move to subdirectory-based build system

Closes #224

5 files changed, 563 insertions, 0 deletions

diff --git a/filter-ewma2/CMakeLists.txt b/filter-ewma2/CMakeLists.txt
new file mode 100644
index 00000000..af786487
--- /dev/null
+++ b/filter-ewma2/CMakeLists.txt
@@ -0,0 +1 @@
+opentrack_boilerplate(opentrack-filter-ewma)
diff --git a/filter-ewma2/ftnoir_ewma_filtercontrols.ui b/filter-ewma2/ftnoir_ewma_filtercontrols.ui
new file mode 100644
index 00000000..9387f0d5
--- /dev/null
+++ b/filter-ewma2/ftnoir_ewma_filtercontrols.ui
@@ -0,0 +1,372 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UICFilterControls</class>
+ <widget class="QWidget" name="UICFilterControls">
+  <property name="windowModality">
+   <enum>Qt::NonModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>448</width>
+    <height>380</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>EWMA2 filter settings</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="ewma-filter.qrc">
+    <normaloff>:/images/filter-16.png</normaloff>:/images/filter-16.png</iconset>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QFrame" name="frame">
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="topMargin">
+       <number>2</number>
+      </property>
+      <property name="bottomMargin">
+       <number>2</number>
+      </property>
+      <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>Min</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QSlider" name="minSmooth">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="pageStep">
+         <number>5</number>
+        </property>
+        <property name="value">
+         <number>2</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::NoTicks</enum>
+        </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">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Max</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSlider" name="maxSmooth">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="pageStep">
+         <number>5</number>
+        </property>
+        <property name="value">
+         <number>10</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::NoTicks</enum>
+        </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">
+       <widget class="QLabel" name="lblInvert1_8">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Curve</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QSlider" name="powCurve">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>100</number>
+        </property>
+        <property name="pageStep">
+         <number>5</number>
+        </property>
+        <property name="value">
+         <number>10</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="tickPosition">
+         <enum>QSlider::NoTicks</enum>
+        </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>
+        </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="maximum">
+         <number>100</number>
+        </property>
+        <property name="singleStep">
+         <number>5</number>
+        </property>
+        <property name="value">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="label_4">
+     <property name="styleSheet">
+      <string notr="true">background-color: rgb(214, 214, 214);
+border-color: rgb(0, 0, 0);</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::Box</enum>
+     </property>
+     <property name="text">
+      <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans Serif'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Min:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Defines the way the filter responds to fast movements;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Higher value: slower response;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Max:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Defines the way the filter responds to slow movements;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Higher value: slower response;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Pow:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Defines the filters 'readiness' to respond to speed changes;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt;Higher value = &lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-weight:600;&quot;&gt;faster&lt;/span&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2';&quot;&gt; response;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2';&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+     <property name="margin">
+      <number>5</number>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="ewma-filter.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>
+ <slots>
+  <slot>startEngineClicked()</slot>
