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#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 "ui_ftnoir_kalman_filtercontrols.h"
#include "api/plugin-api.hpp"
#include "options/options.hpp"
using namespace options;
#include "compat/timer.hpp"
#include <Eigen/Core>
#include <Eigen/LU>
#include <QString>
#include <QWidget>
#include <atomic>
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);
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
struct KalmanProcessNoiseScaler
{
MeasureMatrix
innovation_cov_estimate;
StateMatrix
base_cov; // baseline (unscaled) process noise covariance matrix
void init();
void update(KalmanFilter &kf, double dt);
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
struct DeadzoneFilter
{
PoseVector
last_output,
dz_size;
DeadzoneFilter() :
last_output(PoseVector::Zero()),
dz_size(PoseVector::Zero())
{}
void reset() {
last_output = PoseVector::Zero();
}
PoseVector filter(const PoseVector &input);
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
struct settings : opts {
value<slider_value> noise_rot_slider_value;
value<slider_value> noise_pos_slider_value;
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_simga_rot = 0.5;
static double map_slider_value(const slider_value &v_)
{
const double v = v_;
#if 0
//return std::pow(10., v * 4. - 3.);
#else
constexpr int min_log10 = -3;
constexpr int max_log10 = 1;
constexpr int num_divisions = max_log10 - min_log10;
/* ascii art representation of slider
// ----- // ------// ------// ------- // 4 divisions
-3 - 2 -1 0 1 power of 10
| |
| f + left_side_log10
|
left_side_log10
*/
const int k = v * num_divisions; // in which division are we?!
const double f = v * num_divisions - k; // where in the division are we?!
const double ff = f * 9. + 1.;
const double multiplier = int(ff * 10.) / 10.;
const int left_side_log10 = min_log10 + k;
const double val = std::pow(10., left_side_log10) * multiplier;
return val;
#endif
}
settings() :
opts("kalman-filter"),
noise_rot_slider_value(b, "noise-rotation-slider", slider_value(0.5, 0., 1.)),
noise_pos_slider_value(b, "noise-position-slider", slider_value(0.5, 0., 1.))
{}
};
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);
PoseVector last_input;
Timer timer;
bool first_run;
double dt_since_last_input;
settings s;
KalmanFilter kf;
KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
DeadzoneFilter dz_filter;
slider_value prev_slider_pos[2];
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
class kalmanDll : public Metadata
{
public:
QString name() { return QString(QCoreApplication::translate("kalmanDll", "Kalman")); }
QIcon icon() { 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&);
};
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