filter/ewma: cleanup, update

- switch to our timer since it has more than millisecond precision
- use slider_value for settings
- sanitize allowed scaling curve bounds
- ensure min <= max in dialog
- ensure min <= max at filter runtime
- check for NaN taking -ffast-math into account
- simplify dialog logic
- change delta smoothing constant

4 files changed, 145 insertions, 219 deletions

diff --git a/filter-ewma2/ftnoir_ewma_filtercontrols.ui b/filter-ewma2/ftnoir_ewma_filtercontrols.ui
index 9387f0d5..36826c2d 100644
--- a/filter-ewma2/ftnoir_ewma_filtercontrols.ui
+++ b/filter-ewma2/ftnoir_ewma_filtercontrols.ui
@@ -13,11 +13,17 @@
     <height>380</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
-   <string>EWMA2 filter settings</string>
+   <string>EWMA filter settings</string>
   </property>
   <property name="windowIcon">
-   <iconset resource="ewma-filter.qrc">
+   <iconset resource="../gui/ui-res.qrc">
     <normaloff>:/images/filter-16.png</normaloff>:/images/filter-16.png</iconset>
   </property>
   <property name="layoutDirection">
@@ -39,30 +45,24 @@
       <property name="bottomMargin">
        <number>2</number>
       </property>
-      <item row="0" column="0">
-       <widget class="QLabel" name="lblInvert1_6">
+      <item row="1" column="0">
+       <widget class="QLabel" name="lblInvert1_7">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
         <property name="styleSheet">
          <string notr="true"/>
         </property>
         <property name="text">
-         <string>Min</string>
+         <string>Max</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
-       <widget class="QSlider" name="minSmooth">
+      <item row="1" column="1">
+       <widget class="QSlider" name="maxSmooth">
         <property name="sizePolicy">
          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
           <horstretch>0</horstretch>
@@ -70,16 +70,19 @@
          </sizepolicy>
         </property>
         <property name="minimum">
-         <number>1</number>
+         <number>0</number>
         </property>
         <property name="maximum">
-         <number>100</number>
+         <number>1000</number>
         </property>
-        <property name="pageStep">
+        <property name="singleStep">
          <number>5</number>
         </property>
+        <property name="pageStep">
+         <number>50</number>
+        </property>
         <property name="value">
-         <number>2</number>
+         <number>1000</number>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
@@ -89,55 +92,30 @@
         </property>
        </widget>
       </item>
-      <item row="0" column="2">
-       <widget class="QSpinBox" name="spinMinSmooth">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">background:none;</string>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-        <property name="buttonSymbols">
-         <enum>QAbstractSpinBox::PlusMinus</enum>
-        </property>
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>120</number>
-        </property>
-        <property name="singleStep">
-         <number>5</number>
-        </property>
-        <property name="value">
-         <number>2</number>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="lblInvert1_7">
+      <item row="0" column="0">
+       <widget class="QLabel" name="lblInvert1_6">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
         <property name="styleSheet">
          <string notr="true"/>
         </property>
         <property name="text">
-         <string>Max</string>
+         <string>Min</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
-       <widget class="QSlider" name="maxSmooth">
+      <item row="0" column="1">
+       <widget class="QSlider" name="minSmooth">
         <property name="sizePolicy">
          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
           <horstretch>0</horstretch>
@@ -148,13 +126,16 @@
          <number>1</number>
         </property>
         <property name="maximum">
-         <number>100</number>
+         <number>1000</number>
         </property>
-        <property name="pageStep">
+        <property name="singleStep">
          <number>5</number>
         </property>
+        <property name="pageStep">
+         <number>50</number>
+        </property>
         <property name="value">
-         <number>10</number>
+         <number>1000</number>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
@@ -164,38 +145,7 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="2">
-       <widget class="QSpinBox" name="spinMaxSmooth">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">background:none;</string>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-        <property name="buttonSymbols">
