diff options
Diffstat (limited to 'filter-kalman')
| -rw-r--r-- | filter-kalman/CMakeLists.txt | 5 | ||||
| -rw-r--r-- | filter-kalman/ftnoir_kalman_filtercontrols.ui | 170 | ||||
| -rw-r--r-- | filter-kalman/kalman.cpp | 323 | ||||
| -rw-r--r-- | filter-kalman/kalman.h | 159 | ||||
| -rw-r--r-- | filter-kalman/kalman_simulation.py | 76 | ||||
| -rw-r--r-- | filter-kalman/lang/nl_NL.ts | 38 | ||||
| -rw-r--r-- | filter-kalman/lang/ru_RU.ts | 38 | ||||
| -rw-r--r-- | filter-kalman/lang/stub.ts | 38 | ||||
| -rw-r--r-- | filter-kalman/lang/zh_CN.ts | 38 |
9 files changed, 0 insertions, 885 deletions
diff --git a/filter-kalman/CMakeLists.txt b/filter-kalman/CMakeLists.txt deleted file mode 100644 index b6f8100e..00000000 --- a/filter-kalman/CMakeLists.txt +++ /dev/null @@ -1,5 +0,0 @@ -find_package(Eigen3 QUIET) -if(EIGEN3_FOUND) - otr_module(filter-kalman) - target_include_directories(opentrack-filter-kalman SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR}) -endif() diff --git a/filter-kalman/ftnoir_kalman_filtercontrols.ui b/filter-kalman/ftnoir_kalman_filtercontrols.ui deleted file mode 100644 index 83ee8e96..00000000 --- a/filter-kalman/ftnoir_kalman_filtercontrols.ui +++ /dev/null @@ -1,170 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<ui version="4.0"> - <class>KalmanUICdialog_kalman</class> - <widget class="QWidget" name="KalmanUICdialog_kalman"> - <property name="windowModality"> - <enum>Qt::NonModal</enum> - </property> - <property name="geometry"> - <rect> - <x>0</x> - <y>0</y> - <width>438</width> - <height>141</height> - </rect> - </property> - <property name="sizePolicy"> - <sizepolicy hsizetype="Fixed" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="windowTitle"> - <string>Kalman settings</string> - </property> - <property name="windowIcon"> - <iconset resource="../gui/opentrack-res.qrc"> - <normaloff>:/images/filter-16.png</normaloff>:/images/filter-16.png</iconset> - </property> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="autoFillBackground"> - <bool>false</bool> - </property> - <property name="styleSheet"> - <string notr="true"/> - </property> - <layout class="QVBoxLayout" name="verticalLayout"> - <item> - <widget class="QGroupBox" name="groupBox_2"> - <property name="title"> - <string>Measurement noise</string> - </property> - <layout class="QGridLayout" name="gridLayout_2"> - <item row="0" column="0"> - <widget class="QLabel" name="label"> - <property name="text"> - <string>Rotation</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QSlider" name="noiseRotSlider"> - <property name="maximum"> - <number>400</number> - </property> - <property name="singleStep"> - <number>1</number> - </property> - <property name="pageStep"> - <number>100</number> - </property> - <property name="tracking"> - <bool>true</bool> - </property> - <property name="orientation"> - <enum>Qt::Horizontal</enum> - </property> - <property name="invertedAppearance"> - <bool>false</bool> - </property> - <property name="tickPosition"> - <enum>QSlider::TicksBelow</enum> - </property> - <property name="tickInterval"> - <number>100</number> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_4"> - <property name="text"> - <string>Position</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QSlider" name="noisePosSlider"> - <property name="maximum"> - <number>400</number> - </property> - <property name="pageStep"> - <number>100</number> - </property> - <property name="orientation"> - <enum>Qt::Horizontal</enum> - </property> - <property name="tickPosition"> - <enum>QSlider::TicksBelow</enum> - </property> - <property name="tickInterval"> - <number>100</number> - </property> - </widget> - </item> - <item row="0" column="2"> - <widget class="QLabel" name="noiseRotLabel"> - <property name="minimumSize"> - <size> - <width>65</width> - <height>0</height> - </size> - </property> - <property name="text"> - <string>°</string> - </property> - </widget> - </item> - <item row="1" column="2"> - <widget class="QLabel" name="noisePosLabel"> - <property name="minimumSize"> - <size> - <width>65</width> - <height>0</height> - </size> - </property> - <property name="text"> - <string>-</string> - </property> - </widget> - </item> - </layout> - </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="../gui/opentrack-res.qrc"/> - </resources> - <connections/> - <designerdata> - <property