get rid of "last_post_filter"

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

10 files changed, 60 insertions, 143 deletions

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index dfe71f28..fbf90a66 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -85,11 +85,9 @@ static void t_compensate(double* input, double* output)
 

 /** QThread run method @override **/

 void Tracker::run() {

-    T6DOF offset_camera, gameoutput_camera;

+    T6DOF offset_camera;

 

     double newpose[6] = {0};

-    double last_post_filter[6] ;

-

     int sleep_ms = 15;

 

     if (Libraries->pTracker)

@@ -144,9 +142,7 @@ void Tracker::run() {
             }

 

             if (Libraries->pFilter) {

-                for (int i = 0; i < 6; i++)

-                    last_post_filter[i] = gameoutput_camera.axes[i];

-                Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes, last_post_filter);

+                Libraries->pFilter->FilterHeadPoseData(target_camera2.axes, new_camera.axes);

             } else {

                 new_camera = target_camera2;

             }

@@ -159,8 +155,7 @@ void Tracker::run() {
                 t_compensate(output_camera.axes, output_camera.axes);

 

             if (Libraries->pProtocol) {

-                gameoutput_camera = output_camera;

-                Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes );	// degrees & centimeters

+                Libraries->pProtocol->sendHeadposeToGame( output_camera.axes );	// degrees & centimeters

             }

         }

 

diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index b48496bf..fb6a9565 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -78,6 +78,9 @@
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
      </property>
      <layout class="QFormLayout" name="formLayout_2">
+      <property name="fieldGrowthPolicy">
+       <enum>QFormLayout::ExpandingFieldsGrow</enum>
+      </property>
       <item row="0" column="0">
        <widget class="QLabel" name="label_2">
         <property name="sizePolicy">
@@ -160,76 +163,77 @@
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QLabel" name="lblSensYaw_5">
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>Order #2</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="order_2nd">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
-        <property name="minimumSize">
-         <size>
-          <width>25</width>
-          <height>0</height>
-         </size>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
         </property>
-        <property name="maximumSize">
-         <size>
-          <width>150</width>
-          <height>16777215</height>
-         </size>
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
         </property>
-        <property name="styleSheet">
-         <string notr="true">color:#0;
-background:none;</string>
+        <property name="decimals">
+         <number>4</number>
+        </property>
+        <property name="minimum">
+         <double>0.100000000000000</double>
         </property>
+        <property name="maximum">
+         <double>65535.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_12">
         <property name="text">
-         <string>Zoomed</string>
+         <string>Order #3</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="1">
-       <widget class="QSpinBox" name="spinZoom">
+      <item row="3" column="1">
+       <widget class="QDoubleSpinBox" name="order_3rd">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
-        <property name="minimumSize">
-         <size>
-          <width>20</width>
-          <height>22</height>
-         </size>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">background:none;</string>
-        </property>
         <property name="alignment">
          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
         </property>
-        <property name="readOnly">
-         <bool>false</bool>
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
         </property>
-        <property name="suffix">
-         <string>%</string>
+        <property name="decimals">
+         <number>4</number>
         </property>
         <property name="minimum">
-         <number>0</number>
+         <double>0.100000000000000</double>
         </property>
         <property name="maximum">
-         <number>200</number>
-        </property>
-        <property name="singleStep">
-         <number>1</number>
+         <double>65535.000000000000000</double>
         </property>
         <property name="value">
-         <number>45</number>
+         <double>1.000000000000000</double>
         </property>
        </widget>
       </item>
-      <item row="5" column="0">
+      <item row="4" column="0">
        <widget class="QLabel" name="lblSensYaw_6">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
@@ -258,7 +262,7 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="5" column="1">
+      <item row="4" column="1">
        <widget class="QDoubleSpinBox" name="deadzone">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
@@ -286,14 +290,14 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="6" column="0">
+      <item row="5" column="0">
        <widget class="QLabel" name="label_10">
         <property name="text">
          <string>Exponent</string>
         </property>
        </widget>
       </item>
-      <item row="6" column="1">
+      <item row="5" column="1">
        <widget class="QDoubleSpinBox" name="expt">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -315,76 +319,6 @@ background:none;</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_11">
-        <property name="text">
-         <string>Order #2</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QDoubleSpinBox" name="order_2nd">
-        <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="correctionMode">
-         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
-        </property>
-        <property name="decimals">
-         <number>4</number>
-        </property>
-        <property name="minimum">
-         <double>0.100000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>65535.000000000000000</double>
-        </property>
-        <property name="value">
-         <double>1.000000000000000</double>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QDoubleSpinBox" name="order_3rd">
-        <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="correctionMode">
-         <enum>QAbstractSpinBox::CorrectToPreviousValue</enum>
-        </property>
-        <property name="decimals">
-         <number>4</number>
-        </property>
-        <property name="minimum">
-         <double>0.100000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>65535.000000000000000</double>
-        </property>
-        <property name="value">
-         <double>1.000000000000000</double>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_12">
-        <property name="text">
-         <string>Order #3</string>
-        </property>
-       </widget>
-      </item>
      </layout>
     </widget>
    </item>
@@ -720,7 +654,6 @@ background:none;</string>
   <tabstop>translation_alpha</tabstop>
   <tabstop>order_2nd</tabstop>
   <tabstop>order_3rd</tabstop>
-  <tabstop>spinZoom</tabstop>
   <tabstop>deadzone</tabstop>
   <tabstop>expt</tabstop>
   <tabstop>doubleSpinBox</tabstop>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index a78a38c5..1046c268 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -31,7 +31,6 @@ void FTNoIR_Filter::loadSettings() {
 	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