-         <enum>QAbstractSpinBox::PlusMinus</enum>
-        </property>
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>120</number>
-        </property>
-        <property name="singleStep">
-         <number>5</number>
-        </property>
-        <property name="value">
-         <number>10</number>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
+      <item row="3" column="0">
        <widget class="QLabel" name="lblInvert1_8">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -211,7 +161,7 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
+      <item row="3" column="1">
        <widget class="QSlider" name="powCurve">
         <property name="sizePolicy">
          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
@@ -220,16 +170,19 @@
          </sizepolicy>
         </property>
         <property name="minimum">
-         <number>1</number>
+         <number>0</number>
         </property>
         <property name="maximum">
-         <number>100</number>
+         <number>1000</number>
         </property>
-        <property name="pageStep">
+        <property name="singleStep">
          <number>5</number>
         </property>
+        <property name="pageStep">
+         <number>50</number>
+        </property>
         <property name="value">
-         <number>10</number>
+         <number>1000</number>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
@@ -239,31 +192,51 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="2">
-       <widget class="QSpinBox" name="spinPowCurve">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+      <item row="0" column="2">
+       <widget class="QLabel" name="min_label">
+        <property name="minimumSize">
+         <size>
+          <width>45</width>
+          <height>0</height>
+         </size>
         </property>
-        <property name="styleSheet">
-         <string notr="true">background:none;</string>
+        <property name="text">
+         <string>100%</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QLabel" name="max_label">
+        <property name="minimumSize">
+         <size>
+          <width>45</width>
+          <height>0</height>
+         </size>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
+        <property name="text">
+         <string>100%</string>
         </property>
-        <property name="buttonSymbols">
-         <enum>QAbstractSpinBox::PlusMinus</enum>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
-        <property name="maximum">
-         <number>100</number>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QLabel" name="curve_label">
+        <property name="minimumSize">
+         <size>
+          <width>45</width>
+          <height>0</height>
+         </size>
         </property>
-        <property name="singleStep">
-         <number>5</number>
+        <property name="text">
+         <string>100%</string>
         </property>
-        <property name="value">
-         <number>10</number>
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
         </property>
        </widget>
       </item>
@@ -312,58 +285,9 @@ p, li { white-space: pre-wrap; }
   </layout>
  </widget>
  <resources>
-  <include location="ewma-filter.qrc"/>
+  <include location="../gui/ui-res.qrc"/>
  </resources>
- <connections>
-  <connection>
-   <sender>minSmooth</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>spinMinSmooth</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>303</x>
-     <y>33</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>391</x>
-     <y>36</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>maxSmooth</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>spinMaxSmooth</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>281</x>
-     <y>61</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>390</x>
-     <y>74</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>powCurve</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>spinPowCurve</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>236</x>
-     <y>101</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>391</x>
-     <y>98</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
+ <connections/>
  <slots>
   <slot>startEngineClicked()</slot>
   <slot>stopEngineClicked()</slot>
diff --git a/filter-ewma2/ftnoir_filter_ewma2.cpp b/filter-ewma2/ftnoir_filter_ewma2.cpp
index bf4b1083..7229c6d6 100644
--- a/filter-ewma2/ftnoir_filter_ewma2.cpp
+++ b/filter-ewma2/ftnoir_filter_ewma2.cpp
@@ -22,39 +22,42 @@
 // to minSmooth at a rate controlled by the powCurve setting.
 
