compat/correlation-calibration: retire

2 files changed, 0 insertions, 242 deletions

diff --git a/compat/correlation-calibrator.cpp b/compat/correlation-calibrator.cpp
deleted file mode 100644
index aef804d2..00000000
--- a/compat/correlation-calibrator.cpp
+++ /dev/null
@@ -1,166 +0,0 @@
-#include "correlation-calibrator.hpp"
-#include "variance.hpp"
-#include "compat/math.hpp"
-
-#include <cmath>
-#include <iterator>
-
-#include <QDebug>
-
-#define DEBUG_PRINT
-#ifdef DEBUG_PRINT
-#   include <cstdio>
-#   include <cwchar>
-    using std::fwprintf;
-    using std::fflush;
-#endif
-
-using namespace correlation_calibrator_impl;
-
-correlation_calibrator::correlation_calibrator()
-{
-}
-
-static constexpr unsigned nbuckets[6] =
-{
-    x_nbuckets,
-    y_nbuckets,
-    z_nbuckets,
-
-    yaw_nbuckets,
-    pitch_nbuckets,
-    roll_nbuckets,
-};
-
-static constexpr double spacing[6] =
-{
-    translation_spacing,
-    translation_spacing,
-    translation_spacing,
-
-    yaw_spacing_in_degrees,
-    pitch_spacing_in_degrees,
-    roll_spacing_in_degrees,
-};
-
-static constexpr wchar_t const* const names[6] {
-    L"x", L"y", L"z",
-    L"yaw", L"pitch", L"roll",
-};
-
-bool correlation_calibrator::check_buckets(const vec6 &data)
-{
-    bool ret = false;
-    unsigned pos[6];
-
-    for (unsigned k = 0; k < 6; k++)
-    {
-        const double val = clamp(data[k], min[k], max[k]);
-        pos[k] = (val-min[k])/spacing[k];
-
-        if (pos[k] >= nbuckets[k])
-        {
-            qDebug() << "idx" << k
-                     << "bucket" << (int)pos[k]
-                     << "outside bounds" << nbuckets[k];
-
-            return false;
-        }
-
-        if (!buckets[k][pos[k]])
-            ret = true;
-
-        buckets[k][pos[k]] = true;
-    }
-
-    if (ret)
-        for (unsigned k = 0; k < 6; k++)
-            buckets[k][pos[k]] = true;
-
-    return ret;
-}
-
-void correlation_calibrator::input(const vec6& data_)
-{
-    if (!check_buckets(data_))
-        return;
-
-    data.push_back(data_);
-}
-
-mat66 correlation_calibrator::get_coefficients() const
-{
-    if (data.size() < min_samples)
-    {
-        qDebug() << "correlation-calibrator: not enough data";
-
-        mat66 ret;
-        for (unsigned k = 0; k < 6; k++)
-            ret(k, k) = 1;
-        return ret;
-    }
-
-    variance vs[6];
-    vec6 devs, means;
-
-    for (const vec6& x : data)
-        for (unsigned i = 0; i < 6; i++)
-            vs[i].input(x(i));
-
-    for (unsigned i = 0; i < 6; i++)
-    {
-        means(i) = vs[i].avg();
-        devs(i) = vs[i].stddev();
-
-        constexpr double EPS = 1e-4;
-
-        if (devs(i) < EPS)
-            devs(i) = EPS;
-    }
-
-    mat66 cs;
-
-    for (const vec6& x : data)
-        for (unsigned k = 0; k < 6; k++)
-        {
-            for (unsigned idx = 0; idx < 6; idx++)
-            {
-                const double zi = (x(idx) - means(idx)),
-                             zk = (x(k) - means(k));
-
-                cs(idx, k) += zi * zk / (devs(k)*devs(k));
-            }
-        }
-
-    cs = cs * (1./(data.size() - 1));
-
-#if defined DEBUG_PRINT
-    fwprintf(stderr, L"v:change-of h:due-to\n");
-    fwprintf(stderr, L"%10s ", L"");
-    for (unsigned k = 0; k < 6; k++)
-        fwprintf(stderr, L"%10s", names[k]);
-    fwprintf(stderr, L"\n");
-
-    for (unsigned i = 0; i < 6; i++)
-    {
-        fwprintf(stderr, L"%10s ", names[i]);
-        for (unsigned k = 0; k < 6; k++)
-            fwprintf(stderr, L"%10.3f", cs(i, k));
-        fwprintf(stderr, L"\n");
-    }
-    fflush(stderr);
-#endif
-
-    for (unsigned k = 0; k < 6; k++)
-        cs(k, k) = 1;
-
-    // derivations from
-    // https://www.thoughtco.com/how-to-calculate-the-correlation-coefficient-3126228
-
-    return cs;
-}
-
-unsigned correlation_calibrator::sample_count() const
-{
-    return data.size();
-}
diff --git a/compat/correlation-calibrator.hpp b/compat/correlation-calibrator.hpp
deleted file mode 100644
index b44a2312..00000000
--- a/compat/correlation-calibrator.hpp
+++ /dev/null
@@ -1,76 +0,0 @@
-#pragma once
-
-#include "simple-mat.hpp"
-#include <array>
-#include <vector>
-#include <tuple>
-
-#include "export.hpp"
-
-namespace correlation_calibrator_impl {
-
-static constexpr inline double min[6] = {
-    -50,
-    -50,
-    250,
-
-    -180,
-    -180,
-    -180,
-};
-
-static constexpr inline double max[6] = {
-    50,
-    50,
-    250,
-
-    180,
-    180,
-    180,
-};
-
-static constexpr inline double yaw_spacing_in_degrees = 1.5;
-static constexpr inline double pitch_spacing_in_degrees = 1;
-static constexpr inline double roll_spacing_in_degrees = 1;
-
-static constexpr inline unsigned yaw_nbuckets   = 1+ 360./yaw_spacing_in_degrees;
-static constexpr inline unsigned pitch_nbuckets = 1+ 360./pitch_spacing_in_degrees;
-static constexpr inline unsigned roll_nbuckets  = 1+ 360./roll_spacing_in_degrees;
-
-static constexpr inline double translation_spacing = .25;
-static constexpr inline unsigned x_nbuckets = 1+ (max[0]-min[0])/translation_spacing;
-static constexpr inline unsigned y_nbuckets = 1+ (max[1]-min[1])/translation_spacing;
-static constexpr inline unsigned z_nbuckets = 1+ (max[2]-min[2])/translation_spacing;
-
-using vec6 = Mat<double, 6, 1>;
-using mat66 = Mat<double, 6, 6>;
-
-class OTR_COMPAT_EXPORT correlation_calibrator final
-{
-    // careful to avoid vector copies
-    std::array<std::vector<bool>, 6> buckets =
-    {
-        std::vector<bool>(x_nbuckets,       false),
-        std::vector<bool>(y_nbuckets,       false),
-        std::vector<bool>(z_nbuckets,       false),
-        std::vector<bool>(yaw_nbuckets,     false),
-        std::vector<bool>(pitch_nbuckets,   false),
-        std::vector<bool>(roll_nbuckets,    false),
-    };
-
-    std::vector<vec6> data;
-
-    bool check_buckets(const vec6& data);
-
-public:
-    correlation_calibrator();
-    void input(const vec6& data);
-    mat66 get_coefficients() const;
-    unsigned sample_count() const;
-
-    static constexpr inline unsigned min_samples = 25;
-};
-
-} // ns correlation_calibrator_impl
-
-using correlation_calibrator_impl::correlation_calibrator;