1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
|
#pragma once
#include "ui_ftnoir_accela_filtercontrols.h"
#include "opentrack/plugin-api.hpp"
#include <atomic>
#include <QMutex>
#include <QTimer>
#define ACCELA_SMOOTHING_ROTATION 60.0
#define ACCELA_SMOOTHING_TRANSLATION 40.0
#define ACCELA_fast_ALPHA 100.0
#define ACCELA_THIRD_ORDER_ALPHA 180.0
#include "opentrack/options.hpp"
using namespace options;
struct settings {
pbundle b;
value<double> rotation_alpha,
translation_alpha,
rot_deadzone,
trans_deadzone,
expt;
value<int> fast_alpha;
settings() :
b(bundle("Accela")),
rotation_alpha(b, "rotation-alpha", ACCELA_SMOOTHING_ROTATION),
translation_alpha(b, "translation-alpha", ACCELA_SMOOTHING_TRANSLATION),
rot_deadzone(b, "rotation-deadband", 0),
trans_deadzone(b, "translation-deadband", 0),
expt(b, "exponent", 2),
fast_alpha(b, "fast-alpha", 0)
{}
};
struct state_display
{
double y, p, r;
state_display() : y(0), p(0), r(0) {};
};
class FTNoIR_Filter : public IFilter
{
public:
FTNoIR_Filter();
void filter(const double* target_camera_position, double *new_camera_position);
state_display state;
private:
// hardcoded distance between filter() calls
static constexpr double Hz = 3./1000;
// moving average history
static constexpr double fast_alpha_seconds = 0.2;
// max degrees considered "slow" after alpha
static constexpr double max_slow_delta = 0.75;
// if set to zero, never decreases response
static constexpr double damping = 0.75;
settings s;
bool first_run;
double last_output[6];
double fast_state[6];
};
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 s;
QTimer t;
private slots:
void doOK();
void doCancel();
void timer_fired();
};
class FTNoIR_FilterDll : public Metadata
{
public:
QString name() { return QString("Accela"); }
QIcon icon() { return QIcon(":/images/filter-16.png"); }
};
|
