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-rw-r--r--ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui4
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.cpp56
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.h6
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp2
4 files changed, 51 insertions, 17 deletions
diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index 66c56b2e..c16fbe0a 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -33,7 +33,7 @@
<item row="1" column="3">
<widget class="QSlider" name="rotation_slider">
<property name="maximum">
- <number>100</number>
+ <number>99</number>
</property>
<property name="pageStep">
<number>5</number>
@@ -186,7 +186,7 @@ background:none;</string>
<item row="5" column="3">
<widget class="QSlider" name="translation_slider">
<property name="maximum">
- <number>100</number>
+ <number>99</number>
</property>
<property name="pageStep">
<number>5</number>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 25452219..9c44ce3b 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -16,13 +16,16 @@ FTNoIR_Filter::FTNoIR_Filter() : first_run(true)
{
}
-double FTNoIR_Filter::f(double vec, double thres)
+double FTNoIR_Filter::f(double val, const double gains[][2])
{
- if (vec > thres*high_thres_c)
- return (vec - thres*high_thres_c) * high_thres_out + thres*high_thres_c;
- if (vec > thres)
- return (vec - thres) * low_thres_mult + thres;
- return pow(vec, 2.0) / thres;
+ for (int i = 0; gains[i][0] >= 0; i++)
+ {
+ if (val >= gains[i][0])
+ {
+ return gains[i][1] * val;
+ }
+ }
+ return 0;
}
void FTNoIR_Filter::filter(const double* input, double *output)
@@ -39,8 +42,27 @@ void FTNoIR_Filter::filter(const double* input, double *output)
t.start();
return;
}
+
+ static const double rot_gains[][2] = {
+ { 6, 15 },
+ { 5, 6 },
+ { 4, 3 },
+ { 3, 1.3 },
+ { 2, .7 },
+ { 1, .4 },
+ { 0, .2 },
+ { -1, 0 }
+ };
+ static const double trans_gains[][2] = {
+ { 4, 8 },
+ { 3, 4 },
+ { 2, 2 },
+ { 1, .5 },
+ { 0, .1 },
+ { -1, 0 }
+ };
- const double rot_t = 7. * (1+s.rot_threshold) / 100.;
+ const double rot_t = 10. * (1+s.rot_threshold) / 100.;
const double trans_t = 5. * (1+s.trans_threshold) / 100.;
const double dt = t.elapsed() * 1e-9;
@@ -60,13 +82,29 @@ void FTNoIR_Filter::filter(const double* input, double *output)
const double vec = in - last_output[i];
const double dz = i >= 3 ? rot_dz : trans_dz;
const double vec_ = max(0., fabs(vec) - dz);
- const double t = i >= 3 ? rot_t : trans_t;
- const double val = f(vec_, t);
+ const double thres = i >= 3 ? rot_t : trans_t;
+ const double val = f(vec_ / thres, i >= 3 ? rot_gains : trans_gains) * thres;
+ static Timer tr;
+ static double m = 0, n = 0;
+ if (i == 3)
+ {
+ m = max(vec_ / thres, m);
+ n = max(n, val * dt);
+ }
+ if (tr.elapsed_ms() > 1000)
+ {
+ tr.start();
+ qDebug() << "3" << m << n;
+ m = 0;
+ n = 0;
+ }
const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val;
const bool negp = vec < 0.;
const bool done = negp
? result <= in
: result >= in;
+ if (i == 3 && val > 0.1 && done)
+ qDebug() << "done";
const double ret = done ? in : result;
last_output[i] = output[i] = ret;
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index c1a19d96..aa10e161 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -32,12 +32,8 @@ private:
double last_output[6];
double smoothed_input[6];
Timer t;
- static double f(double vec, double thres);
- static constexpr double high_thres_c = 4;
- static constexpr double high_thres_out = 500;
-
- static constexpr double low_thres_mult = 100;
+ double f(double val, const double gains[][2]);
};
class FilterControls: public IFilterDialog
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index 6bcc249b..550c9d24 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -56,7 +56,7 @@ void FilterControls::save() {
void FilterControls::update_rot_display(int value)
{
- ui.rot_gain->setText(QString::number((value + 1) * 7 / 100.) + "°");
+ ui.rot_gain->setText(QString::number((value + 1) * 10 / 100.) + "°");
}
void FilterControls::update_trans_display(int value)