diff options
| -rwxr-xr-x | ftnoir_filter_kalman/ftnoir_filter_kalman.h | 19 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui | 85 | ||||
| -rw-r--r-- | ftnoir_filter_kalman/kalman.cpp | 11 |
3 files changed, 80 insertions, 35 deletions
diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h index f6224530..1f0b36fd 100755 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h @@ -19,6 +19,14 @@ #include "opentrack/options.hpp" using namespace options; +struct settings : opts { + value<int> noise_stddev_slider; + // slider goes noise_stdder 0->50 + static constexpr double mult_noise_stddev = .5; + settings() : opts("kalman-filter"), noise_stddev_slider(b, "noise-stddev", 10) + {} +}; + class OPENTRACK_EXPORT FTNoIR_Filter : public IFilter { public: @@ -28,10 +36,12 @@ public: // Set accel_stddev assuming moving 0.0->100.0 in dt=0.2 is 3 stddevs: (100.0*4/dt^2)/3. const double accel_stddev = (100.0*4/(0.2*0.2))/3.0; // TODO(abo): make noise_stddev a UI setting 0.0->10.0 with 0.1 resolution. - const double noise_stddev = 1.0; + //const double noise_stddev = 1.0; cv::KalmanFilter kalman; double last_input[6]; QElapsedTimer timer; + settings s; + int prev_slider_pos; }; class OPENTRACK_EXPORT FTNoIR_FilterDll : public Metadata @@ -47,13 +57,14 @@ class OPENTRACK_EXPORT FilterControls: public IFilterDialog public: FilterControls() { ui.setupUi(this); - connect(ui.btnOk, SIGNAL(clicked()), this, SLOT(doOK())); - connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); - show(); + connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); + connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); + tie_setting(s.noise_stddev_slider, ui.noise_slider); } Ui::KalmanUICFilterControls ui; void register_filter(IFilter*) override {} void unregister_filter() override {} + settings s; public slots: void doOK(); void doCancel(); diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui index e0c849c9..69297102 100644 --- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui +++ b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui @@ -9,8 +9,8 @@ <rect> <x>0</x> <y>0</y> - <width>334</width> - <height>100</height> + <width>288</width> + <height>132</height> </rect> </property> <property name="sizePolicy"> @@ -23,7 +23,7 @@ <string>Kalman settings</string> </property> <property name="windowIcon"> - <iconset resource="../ftnoir_filter_ewma2/ewma-filter.qrc"> + <iconset resource="../facetracknoir/ui-res.qrc"> <normaloff>:/images/filter-16.png</normaloff>:/images/filter-16.png</iconset> </property> <property name="layoutDirection"> @@ -35,35 +35,60 @@ <property name="styleSheet"> <string notr="true"/> </property> - <widget class="QPushButton" name="btnOk"> - <property name="geometry"> - <rect> - <x>173</x> - <y>70</y> - <width>73</width> - <height>25</height> - </rect> - </property> - <property name="text"> - <string>OK</string> - </property> - </widget> - <widget class="QPushButton" name="btnCancel"> - <property name="geometry"> - <rect> - <x>250</x> - <y>70</y> - <width>73</width> - <height>25</height> - </rect> - </property> - <property name="text"> - <string>Cancel</string> - </property> - </widget> + <layout class="QVBoxLayout" name="verticalLayout"> + <item> + <widget class="QFrame" name="frame"> + <property name="frameShape"> + <enum>QFrame::NoFrame</enum> + </property> + <property name="frameShadow"> + <enum>QFrame::Raised</enum> + </property> + <layout class="QGridLayout" name="gridLayout"> + <item row="0" column="0"> + <widget class="QLabel" name="label"> + <property name="text"> + <string>Noise standard deviation</string> + </property> + </widget> + </item> + <item row="0" column="1"> + <widget class="QSlider" name="noise_slider"> + <property name="singleStep"> + <number>1</number> + </property> + <property name="orientation"> + <enum>Qt::Horizontal</enum> + </property> + <property name="tickPosition"> + <enum>QSlider::TicksAbove</enum> + </property> + <property name="tickInterval"> + <number>10</number> + </property> + </widget> + </item> + </layout> + </widget> + </item> + <item> + <widget class="QLabel" name="label_2"> + <property name="text"> + <string>Written by Donovan Baarda, 2014</string> + </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="../ftnoir_filter_ewma2/ewma-filter.qrc"/> + <include location="../facetracknoir/ui-res.qrc"/> </resources> <connections/> <designerdata> diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp index c5a600af..4939610b 100644 --- a/ftnoir_filter_kalman/kalman.cpp +++ b/ftnoir_filter_kalman/kalman.cpp @@ -11,6 +11,7 @@ FTNoIR_Filter::FTNoIR_Filter() { reset(); + prev_slider_pos = s.noise_stddev_slider; } // the following was written by Donovan Baarda <abo@minkirri.apana.org.au> @@ -56,7 +57,8 @@ void FTNoIR_Filter::reset() { 0, 0, 0, 0, b, 0, 0, 0, 0, 0, a, 0, 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, a); cv::setIdentity(kalman.measurementMatrix); - double noise_variance = noise_stddev * noise_stddev; + const double noise_stddev = s.noise_stddev_slider * s.mult_noise_stddev; + const double noise_variance = noise_stddev * noise_stddev; cv::setIdentity(kalman.measurementNoiseCov, cv::Scalar::all(noise_variance)); cv::setIdentity(kalman.errorCovPost, cv::Scalar::all(accel_variance * 1e4)); for (int i = 0; i < 6; i++) { @@ -67,6 +69,11 @@ void FTNoIR_Filter::reset() { void FTNoIR_Filter::filter(const double* input, double *output) { + if (prev_slider_pos != s.noise_stddev_slider) + { + reset(); + prev_slider_pos = s.noise_stddev_slider; + } // Start the timer if it's not running. if (!timer.isValid()) timer.start(); @@ -108,10 +115,12 @@ void FTNoIR_Filter::filter(const double* input, double *output) } void FilterControls::doOK() { + s.b->save(); close(); } void FilterControls::doCancel() { + s.b->reload(); close(); } |