accela: implement variable exponent

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

4 files changed, 50 insertions, 12 deletions

diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index 1d3e95ef..5ba33614 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -286,6 +286,35 @@ background:none;</string>
         </property>
        </widget>
       </item>
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>Exponent</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="1">
+       <widget class="QDoubleSpinBox" name="expt">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="decimals">
+         <number>3</number>
+        </property>
+        <property name="minimum">
+         <double>0.050000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>100.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 63c82722..73a9dd8f 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -38,21 +38,23 @@ void FTNoIR_Filter::loadSettings() {
     deadzone = iniFile.value("deadzone", 0.0).toDouble();

     // bigger means less filtering

     static const double init_scaling[] = {

-        1.5, // X

-        1.5, // Y

+        1,   // X

+        1,   // Y

         1,   // Z

-        0.8, // Yaw

-        0.9, // Pitch

-        1.25 // Roll

+        1,   // Yaw

+        1,   // Pitch

+        1    // Roll

     };

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

     {

         scaling[i] = iniFile.value(QString("axis-%1").arg(QString::number(i)), init_scaling[i]).toDouble();

     }

+    expt = iniFile.value("exponent", 2.0).toDouble();

+

     iniFile.endGroup();

 }

 

-void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, double dz)

+void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, double dz, double exponent)

 {

     QMutexLocker foo(&mutex);

     

@@ -60,12 +62,13 @@ void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, d
     translation_alpha = trans;

     zoom_factor = zoom_fac;

     deadzone = dz;

+    expt = exponent;

 }

 

-static inline double parabola(const double a, const double x, const double dz)

+static inline double parabola(const double a, const double x, const double dz, const double expt)

 {

     const double a1 = 1./a;

-    return a1 * pow(std::max<double>(x - dz, 1e-3), 1.975);

+    return a1 * pow(std::max<double>(x - dz, 1e-3), expt);

 }

 

 void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,

@@ -93,7 +96,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
 		const double x = fabs(vec);

         const double a = i >= 3 ? rotation_alpha : translation_alpha;

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

-        const double velocity = parabola(a, x * scaling[i], deadzone) * reduction;

+        const double velocity = parabola(a, x * scaling[i], deadzone, expt) * reduction;

 		const double result = current_camera_position[i] + velocity * sign;

         const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];

         new_camera_position[i] = current_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 1808e026..8c770df9 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -47,7 +47,7 @@ public:
     void Initialize() {

         first_run = true;

     }

-    void receiveSettings(double rot, double trans, double zoom_fac, double deadzone);

+    void receiveSettings(double rot, double trans, double zoom_fac, double deadzone, double expt);

 private:

     QMutex mutex;

 	void loadSettings();

@@ -56,6 +56,7 @@ private:
     double current_camera_position[6];

     double scaling[6];

     double deadzone;

+    double expt;

 };

 

 //*******************************************************************************************************

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index ca3377e1..88c0a794 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -63,6 +63,8 @@ FilterControls::FilterControls() :
         connect(boxen[i], SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
     }
 
+    connect(ui.expt, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
+
 	qDebug() << "FilterControls() says: started";
 }
 
@@ -184,6 +186,8 @@ void FilterControls::loadSettings() {
         boxen[i]->setValue(iniFile.value(QString("axis-%1").arg(QString::number(i)), init_scaling[i]).toDouble());
     }
 
+    ui.expt->setValue(iniFile.value("exponent", 2.0).toDouble());
+
     iniFile.endGroup();
 
 	settingsDirty = false;
@@ -200,13 +204,14 @@ void FilterControls::save() {
 
 	qDebug() << "FTNoIR_Filter::save() says: iniFile = " << currentFile;
 
-    double rot, trans, zoom, deadzone;
+    double rot, trans, zoom, deadzone, expt;
     
     iniFile.beginGroup ( "Accela" );
     iniFile.setValue("rotation-alpha", rot = ui.rotation_alpha->value());
     iniFile.setValue("translation-alpha", trans = ui.translation_alpha->value());
     iniFile.setValue("zoom-slowness", zoom = ui.spinZoom->value());
     iniFile.setValue("deadzone", deadzone = ui.deadzone->value());
+    iniFile.setValue("exponent", expt = ui.expt->value());
 
     QDoubleSpinBox* boxen[] = {
         ui.doubleSpinBox,
@@ -226,7 +231,7 @@ void FilterControls::save() {
 	settingsDirty = false;
     
     if (accela_filter)
-        accela_filter->receiveSettings(rot, trans, zoom, deadzone);
+        accela_filter->receiveSettings(rot, trans, zoom, deadzone, expt);
 }
 
 ////////////////////////////////////////////////////////////////////////////////