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#pragma once
/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
*
* 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.
*/
#ifndef INCLUDED_FTN_FILTER_H
#define INCLUDED_FTN_FILTER_H
#include "ui_ftnoir_kalman_filtercontrols.h"
#include "opentrack/plugin-api.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/video/video.hpp>
#include <vector>
#include <QString>
#include <QElapsedTimer>
#include <QWidget>
#include "opentrack/options.hpp"
using namespace options;
struct settings : opts {
value<int> noise_stddev_slider;
// slider for noise_stddev goes 0->(mult_noise_stddev * 100)
static constexpr double mult_noise_stddev = .5;
settings() : opts("kalman-filter"), noise_stddev_slider(b, "noise-stddev", 40)
{}
};
class FTNoIR_Filter : public IFilter
{
public:
FTNoIR_Filter();
void reset();
void filter(const double *input, double *output);
// Set accel_stddev assuming moving 0.0->accel in dt_ is 3 stddevs: (accel*4/dt_^2)/3.
static constexpr double dt_ = .4;
static constexpr double accel = 60.;
static constexpr double accel_stddev = (accel*4/(dt_*dt_))/3.0;
cv::KalmanFilter kalman;
double last_input[6];
QElapsedTimer timer;
settings s;
int prev_slider_pos;
};
class FTNoIR_FilterDll : public Metadata
{
public:
QString name() { return QString("Kalman"); }
QIcon icon() { return QIcon(":/images/filter-16.png"); }
};
class FilterControls: public IFilterDialog
{
Q_OBJECT
public:
FilterControls() {
ui.setupUi(this);
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
tie_setting(s.noise_stddev_slider, ui.noise_slider);
}
Ui::KalmanUICFilterControls ui;
void register_filter(IFilter*) override {}
void unregister_filter() override {}
settings s;
public slots:
void doOK();
void doCancel();
};
#endif
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