+  <slot>stopEngineClicked()</slot>
+  <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/filter-ewma2/ftnoir_filter_ewma2.cpp b/filter-ewma2/ftnoir_filter_ewma2.cpp
new file mode 100644
index 00000000..c09fb912
--- /dev/null
+++ b/filter-ewma2/ftnoir_filter_ewma2.cpp
@@ -0,0 +1,81 @@
+/* Copyright (c) 2014 Donovan Baarda <abo@minkirri.apana.org.au>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+#include "ftnoir_filter_ewma2.h"
+#include <cmath>
+#include <QDebug>
+#include <QWidget>
+#include "opentrack/plugin-api.hpp"
+#include <algorithm>
+#include <QMutexLocker>
+
+// Exponentially Weighted Moving Average (EWMA) Filter with dynamic smoothing.
+//
+// This filter tries to adjust the amount of filtering to minimize lag when
+// moving, and minimize noise when still. It uses the delta filtered over the
+// last 1/60sec (16ms) compared to the delta's average noise variance over
+// the last 60sec to try and detect movement vs noise. As the delta increases
+// from 0 to 3 stdevs of the noise, the filtering scales down from maxSmooth
+// to minSmooth at a rate controlled by the powCurve setting.
+
+
+FTNoIR_Filter::FTNoIR_Filter()
+{
+    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()) {
+        timer.start();
+        for (int i=0;i<6;i++) {
+            last_output[i] = input[i];
+            last_delta[i] = 0.0;
+            last_noise[i] = 0.0;
+        }
+    }
+    // Get the time in seconds since last run and restart the timer.
+    auto dt = timer.restart() / 1000.0f;
+    // Calculate delta_alpha and noise_alpha from dt.
+    double delta_alpha = dt/(dt + delta_RC);
+    double noise_alpha = dt/(dt + noise_RC);
+    // Calculate the new camera position.
+    for (int i=0;i<6;i++) {
+        // 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];
+        // Calculate the current and smoothed noise variance.
+        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;
+        // 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;
+        // Calculate the dynamic alpha.
+        double alpha = dt/(dt + RC);
+        // Calculate the new output position.
+        output[i] = last_output[i] = alpha*input[i] + (1.0-alpha)*last_output[i];
+    }
+}
+
+OPENTRACK_DECLARE_FILTER(FTNoIR_Filter, FilterControls, FTNoIR_FilterDll)
diff --git a/filter-ewma2/ftnoir_filter_ewma2.h b/filter-ewma2/ftnoir_filter_ewma2.h
new file mode 100644
index 00000000..bf4e83ad
--- /dev/null
+++ b/filter-ewma2/ftnoir_filter_ewma2.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include "opentrack/plugin-api.hpp"
+#include "ui_ftnoir_ewma_filtercontrols.h"
+#include <QElapsedTimer>
+#include <QWidget>
+#include <QMutex>
+#include "opentrack/options.hpp"
+using namespace options;
+
+struct settings : opts {
+    // these are sadly sliders for now due to int/double mismatch -sh
+    value<int> kMinSmoothing, kMaxSmoothing, kSmoothingScaleCurve;
+    settings() :
+        opts("ewma-filter"),
+        kMinSmoothing(b, "min-smoothing", 15),
+        kMaxSmoothing(b, "max-smoothing", 50),
+        kSmoothingScaleCurve(b, "smoothing-scale-curve", 10)
+    {}
+};
+
+
+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;
+    // 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;
+    settings s;
+};
+
+class FilterControls: public IFilterDialog
+{
+    Q_OBJECT
+public:
+    FilterControls();
+    void register_filter(IFilter* flt);
+    void unregister_filter();
+
+private:
+    Ui::UICFilterControls ui;
+    void save();
+    settings s;
+    FTNoIR_Filter* pFilter;
+
+private slots:
+    void doOK();
+    void doCancel();
+};
+
+class FTNoIR_FilterDll : public Metadata
+{
+public:
+    QString name() { return QString("EWMA"); }
+    QIcon icon() { return QIcon(":/images/filter-16.png"); }
+};
diff --git a/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp b/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp
new file mode 100644
index 00000000..30fb6003
--- /dev/null
+++ b/filter-ewma2/ftnoir_filter_ewma2_dialog.cpp
@@ -0,0 +1,43 @@
+#include "ftnoir_filter_ewma2.h"
+#include <cmath>
+#include <QDebug>
+#include "opentrack/plugin-api.hpp"
+#include "ui_ftnoir_ewma_filtercontrols.h"
+
+FilterControls::FilterControls() : pFilter(NULL)
+{
+    ui.setupUi( this );
+
+    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+
+    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;
+}
+
+void FilterControls::unregister_filter()
+{
+    pFilter = NULL;
+}
+
+void FilterControls::doOK() {
+	save();
+	this->close();
+}
+
+void FilterControls::doCancel() {
+    s.b->reload();
+    this->close();
+}
+
+void FilterControls::save() {
+    s.b->save();
+    if (pFilter)
+        pFilter->receiveSettings();
+}