diff options
| -rw-r--r-- | filter-accela/accela-settings.hpp | 2 | ||||
| -rw-r--r-- | filter-accela/ftnoir_accela_filtercontrols.ui | 4 | ||||
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.cpp | 21 | ||||
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.h | 2 | ||||
| -rw-r--r-- | filter-accela/ftnoir_filter_accela_dialog.cpp | 4 |
5 files changed, 17 insertions, 16 deletions
diff --git a/filter-accela/accela-settings.hpp b/filter-accela/accela-settings.hpp index 6b264f2e..ce116d64 100644 --- a/filter-accela/accela-settings.hpp +++ b/filter-accela/accela-settings.hpp @@ -51,7 +51,7 @@ struct settings_accela : opts pos_sensitivity(b, "translation-sensitivity", slider_value(1., .05, 1.5)), rot_deadzone(b, "rotation-deadzone", slider_value(.03, 0, .1)), pos_deadzone(b, "translation-deadzone", slider_value(.1, 0, 1)), - ewma(b, "ewma", slider_value(0, 0, 15)), + ewma(b, "ewma", slider_value(0, 0, 50)), rot_nonlinearity(b, "rotation-nonlinearity", slider_value(1.2, 1, 1.3)) {} }; diff --git a/filter-accela/ftnoir_accela_filtercontrols.ui b/filter-accela/ftnoir_accela_filtercontrols.ui index 621d32f7..a07df9cc 100644 --- a/filter-accela/ftnoir_accela_filtercontrols.ui +++ b/filter-accela/ftnoir_accela_filtercontrols.ui @@ -80,10 +80,10 @@ <number>0</number> </property> <property name="maximum"> - <number>15</number> + <number>10</number> </property> <property name="pageStep"> - <number>3</number> + <number>5</number> </property> <property name="orientation"> <enum>Qt::Horizontal</enum> diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index 1761dc45..0f4d9dfe 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -31,17 +31,20 @@ static inline constexpr T signum(T x) } template<int N = 3, typename F> -static void do_deltas(const double* deltas, double* output, F&& fun) +static void do_deltas(const double* deltas, double* output, double alpha, double& smoothed, F&& fun) { double norm[N]; - const double dist = progn( + const double dist_ = progn( double ret = 0; for (unsigned k = 0; k < N; k++) ret += deltas[k]*deltas[k]; return sqrt(ret); ); + const double dist = alpha*dist_ + (1-alpha)*smoothed; + smoothed = dist; + const double value = double(fun(dist)); for (unsigned k = 0; k < N; k++) @@ -82,9 +85,10 @@ void accela::filter(const double* input, double *output) const double f = input[i]; output[i] = f; last_output[i] = f; - smoothed_input[i] = f; } first_run = false; + smoothed_input[0] = 0; + smoothed_input[1] = 0; t.start(); return; } @@ -101,14 +105,11 @@ void accela::filter(const double* input, double *output) const double pos_dz = s.pos_deadzone.to<double>(); const double nl = s.rot_nonlinearity.to<double>(); - for (unsigned i = 0; i < 6; i++) - smoothed_input[i] = smoothed_input[i] * (1-alpha) + input[i] * alpha; - // rot for (unsigned i = 3; i < 6; i++) { - double d = smoothed_input[i] - last_output[i]; + double d = input[i] - last_output[i]; if (fabs(d) > rot_dz) d -= copysign(rot_dz, d); @@ -129,13 +130,13 @@ void accela::filter(const double* input, double *output) } } - do_deltas(&deltas[Yaw], &output[Yaw], [this](double x) { return spline_rot.get_value_no_save(x); }); + do_deltas(&deltas[Yaw], &output[Yaw], alpha, smoothed_input[0], [this](double x) { return spline_rot.get_value_no_save(x); }); // pos for (unsigned i = 0; i < 3; i++) { - double d = smoothed_input[i] - last_output[i]; + double d = input[i] - last_output[i]; if (fabs(d) > pos_dz) d -= copysign(pos_dz, d); else @@ -144,7 +145,7 @@ void accela::filter(const double* input, double *output) deltas[i] = d / pos_thres; } - do_deltas(&deltas[TX], &output[TX], [this](double x) { return spline_pos.get_value_no_save(x); }); + do_deltas(&deltas[TX], &output[TX], alpha, smoothed_input[1], [this](double x) { return spline_pos.get_value_no_save(x); }); // end diff --git a/filter-accela/ftnoir_filter_accela.h b/filter-accela/ftnoir_filter_accela.h index 1c27cf40..bbe74b08 100644 --- a/filter-accela/ftnoir_filter_accela.h +++ b/filter-accela/ftnoir_filter_accela.h @@ -27,7 +27,7 @@ private: settings_accela s; bool first_run; double last_output[6], deltas[6]; - double smoothed_input[6]; + double smoothed_input[2]; Timer t; }; diff --git a/filter-accela/ftnoir_filter_accela_dialog.cpp b/filter-accela/ftnoir_filter_accela_dialog.cpp index cd836aca..3efc81d0 100644 --- a/filter-accela/ftnoir_filter_accela_dialog.cpp +++ b/filter-accela/ftnoir_filter_accela_dialog.cpp @@ -27,10 +27,10 @@ dialog_accela::dialog_accela() tie_setting(s.pos_deadzone, ui.trans_dz_slider); tie_setting(s.rot_nonlinearity, ui.rot_nl_slider); - tie_setting(s.rot_sensitivity, ui.rot_gain, tr("%1°"), 0, 'g', 4); + tie_setting(s.rot_sensitivity, ui.rot_gain, tr(u8"%1°"), 0, 'g', 4); tie_setting(s.pos_sensitivity, ui.trans_gain, tr("%1mm")); tie_setting(s.ewma, ui.ewma_label, tr("%1ms")); - tie_setting(s.rot_deadzone, ui.rot_dz, tr("%1°"), 0, 'g', 4); + tie_setting(s.rot_deadzone, ui.rot_dz, tr(u8"%1°"), 0, 'g', 4); tie_setting(s.pos_deadzone, ui.trans_dz, tr("%1mm")); tie_setting(s.rot_nonlinearity, ui.rot_nl, tr("<html><head/><body>" |