diff options
| -rw-r--r-- | filter-accela/ftnoir_accela_filtercontrols.ui | 156 | ||||
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.cpp | 31 | ||||
| -rw-r--r-- | filter-accela/ftnoir_filter_accela.h | 6 | ||||
| -rw-r--r-- | filter-accela/ftnoir_filter_accela_dialog.cpp | 43 |
4 files changed, 155 insertions, 81 deletions
diff --git a/filter-accela/ftnoir_accela_filtercontrols.ui b/filter-accela/ftnoir_accela_filtercontrols.ui index be14f842..86ca57b1 100644 --- a/filter-accela/ftnoir_accela_filtercontrols.ui +++ b/filter-accela/ftnoir_accela_filtercontrols.ui @@ -9,8 +9,8 @@ <rect> <x>0</x> <y>0</y> - <width>657</width> - <height>358</height> + <width>558</width> + <height>411</height> </rect> </property> <property name="windowTitle"> @@ -24,6 +24,64 @@ <property name="topMargin"> <number>5</number> </property> + <item row="4" column="0"> + <widget class="QLabel" name="label_9"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Maximum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="font"> + <font> + <pointsize>7</pointsize> + </font> + </property> + <property name="frameShape"> + <enum>QFrame::NoFrame</enum> + </property> + <property name="text"> + <string><html><head/><body><p align="right"><br/><span style=" font-size:10pt;">Accela by </span><a href="https://github.com/sthalik"><span style=" font-size:10pt; text-decoration: underline; color:#0057ae;">Stanisław Halik</span></a><span style=" font-size:10pt;"><br/>Thanks to </span><a href="https://github.com/dbaarda"><span style=" font-size:10pt; text-decoration: underline; color:#0057ae;">Donovan Baarda</span></a></p><p align="right"><span style=" font-size:10pt;">2012-2015</span></p><p align="right"><br/><span style=" font-size:8pt;">Visit </span><a href="https://github.com/opentrack/opentrack/wiki/Accela-in-opentrack-2.3"><span style=" font-size:8pt; text-decoration: underline; color:#0000ff;">our wiki</span></a><span style=" font-size:8pt;"> for description of the settings.</span></p></body></html></string> + </property> + <property name="textFormat"> + <enum>Qt::RichText</enum> + </property> + <property name="scaledContents"> + <bool>false</bool> + </property> + <property name="alignment"> + <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> + </property> + <property name="wordWrap"> + <bool>true</bool> + </property> + <property name="margin"> + <number>0</number> + </property> + <property name="indent"> + <number>0</number> + </property> + <property name="openExternalLinks"> + <bool>true</bool> + </property> + <property name="textInteractionFlags"> + <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set> + </property> + </widget> + </item> + <item row="5" column="0"> + <widget class="QDialogButtonBox" name="buttonBox"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Maximum" vsizetype="Maximum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="standardButtons"> + <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> + </property> + </widget> + </item> <item row="0" column="0"> <widget class="QGroupBox" name="groupBox66"> <property name="title"> @@ -280,61 +338,47 @@ </widget> </item> <item row="3" column="0"> - <widget class="QLabel" name="label_9"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Maximum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="font"> - <font> - <pointsize>7</pointsize> - </font> - </property> - <property name="frameShape"> - <enum>QFrame::NoFrame</enum> - </property> - <property name="text"> - <string><html><head/><body><p align="right"><br/><span style=" font-size:10pt;">Accela by </span><a href="https://github.com/sthalik"><span style=" font-size:10pt; text-decoration: underline; color:#0057ae;">Stanisław Halik</span></a><span style=" font-size:10pt;"><br/>Thanks to </span><a href="https://github.com/dbaarda"><span style=" font-size:10pt; text-decoration: underline; color:#0057ae;">Donovan Baarda</span></a></p><p align="right"><span style=" font-size:10pt;">2012-2015</span></p><p align="right"><br/><span style=" font-size:8pt;">Visit </span><a href="https://github.com/opentrack/opentrack/wiki/Accela-in-opentrack-2.3"><span style=" font-size:8pt; text-decoration: underline; color:#0000ff;">our wiki</span></a><span style=" font-size:8pt;"> for description of the settings.