6" column="0">
-    <widget class="QLabel" name="label_10">
-     <property name="text">
-      <string>Exponent</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="1">
-    <widget class="QDoubleSpinBox" name="expt">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="decimals">
-      <number>3</number>
-     </property>
-     <property name="minimum">
-      <double>0.050000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>100.000000000000000</double>
-     </property>
-     <property name="singleStep">
-      <double>0.050000000000000</double>
-     </property>
-    </widget>
-   </item>
    <item row="5" column="0">
     <widget class="QLabel" name="lblSensYaw_6">
      <property name="sizePolicy">
@@ -232,11 +210,11 @@
 background:none;</string>
      </property>
      <property name="text">
-      <string>Deadband</string>
+      <string>Rotation deadband</string>
      </property>
     </widget>
    </item>
-   <item row="7" column="0" colspan="2">
+   <item row="8" column="0" colspan="2">
     <widget class="QLabel" name="label_9">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -281,7 +259,29 @@ background:none;</string>
      </property>
     </widget>
    </item>
-   <item row="8" column="0" colspan="2">
+   <item row="7" column="1">
+    <widget class="QDoubleSpinBox" name="expt">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="decimals">
+      <number>3</number>
+     </property>
+     <property name="minimum">
+      <double>0.050000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>100.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="9" column="0" colspan="2">
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
@@ -294,8 +294,8 @@ background:none;</string>
      </property>
     </widget>
    </item>
-   <item row="3" column="1">
-    <widget class="QDoubleSpinBox" name="order_2nd">
+   <item row="4" column="1">
+    <widget class="QDoubleSpinBox" name="order_3rd">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
        <horstretch>0</horstretch>
@@ -322,8 +322,8 @@ background:none;</string>
      </property>
     </widget>
    </item>
-   <item row="4" column="1">
-    <widget class="QDoubleSpinBox" name="order_3rd">
+   <item row="3" column="1">
+    <widget class="QDoubleSpinBox" name="order_2nd">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
        <horstretch>0</horstretch>
@@ -350,6 +350,41 @@ background:none;</string>
      </property>
     </widget>
    </item>
+   <item row="6" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Translation deadband</string>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="1">
+    <widget class="QDoubleSpinBox" name="trans_deadzone">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+     </property>
+     <property name="decimals">
+      <number>3</number>
+     </property>
+     <property name="minimum">
+      <double>0.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>3.000000000000000</double>
+     </property>
+     <property name="singleStep">
+      <double>0.050000000000000</double>
+     </property>
+     <property name="value">
+      <double>0.000000000000000</double>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <tabstops>
@@ -357,7 +392,8 @@ background:none;</string>
   <tabstop>translation_alpha</tabstop>
   <tabstop>order_2nd</tabstop>
   <tabstop>order_3rd</tabstop>
-  <tabstop>deadzone</tabstop>
+  <tabstop>rot_deadzone</tabstop>
+  <tabstop>trans_deadzone</tabstop>
   <tabstop>expt</tabstop>
   <tabstop>buttonBox</tabstop>
  </tabstops>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 1e12e4de..558b3189 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -89,10 +89,11 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
         const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha;
         const double a2 = a * s.second_order_alpha;
         const double a3 = a * s.third_order_alpha;
+        const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone;
         const double velocity =
-                parabola(a, vec, s.deadzone, s.expt) +
-                parabola(a2, vec2, s.deadzone, s.expt) +
-                parabola(a3, vec3, s.deadzone, s.expt);
+                parabola(a, vec, deadzone, s.expt) +
+                parabola(a2, vec2, deadzone, s.expt) +
+                parabola(a3, vec3, deadzone, s.expt);
         const double result = last_output[0][i] + velocity;
         const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];
         new_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 e8f077c3..42d9b772 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -19,7 +19,8 @@ struct settings {
                   translation_alpha,
                   second_order_alpha,
                   third_order_alpha,
-                  deadzone,
+                  rot_deadzone,
+                  trans_deadzone,
                   expt;
     settings() :
         b(bundle("Accela")),
@@ -27,7 +28,8 @@ struct settings {
         translation_alpha(b, "translation-alpha", ACCELA_SMOOTHING_TRANSLATION),
         second_order_alpha(b, "second-order-alpha", ACCELA_SECOND_ORDER_ALPHA),
         third_order_alpha(b, "third-order-alpha", ACCELA_THIRD_ORDER_ALPHA),
-        deadzone(b, "deadzone", 0),
+        rot_deadzone(b, "rotation-deadband", 0),
+        trans_deadzone(b, "translation-deadband", 0),
         expt(b, "exponent", 2)
     {}
 };
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index 56b76a55..ca321891 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -16,7 +16,8 @@ FilterControls::FilterControls() :
     tie_setting(s.translation_alpha, ui.translation_alpha);
     tie_setting(s.second_order_alpha, ui.order_2nd);
     tie_setting(s.third_order_alpha, ui.order_3rd);
-    tie_setting(s.deadzone, ui.deadzone);
+    tie_setting(s.rot_deadzone, ui.rot_deadzone);
+    tie_setting(s.trans_deadzone, ui.trans_deadzone);
     tie_setting(s.expt, ui.expt);
 }
 
-- 
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