Merge branch 'unstable' of https://github.com/opentrack/opentrack into dev/kalman

Conflicts:
	ftnoir_filter_kalman/ftnoir_filter_kalman.h

1 files changed, 0 insertions, 60 deletions

diff --git a/facetracknoir/lerp.hpp b/facetracknoir/lerp.hpp
deleted file mode 100644
index 0123832a..00000000
--- a/facetracknoir/lerp.hpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#pragma once
-
-#include "facetracknoir/timer.hpp"
-#include <algorithm>
-#include <cmath>
-
-class lerp {
-private:
-    static const constexpr double eps = 1e-2;
-    double last[2][6], cam[6], dt;
-    Timer t;
-public:
-    lerp() :
-        last { {0,0,0,0,0,0}, {0,0,0,0,0,0} }, cam {0,0,0,0,0,0}, dt(1)
-    {
-    }
-    bool idempotentp(const double* input)
-    {
-        for (int i = 0; i < 6; i++)
-        {
-            double diff = fabs(cam[i] - input[i]);
-            if (diff > eps)
-                return false;
-        }
-        return true;
-    }
-
-    void write(const double* cam_, const double* input, double* output)
-    {
-        const double q = t.elapsed();
-        const double d = q/dt;
-
-        bool idem = idempotentp(cam_);
-
-        if (!idem)
-        {
-            dt = q;
-            t.start();
-        }
-
-        const double c = std::max(std::min(1.0, d), 0.0);
-
-        if (!idem)
-            for (int i = 0; i < 6; i++)
-            {
-                last[1][i] = last[0][i];
-                last[0][i] = input[i];
-                cam[i] = cam_[i];
-            }
-
-        for (int i = 0; i < 6; i++)
-            output[i] = last[1][i] + (last[0][i] - last[1][i]) * c;
-    }
-
-    void get_state(double* state)
-    {
-        for (int i = 0; i < 6; i++)
-            state[i] = last[0][i];
-    }
-};