</span></p></body></html></string> - </property> - <property name="textFormat"> - <enum>Qt::RichText</enum> - </property> - <property name="scaledContents"> - <bool>false</bool> - </property> - <property name="alignment"> - <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> - </property> - <property name="wordWrap"> - <bool>true</bool> - </property> - <property name="margin"> - <number>0</number> - </property> - <property name="indent"> - <number>0</number> - </property> - <property name="openExternalLinks"> - <bool>true</bool> - </property> - <property name="textInteractionFlags"> - <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set> - </property> - </widget> - </item> - <item row="4" column="0"> - <widget class="QDialogButtonBox" name="buttonBox"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Maximum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="standardButtons"> - <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> + <widget class="QGroupBox" name="groupBox"> + <property name="title"> + <string>Rotation nonlinearity</string> </property> + <layout class="QGridLayout" name="gridLayout_4"> + <item row="0" column="2"> + <widget class="QSlider" name="rot_nl_slider"> + <property name="maximum"> + <number>134</number> + </property> + <property name="orientation"> + <enum>Qt::Horizontal</enum> + </property> + </widget> + </item> + <item row="0" column="1"> + <widget class="QLabel" name="rot_nl"> + <property name="minimumSize"> + <size> + <width>50</width> + <height>0</height> + </size> + </property> + <property name="font"> + <font> + <pointsize>10</pointsize> + </font> + </property> + <property name="text"> + <string><html><head/><body><p>x<span style=" vertical-align:super;">2</span></p></body></html></string> + </property> + </widget> + </item> + <item row="0" column="0"> + <widget class="QLabel" name="label_3"> + <property name="text"> + <string>Value</string> + </property> + </widget> + </item> + </layout> </widget> </item> </layout> diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp index fe5aad86..11cb1aab 100644 --- a/filter-accela/ftnoir_filter_accela.cpp +++ b/filter-accela/ftnoir_filter_accela.cpp @@ -12,27 +12,28 @@ #include "opentrack/plugin-api.hpp" static constexpr double rot_gains[][2] = { - { 4.0, 350 }, + { 5, 350 }, //{ 3.33, 200 }, { 2.66, 110 }, //{ 2.33, 85 }, - //{ 2, 45 }, - { 1.66, 30 }, - //{ 1.33, 15 }, + { 2, 45 }, + //{ 1.66, 30 }, { 1, 5 }, - { .66, 1.4 }, - { .33, .4 }, + //{ .66, 1.3 }, + //{ .5, .53 }, + //{ .33, .25 }, + { .22, .16 }, { 0, 0 }, { -1, 0 } }; static constexpr double trans_gains[][2] = { //{ 3, 200 }, - { 1.66, 40 }, - { 1.33, 15 }, - { 1, 5 }, + { 2.33, 40 }, + { 1.66, 13 }, + { 1.33, 5 }, { .66, 1 }, - { .33, .6 }, + { .33, .5 }, { 0, 0 }, { -1, 0 } }; @@ -86,6 +87,7 @@ void FTNoIR_Filter::filter(const double* input, double *output) const double alpha = dt/(dt+RC); const double rot_dz = s.rot_deadzone * s.mult_rot_dz; const double trans_dz = s.trans_deadzone * s.mult_trans_dz; + const double rot_nl = static_cast<const slider_value&>(s.rot_nonlinearity).cur(); for (int i = 0; i < 6; i++) { @@ -99,8 +101,13 @@ void FTNoIR_Filter::filter(const double* input, double *output) const double dz = i >= 3 ? rot_dz : trans_dz; const double vec_ = std::max(0., fabs(vec) - dz); const double thres = i >= 3 ? rot_t : trans_t; - const double val = m.getValue(vec_ / thres); - const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val; + const double out_ = vec_ / thres; + const double out = i >= 3 && std::fabs(s.max_rot_nl - 1) > 5e-3 + ? (out_ * std::min(1., std::pow(out_/s.max_rot_nl, rot_nl)) * s.max_rot_nl) + : out_; + const double val = m.getValue(float(out)); + const double signum = int(vec < 0) * -2 + 1; + const double result = last_output[i] + signum * dt * val; last_output[i] = output[i] = result; } diff --git a/filter-accela/ftnoir_filter_accela.h b/filter-accela/ftnoir_filter_accela.h index 113e06e6..69db54cd 100644 --- a/filter-accela/ftnoir_filter_accela.h +++ b/filter-accela/ftnoir_filter_accela.h @@ -18,18 +18,21 @@ using namespace options; struct settings_accela : opts { value<int> rot_threshold, trans_threshold, ewma, rot_deadzone, trans_deadzone; + value<slider_value> rot_nonlinearity; static constexpr double mult_rot = 4. / 100.; static constexpr double mult_trans = 4. / 100.; static constexpr double mult_rot_dz = 2. / 100.; static constexpr double mult_trans_dz = 2. / 100.; static constexpr double mult_ewma = 1.25; + static constexpr double max_rot_nl = 1.33; settings_accela() : opts("Accela"), rot_threshold(b, "rotation-threshold", 45), trans_threshold(b, "translation-threshold", 50), ewma(b, "ewma", 2), rot_deadzone(b, "rotation-deadzone", 0), - trans_deadzone(b, "translation-deadzone", 0) + trans_deadzone(b, "translation-deadzone", 0), + rot_nonlinearity(b, "rotation-nonlinearity", slider_value(1., .66, 2)) {} }; @@ -68,6 +71,7 @@ private slots: void update_trans_display(int value); void update_rot_dz_display(int value); void update_trans_dz_display(int value); + void update_rot_nl_slider(const slider_value& sl); }; class FTNoIR_FilterDll : public Metadata diff --git a/filter-accela/ftnoir_filter_accela_dialog.cpp b/filter-accela/ftnoir_filter_accela_dialog.cpp index 451f476e..c046f986 100644 --- a/filter-accela/ftnoir_filter_accela_dialog.cpp +++ b/filter-accela/ftnoir_filter_accela_dialog.cpp @@ -16,7 +16,7 @@ FilterControls::FilterControls() : accela_filter(nullptr) { - ui.setupUi( this ); + ui.setupUi(this); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); @@ -26,6 +26,7 @@ FilterControls::FilterControls() : connect(ui.ewma_slider, SIGNAL(valueChanged(int)), this, SLOT(update_ewma_display(int))); connect(ui.rot_dz_slider, SIGNAL(valueChanged(int)), this, SLOT(update_rot_dz_display(int))); connect(ui.trans_dz_slider, SIGNAL(valueChanged(int)), this, SLOT(update_trans_dz_display(int))); + connect(&s.rot_nonlinearity, SIGNAL(valueChanged(const slider_value&)), this, SLOT(update_rot_nl_slider(const slider_value&))); tie_setting(s.rot_threshold, ui.rotation_slider); tie_setting(s.trans_threshold, ui.translation_slider); @@ -33,24 +34,32 @@ FilterControls::FilterControls() : tie_setting(s.rot_deadzone, ui.rot_dz_slider); tie_setting(s.trans_deadzone, ui.trans_dz_slider); + tie_setting(s.rot_nonlinearity, ui.rot_nl_slider); + update_rot_display(ui.rotation_slider->value()); update_trans_display(ui.translation_slider->value()); update_ewma_display(ui.ewma_slider->value()); update_rot_dz_display(ui.rot_dz_slider->value()); update_trans_dz_display(ui.trans_dz_slider->value()); + update_rot_nl_slider(s.rot_nonlinearity); } void FilterControls::register_filter(IFilter* filter) { accela_filter = static_cast<FTNoIR_Filter*>(filter); -//#define LEAKING_DEBUG -#ifdef LEAKING_DEBUG - auto d = new QDialog(); - auto r = new QFunctionConfigurator(d); - r->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); - r->setConfig(&accela_filter->rot, ""); - r->setFixedSize(800, 300); - d->show(); +//#define SPLINE_ROT_DEBUG +#if defined(SPLINE_ROT_DEBUG) || defined(SPLINE_TRANS_DEBUG) + QDialog d; + QFunctionConfigurator r(&d); + r.setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); +#if defined(SPLINE_TRANS_DEBUG) + r.setConfig(&accela_filter->trans, ""); +#else + r.setConfig(&accela_filter->rot, ""); +#endif + r.setFixedSize(800, 300); + d.show(); + d.exec(); #endif } @@ -59,16 +68,19 @@ void FilterControls::unregister_filter() accela_filter = nullptr; } -void FilterControls::doOK() { +void FilterControls::doOK() +{ save(); close(); } -void FilterControls::doCancel() { +void FilterControls::doCancel() +{ close(); } -void FilterControls::save() { +void FilterControls::save() +{ s.b->save(); } @@ -97,3 +109,10 @@ void FilterControls::update_trans_dz_display(int value) ui.trans_dz->setText(QString::number(value * s.mult_trans_dz) + "mm"); } +void FilterControls::update_rot_nl_slider(const slider_value& sl) +{ + ui.rot_nl->setText("<html><head/><body><p>x<span style='vertical-align:super;'>" + + QString::number(sl.cur()) + + "</span></p></body></html>"); +} + |