 

 	iniFile.beginGroup ( "Accela" );

-    zoom_factor = iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toDouble();

     rotation_alpha = iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble();

     translation_alpha = iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble();

     second_order_alpha = iniFile.value("second-order-alpha", ACCELA_SECOND_ORDER_ALPHA).toDouble();

@@ -80,8 +79,7 @@ static inline T clamp(const T min, const T max, const T value)
 }

 

 void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,

-                                       double *new_camera_position,

-                                       const double* last_post_filter_values)

+                                       double *new_camera_position)

 {

 	if (first_run)

 	{

@@ -136,11 +134,10 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
         const double a = i >= 3 ? rotation_alpha : translation_alpha;

         const double a2 = a * second_order_alpha;

         const double a3 = a * third_order_alpha;

-        const double reduction = 1. / std::max(1., 1. + zoom_factor * -last_post_filter_values[TZ] / 1000);

         const double velocity =

-                parabola(a, vec * scaling[i], deadzone, expt) * reduction +

-                parabola(a2, vec2 * scaling[i], deadzone, expt) * reduction +

-                parabola(a3, vec3 * scaling[i], deadzone, expt) * reduction;

+                parabola(a, vec * scaling[i], deadzone, expt) +

+                parabola(a2, vec2 * scaling[i], deadzone, expt) +

+                parabola(a3, vec3 * scaling[i], deadzone, 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 0a550f0e..d91a5e42 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -34,7 +34,6 @@
 

 #define ACCELA_SMOOTHING_ROTATION 60.0

 #define ACCELA_SMOOTHING_TRANSLATION 40.0

-#define ACCELA_ZOOM_SLOWNESS 0

 #define ACCELA_SECOND_ORDER_ALPHA 100.0

 #define ACCELA_THIRD_ORDER_ALPHA 180.0

 

@@ -46,7 +45,7 @@ class FTNoIR_Filter : public IFilter
 public:

 	FTNoIR_Filter();

     virtual ~FTNoIR_Filter();

-    void FilterHeadPoseData(const double* target_camera_position, double *new_camera_position, const double* last_post_filter_values);

+    void FilterHeadPoseData(const double* target_camera_position, double *new_camera_position);

     void Initialize() {

         first_run = true;

