filter/kalman: slider resolution shall be limited by pixels on screen, not by quantization of slider values.

3 files changed, 38 insertions, 27 deletions

diff --git a/filter-kalman/ftnoir_kalman_filtercontrols.ui b/filter-kalman/ftnoir_kalman_filtercontrols.ui
index 848e5424..2e9bcae7 100644
--- a/filter-kalman/ftnoir_kalman_filtercontrols.ui
+++ b/filter-kalman/ftnoir_kalman_filtercontrols.ui
@@ -52,7 +52,7 @@
       <item row="0" column="1">
        <widget class="QSlider" name="noiseRotSlider">
         <property name="maximum">
-         <number>100</number>
+         <number>10000</number>
         </property>
         <property name="singleStep">
          <number>1</number>
@@ -67,7 +67,7 @@
          <bool>false</bool>
         </property>
         <property name="tickPosition">
-         <enum>QSlider::TicksAbove</enum>
+         <enum>QSlider::NoTicks</enum>
         </property>
         <property name="tickInterval">
          <number>10</number>
@@ -84,13 +84,13 @@
       <item row="1" column="1">
        <widget class="QSlider" name="noisePosSlider">
         <property name="maximum">
-         <number>100</number>
+         <number>10000</number>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
         <property name="tickPosition">
-         <enum>QSlider::TicksAbove</enum>
+         <enum>QSlider::NoTicks</enum>
         </property>
         <property name="tickInterval">
          <number>10</number>
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index 804d15da..513ebf51 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -196,8 +196,8 @@ void FTNoIR_Filter::reset()
     first_run = true;
     dt_since_last_input = 0;
 
-    prev_slider_pos[0] = s.noise_pos_slider_value;
-    prev_slider_pos[1] = s.noise_rot_slider_value;
+    prev_slider_pos[0] = static_cast<slider_value>(s.noise_pos_slider_value);
+    prev_slider_pos[1] = static_cast<slider_value>(s.noise_rot_slider_value);
 
     minimal_state_var = PoseVector::Constant(std::numeric_limits<double>::max());
 
@@ -211,8 +211,8 @@ void FTNoIR_Filter::filter(const double* input_, double *output_)
     Eigen::Map<const PoseVector> input(input_, PoseVector::RowsAtCompileTime, 1);
     Eigen::Map<PoseVector> output(output_, PoseVector::RowsAtCompileTime, 1);
 
-    if (prev_slider_pos[0] != s.noise_pos_slider_value ||
-        prev_slider_pos[1] != s.noise_rot_slider_value)
+    if (!(prev_slider_pos[0] == s.noise_pos_slider_value &&
+          prev_slider_pos[1] == s.noise_rot_slider_value))
     {
         reset();
     }
@@ -265,19 +265,28 @@ FilterControls::FilterControls()
     ui.setupUi(this);
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
-    connect(ui.noiseRotSlider, &QSlider::valueChanged, [=](int value) {
-        this->ui.noiseRotLabel->setText(
-            // M$ hates unicode! (M$ autoconverts source code of one kind of utf-8 format, the one without BOM, to another kind that QT does not like)
-            // We could use QChar(0x00b0). It should be totally backward compatible.
-            // u8"°" is c++11. u8 means that the string is encoded in utf8. It happens to be compatible with QT.
-            QString::number(settings::map_slider_value(value), 'f', 3) + u8" °");
-    });
-    connect(ui.noisePosSlider, &QSlider::valueChanged, [=](int value) {
-        this->ui.noisePosLabel->setText(
-            QString::number(settings::map_slider_value(value), 'f', 3) + " cm");
-    });
+
     tie_setting(s.noise_rot_slider_value, ui.noiseRotSlider);
     tie_setting(s.noise_pos_slider_value, ui.noisePosSlider);
+
+    connect(&s.noise_rot_slider_value, SIGNAL(valueChanged(const slider_value&)), this, SLOT(updateLabels(const slider_value&)));
+    connect(&s.noise_pos_slider_value, SIGNAL(valueChanged(const slider_value&)), this, SLOT(updateLabels(const slider_value&)));
+
+    updateLabels(slider_value());
+}
+
+
+void FilterControls::updateLabels(const slider_value&)
+{
+    // M$ hates unicode! (M$ autoconverts source code of one kind of utf-8 format, 
+    // the one without BOM, to another kind that QT does not like)
+    // Previous attempt to use c++11 utf8 strings like u8" °" now failed for unkown 
+    // reasons where it worked before. Hence fallback to QChar(0x00b0).
+    this->ui.noiseRotLabel->setText(
+        QString::number(settings::map_slider_value(s.noise_rot_slider_value), 'f', 3) + " " + QChar(0x00b0));
+
+    this->ui.noisePosLabel->setText(
+        QString::number(settings::map_slider_value(s.noise_pos_slider_value), 'f', 3) + " cm");
 }
 
 
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index a9771b8e..cb3041ea 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -87,25 +87,26 @@ struct DeadzoneFilter
 
 
 struct settings : opts {
-    value<int> noise_rot_slider_value;
-    value<int> noise_pos_slider_value;
+    value<slider_value> noise_rot_slider_value;
+    value<slider_value> noise_pos_slider_value;
 
     static constexpr double adaptivity_window_length = 0.5; // seconds
     static constexpr double deadzone_scale = 2.;
     static constexpr double deadzone_exponent = 4.0;
     // these values worked best for me (MW) when taken with acompanying measured noise stddev of ca 0.1 (rot) and 0.01 (pos).
-    static constexpr double process_sigma_pos = 0.05;
+    static constexpr double process_sigma_pos = 0.5;
     static constexpr double process_simga_rot = 0.5;
 
-    static double map_slider_value(int v)
+    static double map_slider_value(const slider_value &v)
     {
-        return std::pow(10., v * 0.04 - 3.);
+        //return std::pow(4., v * 5. - 4.) / 4. * 10.; // not so much difference, except that it is harder to adjust the min-max range.
+        return std::pow(10., v * 4. - 3.);
     }
 
     settings() :
         opts("kalman-filter"),
-        noise_rot_slider_value(b, "noise-rotation-slider", 40),
-        noise_pos_slider_value(b, "noise-position-slider", 40)
+        noise_rot_slider_value(b, "noise-rotation-slider", slider_value(0.5, 0., 1.)),
+        noise_pos_slider_value(b, "noise-position-slider", slider_value(0.5, 0., 1.))
     {}
 
 };
@@ -128,7 +129,7 @@ public:
     KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
     PoseVector minimal_state_var;
     DeadzoneFilter dz_filter;
-    int prev_slider_pos[2];
+    slider_value prev_slider_pos[2];
 
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
@@ -153,4 +154,5 @@ public:
 public slots:
     void doOK();
     void doCancel();
+    void updateLabels(const slider_value&);
 };