 
-FTNoIR_Filter::FTNoIR_Filter()
+FTNoIR_Filter::FTNoIR_Filter() : first_run(true)
 {
-    reset();
-}
-
-void FTNoIR_Filter::receiveSettings()
-{
-    s.b->reload();
-}
-
-void FTNoIR_Filter::reset()
-{
-    timer.invalidate();
 }
 
 void FTNoIR_Filter::filter(const double *input, double *output)
 {
     // Start the timer and initialise filter state if it's not running.
-    if (!timer.isValid()) {
+    if (first_run)
+    {
+        first_run = false;
         timer.start();
-        for (int i=0;i<6;i++) {
+        for (int i=0;i<6;i++)
+        {
             last_output[i] = input[i];
-            last_delta[i] = 0.0;
-            last_noise[i] = 0.0;
+            last_delta[i] = 0;
+            last_noise[i] = 0;
         }
     }
     // Get the time in seconds since last run and restart the timer.
-    const double dt = timer.restart() / 1000.;
+    const double dt = timer.elapsed_seconds();
+    timer.start();
     // Calculate delta_alpha and noise_alpha from dt.
     double delta_alpha = dt/(dt + delta_RC);
     double noise_alpha = dt/(dt + noise_RC);
+
+    // scale curve .01->1 where 1.0 is sqrt(norm_noise).
+    const double smoothing_scale_curve = static_cast<slider_value>(s.kSmoothingScaleCurve);
+    // min/max smoothing .01->1
+    const double min_smoothing = static_cast<slider_value>(s.kMinSmoothing);
+    const double max_smoothing = std::max(min_smoothing, static_cast<slider_value>(s.kMaxSmoothing).cur());
+
     // Calculate the new camera position.
-    for (int i=0;i<6;i++) {
+    for (int i=0;i<6;i++)
+    {
+        using std::pow;
+
         // Calculate the current and smoothed delta.
         double delta = input[i] - last_output[i];
         last_delta[i] = delta_alpha*delta + (1.0-delta_alpha)*last_delta[i];
@@ -62,15 +65,10 @@ void FTNoIR_Filter::filter(const double *input, double *output)
         double noise = last_delta[i]*last_delta[i];
         last_noise[i] = noise_alpha*noise + (1.0-noise_alpha)*last_noise[i];
         // Normalise the noise between 0->1 for 0->9 variances (0->3 stddevs).
-        double norm_noise = std::min<double>(noise/(9.0*last_noise[i]), 1.0);
-        if (std::isnan(norm_noise))
-            norm_noise = 0;
+        double norm_noise = last_noise[i] < 1e-10 ? 0 : std::min<double>(noise/(9.0*last_noise[i]), 1.0);
         // Calculate the smoothing 0.0->1.0 from the normalized noise.
-        // TODO(abo): change kSmoothingScaleCurve to a float where 1.0 is sqrt(norm_noise).
-        double smoothing = 1.0 - pow(norm_noise, s.kSmoothingScaleCurve/20.0);
-        // Currently min/max smoothing are ints 0->100. We want 0.0->3.0 seconds.
-        // TODO(abo): Change kMinSmoothing, kMaxSmoothing to floats 0.0->3.0 seconds RC.
-        double RC = 3.0*(s.kMinSmoothing + smoothing*(s.kMaxSmoothing - s.kMinSmoothing))/100.0;
+        double smoothing = 1.0 - pow(norm_noise, smoothing_scale_curve);
+        double RC = (min_smoothing + smoothing*(max_smoothing - min_smoothing));
         // Calculate the dynamic alpha.
         double alpha = dt/(dt + RC);
         // Calculate the new output position.
diff --git a/filter-ewma2/ftnoir_filter_ewma2.h b/filter-ewma2/ftnoir_filter_ewma2.h
index bdb9cedc..328279ac 100644
--- a/filter-ewma2/ftnoir_filter_ewma2.h
+++ b/filter-ewma2/ftnoir_filter_ewma2.h
@@ -2,20 +2,20 @@
 
 #include "opentrack/plugin-api.hpp"
 #include "ui_ftnoir_ewma_filtercontrols.h"
-#include <QElapsedTimer>
 #include <QWidget>
 #include <QMutex>
 #include "opentrack-compat/options.hpp"
+#include "opentrack-compat/timer.hpp"
 using namespace options;
 
 struct settings : opts {
     // these are sadly sliders for now due to int/double mismatch -sh
-    value<int> kMinSmoothing, kMaxSmoothing, kSmoothingScaleCurve;
+    value<slider_value> kMinSmoothing, kMaxSmoothing, kSmoothingScaleCurve;
     settings() :
         opts("ewma-filter"),
-        kMinSmoothing(b, "min-smoothing", 15),
-        kMaxSmoothing(b, "max-smoothing", 50),
-        kSmoothingScaleCurve(b, "smoothing-scale-curve", 10)
+        kMinSmoothing(b, "min-smoothing", slider_value(.02, .01, 1)),
+        kMaxSmoothing(b, "max-smoothing", slider_value(.7, .01, 1)),
+        kSmoothingScaleCurve(b, "smoothing-scale-curve", slider_value(.7, .01, 1))
     {}
 };
 
