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authorDaMichel <mw.pub@welter-4d.de>2016-08-02 12:55:58 +0200
committerDaMichel <mw.pub@welter-4d.de>2016-08-02 13:22:54 +0200
commit36266cacc451d468f450fd42e4a4e7de403f6144 (patch)
tree8f933c57f6879ae1805861d0d224f9d76a3d1479
parent4c0f65a9ae72fe0b2277ff704cc7f46c2467d97f (diff)
filter/kalman: slider resolution shall be limited by pixels on screen, not by quantization of slider values.
-rw-r--r--filter-kalman/ftnoir_kalman_filtercontrols.ui8
-rw-r--r--filter-kalman/kalman.cpp39
-rw-r--r--filter-kalman/kalman.h18
3 files changed, 38 insertions, 27 deletions
diff --git a/filter-kalman/ftnoir_kalman_filtercontrols.ui b/filter-kalman/ftnoir_kalman_filtercontrols.ui
index 848e5424..2e9bcae7 100644
--- a/filter-kalman/ftnoir_kalman_filtercontrols.ui
+++ b/filter-kalman/ftnoir_kalman_filtercontrols.ui
@@ -52,7 +52,7 @@
<item row="0" column="1">
<widget class="QSlider" name="noiseRotSlider">
<property name="maximum">
- <number>100</number>
+ <number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
@@ -67,7 +67,7 @@
<bool>false</bool>
</property>
<property name="tickPosition">
- <enum>QSlider::TicksAbove</enum>
+ <enum>QSlider::NoTicks</enum>
</property>
<property name="tickInterval">
<number>10</number>
@@ -84,13 +84,13 @@
<item row="1" column="1">
<widget class="QSlider" name="noisePosSlider">
<property name="maximum">
- <number>100</number>
+ <number>10000</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
- <enum>QSlider::TicksAbove</enum>
+ <enum>QSlider::NoTicks</enum>
</property>
<property name="tickInterval">
<number>10</number>
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index 804d15da..513ebf51 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -196,8 +196,8 @@ void FTNoIR_Filter::reset()
first_run = true;
dt_since_last_input = 0;
- prev_slider_pos[0] = s.noise_pos_slider_value;
- prev_slider_pos[1] = s.noise_rot_slider_value;
+ prev_slider_pos[0] = static_cast<slider_value>(s.noise_pos_slider_value);
+ prev_slider_pos[1] = static_cast<slider_value>(s.noise_rot_slider_value);
minimal_state_var = PoseVector::Constant(std::numeric_limits<double>::max());
@@ -211,8 +211,8 @@ void FTNoIR_Filter::filter(const double* input_, double *output_)
Eigen::Map<const PoseVector> input(input_, PoseVector::RowsAtCompileTime, 1);
Eigen::Map<PoseVector> output(output_, PoseVector::RowsAtCompileTime, 1);
- if (prev_slider_pos[0] != s.noise_pos_slider_value ||
- prev_slider_pos[1] != s.noise_rot_slider_value)
+ if (!(prev_slider_pos[0] == s.noise_pos_slider_value &&
+ prev_slider_pos[1] == s.noise_rot_slider_value))
{
reset();
}
@@ -265,19 +265,28 @@ FilterControls::FilterControls()
ui.setupUi(this);
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
- connect(ui.noiseRotSlider, &QSlider::valueChanged, [=](int value) {
- this->ui.noiseRotLabel->setText(
- // M$ hates unicode! (M$ autoconverts source code of one kind of utf-8 format, the one without BOM, to another kind that QT does not like)
- // We could use QChar(0x00b0). It should be totally backward compatible.
- // u8"°" is c++11. u8 means that the string is encoded in utf8. It happens to be compatible with QT.
- QString::number(settings::map_slider_value(value), 'f', 3) + u8" °");
- });
- connect(ui.noisePosSlider, &QSlider::valueChanged, [=](int value) {
- this->ui.noisePosLabel->setText(
- QString::number(settings::map_slider_value(value), 'f', 3) + " cm");
- });
+
tie_setting(s.noise_rot_slider_value, ui.noiseRotSlider);
tie_setting(s.noise_pos_slider_value, ui.noisePosSlider);
+
+ connect(&s.noise_rot_slider_value, SIGNAL(valueChanged(const slider_value&)), this, SLOT(updateLabels(const slider_value&)));
+ connect(&s.noise_pos_slider_value, SIGNAL(valueChanged(const slider_value&)), this, SLOT(updateLabels(const slider_value&)));
+
+ updateLabels(slider_value());
+}
+
+
+void FilterControls::updateLabels(const slider_value&)
+{
+ // M$ hates unicode! (M$ autoconverts source code of one kind of utf-8 format,
+ // the one without BOM, to another kind that QT does not like)
+ // Previous attempt to use c++11 utf8 strings like u8" °" now failed for unkown
+ // reasons where it worked before. Hence fallback to QChar(0x00b0).
+ this->ui.noiseRotLabel->setText(
+ QString::number(settings::map_slider_value(s.noise_rot_slider_value), 'f', 3) + " " + QChar(0x00b0));
+
+ this->ui.noisePosLabel->setText(
+ QString::number(settings::map_slider_value(s.noise_pos_slider_value), 'f', 3) + " cm");
}
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index a9771b8e..cb3041ea 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -87,25 +87,26 @@ struct DeadzoneFilter
struct settings : opts {
- value<int> noise_rot_slider_value;
- value<int> noise_pos_slider_value;
+ value<slider_value> noise_rot_slider_value;
+ value<slider_value> noise_pos_slider_value;
static constexpr double adaptivity_window_length = 0.5; // seconds
static constexpr double deadzone_scale = 2.;
static constexpr double deadzone_exponent = 4.0;
// these values worked best for me (MW) when taken with acompanying measured noise stddev of ca 0.1 (rot) and 0.01 (pos).
- static constexpr double process_sigma_pos = 0.05;
+ static constexpr double process_sigma_pos = 0.5;
static constexpr double process_simga_rot = 0.5;
- static double map_slider_value(int v)
+ static double map_slider_value(const slider_value &v)
{
- return std::pow(10., v * 0.04 - 3.);
+ //return std::pow(4., v * 5. - 4.) / 4. * 10.; // not so much difference, except that it is harder to adjust the min-max range.
+ return std::pow(10., v * 4. - 3.);
}
settings() :
opts("kalman-filter"),
- noise_rot_slider_value(b, "noise-rotation-slider", 40),
- noise_pos_slider_value(b, "noise-position-slider", 40)
+ 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.))
{}
};
@@ -128,7 +129,7 @@ public:
KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
PoseVector minimal_state_var;
DeadzoneFilter dz_filter;
- int prev_slider_pos[2];
+ slider_value prev_slider_pos[2];
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
@@ -153,4 +154,5 @@ public:
public slots:
void doOK();
void doCancel();
+ void updateLabels(const slider_value&);
};