From 9b3c936af725353b1da97cc32aacef623d0e9d07 Mon Sep 17 00:00:00 2001 From: Donovan Baarda Date: Tue, 21 Oct 2014 13:33:31 +1100 Subject: Set (accel|noise)_variance from (accel|noise)_stddev settings. Use better estimates for filter settings giving less filtering. Fix broken old reference to target_camera_position. --- ftnoir_filter_kalman/ftnoir_filter_kalman.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'ftnoir_filter_kalman/ftnoir_filter_kalman.h') diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h index 8ede4c7d..f6224530 100755 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h @@ -25,8 +25,10 @@ public: FTNoIR_Filter(); void reset(); void filter(const double *input, double *output); - double accel_variance; - double noise_variance; + // Set accel_stddev assuming moving 0.0->100.0 in dt=0.2 is 3 stddevs: (100.0*4/dt^2)/3. + const double accel_stddev = (100.0*4/(0.2*0.2))/3.0; + // TODO(abo): make noise_stddev a UI setting 0.0->10.0 with 0.1 resolution. + const double noise_stddev = 1.0; cv::KalmanFilter kalman; double last_input[6]; QElapsedTimer timer; -- cgit v1.2.3