@@ -24,19 +24,18 @@ class FTNoIR_Filter : public IFilter
 {
 public:
     FTNoIR_Filter();
-    void reset();
     void filter(const double *input, double *output);
-    void receiveSettings();
 private:
-    // Deltas are smoothed over the last 1/60sec (16ms).
-    const double delta_RC = 0.016;
+    // Deltas are smoothed over the last 1/20sec.
+    const double delta_RC = 1./20;
     // Noise is smoothed over the last 60sec.
     const double noise_RC = 60.0;
     double last_delta[6];
     double last_noise[6];
     double last_output[6];
-    QElapsedTimer timer;
+    Timer timer;
     settings s;
+    bool first_run;
 };
 
 class FilterControls: public IFilterDialog
@@ -44,18 +43,17 @@ class FilterControls: public IFilterDialog
     Q_OBJECT
 public:
     FilterControls();
-    void register_filter(IFilter* flt);
-    void unregister_filter();
+    void register_filter(IFilter*) override {}
+    void unregister_filter() override {}
 
 private:
     Ui::UICFilterControls ui;
-    void save();
     settings s;
-    FTNoIR_Filter* pFilter;
 
 private slots:
     void doOK();
     void doCancel();
+    void update_labels(int);
 };
 
 class FTNoIR_FilterDll : public Metadata
diff --git a/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp b/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp
index 5425fada..fca1d0ff 100644
--- a/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp
+++ b/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp
@@ -1,12 +1,13 @@
 #include "ftnoir_filter_ewma2.h"
 #include <cmath>
 #include <QDebug>
+#include <QString>
 #include "opentrack/plugin-api.hpp"
 #include "ui_ftnoir_ewma_filtercontrols.h"
 
-FilterControls::FilterControls() : pFilter(NULL)
+FilterControls::FilterControls()
 {
-    ui.setupUi( this );
+    ui.setupUi(this);
 
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
@@ -14,20 +15,24 @@ FilterControls::FilterControls() : pFilter(NULL)
     tie_setting(s.kMaxSmoothing, ui.maxSmooth);
     tie_setting(s.kMinSmoothing, ui.minSmooth);
     tie_setting(s.kSmoothingScaleCurve, ui.powCurve);
-}
 
-void FilterControls::register_filter(IFilter* flt)
-{
-    pFilter = (FTNoIR_Filter*) flt;
-}
+    connect(ui.powCurve, &QSlider::valueChanged, this, &FilterControls::update_labels);
+    connect(ui.minSmooth, &QSlider::valueChanged, this, &FilterControls::update_labels);
+    connect(ui.maxSmooth, &QSlider::valueChanged, this, &FilterControls::update_labels);
 
-void FilterControls::unregister_filter()
-{
-    pFilter = NULL;
+    using std::min;
+    using std::max;
+
+    connect(ui.minSmooth, &QSlider::valueChanged, this,
+            [&](int v) -> void { if (ui.maxSmooth->value() < v) ui.maxSmooth->setValue(v); });
+
+    connect(ui.maxSmooth, &QSlider::valueChanged, this,
+            [&](int v) -> void { if (ui.minSmooth->value() > v) ui.minSmooth->setValue(v); });
 }
 
-void FilterControls::doOK() {
-    save();
+void FilterControls::doOK()
+{
+    s.b->save();
     close();
 }
 
@@ -36,8 +41,9 @@ void FilterControls::doCancel()
     close();
 }
 
-void FilterControls::save() {
-    s.b->save();
-    if (pFilter)
-        pFilter->receiveSettings();
+void FilterControls::update_labels(int)
+{
+    ui.curve_label->setText(QString::number(static_cast<slider_value>(s.kSmoothingScaleCurve).cur() * 100, 'f', 2) + "%");
+    ui.min_label->setText(QString::number(static_cast<slider_value>(s.kMinSmoothing).cur() * 100, 'f', 2) + "%");
+    ui.max_label->setText(QString::number(static_cast<slider_value>(s.kMaxSmoothing).cur() * 100, 'f', 2) + "%");
 }