     }

@@ -55,7 +54,7 @@ private:
     QMutex mutex;

 	void loadSettings();

 	bool first_run;

-    double rotation_alpha, translation_alpha, zoom_factor;

+    double rotation_alpha, translation_alpha;

     double second_order_alpha, third_order_alpha;

     double scaling[6];

     double deadzone;

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index be6836c2..a14db280 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -47,8 +47,6 @@ FilterControls::FilterControls() :
     connect(ui.rotation_alpha, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
     connect(ui.translation_alpha, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
 
-    connect(ui.spinZoom, SIGNAL(valueChanged(int)), this, SLOT(settingChanged(int)));
-
     QDoubleSpinBox* boxen[] = {
         ui.doubleSpinBox,
         ui.doubleSpinBox_2,
@@ -157,7 +155,6 @@ void FilterControls::loadSettings() {
     //qDebug() << "FTNoIR_Filter::loadSettings2 says: size = " << NUM_OF(defScaleRotation);
 
 	iniFile.beginGroup ( "Accela" );
-    ui.spinZoom->setValue(iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toInt());
     ui.rotation_alpha->setValue(iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble());
     ui.translation_alpha->setValue(iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble());
     ui.order_2nd->setValue(iniFile.value("second-order-alpha", ACCELA_SECOND_ORDER_ALPHA).toDouble());
@@ -210,7 +207,6 @@ void FilterControls::save() {
         iniFile.beginGroup ( "Accela" );
         iniFile.setValue("rotation-alpha", ui.rotation_alpha->value());
         iniFile.setValue("translation-alpha", ui.translation_alpha->value());
-        iniFile.setValue("zoom-slowness", ui.spinZoom->value());
         iniFile.setValue("deadzone", ui.deadzone->value());
         iniFile.setValue("exponent", ui.expt->value());
         iniFile.setValue("second-order-alpha", ui.order_2nd->value());
diff --git a/ftnoir_filter_base/ftnoir_filter_base.h b/ftnoir_filter_base/ftnoir_filter_base.h
index 48a4a6b9..800e5deb 100644
--- a/ftnoir_filter_base/ftnoir_filter_base.h
+++ b/ftnoir_filter_base/ftnoir_filter_base.h
@@ -13,7 +13,7 @@
 struct IFilter

 {

     virtual ~IFilter() = 0;

-    virtual void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position, const double *last_post_filter) = 0;

+    virtual void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position) = 0;

     virtual void Initialize() = 0;

 };

 

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index 3b208ef2..5f66be96 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -80,8 +80,7 @@ void FTNoIR_Filter::loadSettings() {
 }

 

 void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position,

-                                       double *new_camera_position,

-                                       const double *)

+                                       double *new_camera_position)

 {

     double delta;

     double new_alpha;

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index 7f2f21e6..86e4b65c 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -45,7 +45,7 @@ public:
     void Initialize() {}

 

     void FilterHeadPoseData(const double *target_camera_position,

-                            double *new_camera_position, const double *);

+                            double *new_camera_position);

     void receiveSettings(double smin, double smax, double sexpt);

 

 private:

diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
index 6c2cb6a9..da6df2b1 100644
--- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h
+++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
@@ -30,8 +30,7 @@ public:
     }
     void Initialize() virt_override;
     void FilterHeadPoseData(const double *target_camera_position,
-                            double *new_camera_position,
-                            const double *) virt_override;
+                            double *new_camera_position) virt_override;
     cv::KalmanFilter kalman;
     double prev_position[6];
     double prev2_filter_pos[6];
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp
index 5ecd417c..629cfcc8 100644
--- a/ftnoir_filter_kalman/kalman.cpp
+++ b/ftnoir_filter_kalman/kalman.cpp
@@ -93,8 +93,7 @@ static inline T clamp(const T min, const T max, const T value)
 }
 
 void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
-                                       double *new_camera_position,
-                                       const double *)
+                                       double *new_camera_position)
 {
     bool new_target = false;