name="gridDeltaX"> - <number>10</number> - </property> - <property name="gridDeltaY"> - <number>10</number> - </property> - <property name="gridSnapX"> - <bool>false</bool> - </property> - <property name="gridSnapY"> - <bool>false</bool> - </property> - <property name="gridVisible"> - <bool>true</bool> - </property> - </designerdata> - <slots> - <slot>startEngineClicked()</slot> - <slot>stopEngineClicked()</slot> - <slot>cameraSettingsClicked()</slot> - </slots> -</ui> diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp deleted file mode 100644 index 1960e0f6..00000000 --- a/filter-kalman/kalman.cpp +++ /dev/null @@ -1,323 +0,0 @@ -/* Copyright (c) 2016 Michael Welter <mw.pub@welter-4d.de> - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ -#include "kalman.h" -#include <cmath> -#include <QDebug> - -void KalmanFilter::init() -{ - // allocate and initialize matrices - measurement_noise_cov = MeasureMatrix::Zero(); - process_noise_cov = StateMatrix::Zero(); - state_cov = StateMatrix::Zero(); - state_cov_prior = StateMatrix::Zero(); - transition_matrix = StateMatrix::Zero(); - measurement_matrix = StateToMeasureMatrix::Zero(); - kalman_gain = MeasureToStateMatrix::Zero(); - // initialize state variables - state = StateVector::Zero(); - state_prior = StateVector::Zero(); - innovation = PoseVector::Zero(); -} - - -void KalmanFilter::time_update() -{ - state_prior = transition_matrix * state; - state_cov_prior = transition_matrix * state_cov * transition_matrix.transpose() + process_noise_cov; -} - - -void KalmanFilter::measurement_update(const PoseVector &measurement) -{ - MeasureMatrix tmp = measurement_matrix * state_cov_prior * measurement_matrix.transpose() + measurement_noise_cov; - MeasureMatrix tmp_inv = tmp.inverse(); - kalman_gain = state_cov_prior * measurement_matrix.transpose() * tmp_inv; - innovation = measurement - measurement_matrix * state_prior; - state = state_prior + kalman_gain * innovation; - state_cov = state_cov_prior - kalman_gain * measurement_matrix * state_cov_prior; -} - - - -void KalmanProcessNoiseScaler::init() -{ - base_cov = StateMatrix::Zero(NUM_STATE_DOF, NUM_STATE_DOF); - innovation_cov_estimate = MeasureMatrix::Zero(NUM_MEASUREMENT_DOF, NUM_MEASUREMENT_DOF); -} - - -/* Uses - innovation, measurement_matrix, measurement_noise_cov, and state_cov_prior - found in KalmanFilter. It sets - process_noise_cov -*/ -void KalmanProcessNoiseScaler::update(KalmanFilter &kf, double dt) -{ - MeasureMatrix ddT = kf.innovation * kf.innovation.transpose(); - double f = dt / (dt + settings::adaptivity_window_length); - innovation_cov_estimate = - f * ddT + (1. - f) * innovation_cov_estimate; - - double T1 = (innovation_cov_estimate - kf.measurement_noise_cov).trace(); - double T2 = (kf.measurement_matrix * kf.state_cov_prior * kf.measurement_matrix.transpose()).trace(); - double alpha = 0.001; - if (T2 > 0. && T1 > 0.) - { - alpha = T1 / T2; - alpha = std::sqrt(alpha); - alpha = std::fmin(1000., std::fmax(0.001, alpha)); - } - kf.process_noise_cov = alpha * base_cov; - //qDebug() << "alpha = " << alpha; -} - -void DeadzoneFilter::reset() -{ - last_output = PoseVector::Zero(); -} - -PoseVector DeadzoneFilter::filter(const PoseVector &input) -{ - PoseVector out; - for (int i = 0; i < input.rows(); ++i) - { - const double dz = dz_size[i]; - if (dz > 0.) - { - const double delta = input[i] - last_output[i]; - const double f = std::pow(std::fabs(delta) / dz, settings::deadzone_exponent); - const double response = f / (f + 1.) * delta; - out[i] = last_output[i] + response; - } - else - out[i] = input[i]; - last_output[i] = out[i]; - } - return out; -} - - -void kalman::fill_transition_matrix(double dt) -{ - for (int i = 0; i < 6; ++i) - { - kf.transition_matrix(i, i + 6) = dt; - } -} - -void kalman::fill_process_noise_cov_matrix(StateMatrix &target, double dt) const -{ - // This model is like movement at fixed velocity plus superimposed - // brownian motion. Unlike standard models for tracking of objects - // with a very well predictable trajectory (e.g. - // https://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical) - double sigma_pos = settings::process_sigma_pos; - double sigma_angle = settings::process_sigma_rot; - double a_pos = sigma_pos * sigma_pos * dt; - double a_ang = sigma_angle * sigma_angle * dt; - constexpr double b = 20; - constexpr double c = 1.; - for (int i = 0; i < 3; ++i) - { - target(i, i) = a_pos; - target(i, i + 6) = a_pos * c; - target(i + 6, i) = a_pos * c; - target(i + 6, i + 6) = a_pos * b; - } - for (int i = 3; i < 6; ++i) - { - target(i, i) = a_ang; - target(i, i + 6) = a_ang * c; - target(i + 6, i) = a_ang * c; - target(i + 6, i + 6) = a_ang * b; - } -} - - -PoseVector kalman::do_kalman_filter(const PoseVector &input, double dt, bool new_input) -{ - if (new_input) - { - dt = dt_since_last_input; - fill_transition_matrix(dt); - fill_process_noise_cov_matrix(kf_adaptive_process_noise_cov.base_cov, dt); - kf_adaptive_process_noise_cov.update(kf, dt); - kf.time_update(); - kf.measurement_update(input); - } - return kf.state.head(6); -} - - - -kalman::kalman() -{ - reset(); -} - -// The original code was written by Donovan Baarda <abo@minkirri.apana.org.au> -// https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b -void kalman::reset() -{ - kf.init(); - kf_adaptive_process_noise_cov.init(); - for (int i = 0; i < 6; ++i) - { - // initialize part of the transition matrix that do not change. - kf.transition_matrix(i, i) = 1.; - kf.transition_matrix(i + 6, i + 6) = 1.; - // "extract" positions, i.e. the first 6 state dof. - kf.measurement_matrix(i, i) = 1.; - } - - double noise_variance_position = settings::map_slider_value(s.noise_pos_slider_value); - double noise_variance_angle = settings::map_slider_value(s.noise_rot_slider_value); - for (int i = 0; i < 3; ++i) - { - kf.measurement_noise_cov(i , i ) = noise_variance_position; - kf.measurement_noise_cov(i + 3, i + 3) = noise_variance_angle; - } - - fill_transition_matrix(0.03); - fill_process_noise_cov_matrix(kf_adaptive_process_noise_cov.base_cov, 0.03); - - kf.process_noise_cov = kf_adaptive_process_noise_cov.base_cov; - kf.state_cov = kf.process_noise_cov; - - for (int i = 0; i < 6; i++) { - last_input[i] = 0; - } - dt_since_last_input = 0; - - prev_slider_pos[0] = s.noise_pos_slider_value; - prev_slider_pos[1] = s.noise_rot_slider_value; - - dz_filter.reset(); -} - - -void kalman::filter(const double* input_, double *output_) -{ - // almost non-existent cost, so might as well ... - 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)) - { - reset(); - } - - // Start the timer on first filter evaluation. - if (first_run) - { - timer.start(); - first_run = false; - return; - } - - // Note this is a terrible way to detect when there is a new - // frame of tracker input, but it is the best we have. - bool new_input = input.cwiseNotEqual(last_input).any(); - - // Get the time in seconds since last run and restart the timer. - const double dt = timer.elapsed_seconds(); - dt_since_last_input += dt; - timer.start(); - - output = do_kalman_filter(input, dt, new_input); - - { - // Compute deadzone size base on estimated state variance. - // Given a constant input plus measurement noise, KF should converge to the true input. - // This works well. That is the output pose becomes very still afte some time. - // The QScaling adaptive filter makes the state cov vary depending on the estimated noise - // and the measured noise of the innovation sequence. After a sudden movement it peaks - // and then decays asymptotically to some constant value taken in stationary state. - // We can use this to calculate the size of the deadzone, so that in the stationary state the - // deadzone size is small. Thus the tracking error due to the dz-filter becomes also small. - PoseVector variance = kf.state_cov.diagonal().head(6); - dz_filter.dz_size = variance.cwiseSqrt() * settings::deadzone_scale; - } - output = dz_filter.filter(output); - - if (new_input) - { - dt_since_last_input = 0; - last_input = input; - } -} - - - -dialog_kalman::dialog_kalman() - : filter(nullptr) -{ - ui.setupUi(this); - connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); - connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - - 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 dialog_kalman::updateLabels(const slider_value&) -{ - this->ui.noiseRotLabel->setText( - QString::number(settings::map_slider_value(s.noise_rot_slider_value), 'f', 3) + "°"); - - this->ui.noisePosLabel->setText( - QString::number(settings::map_slider_value(s.noise_pos_slider_value), 'f', 3) + " cm"); -} - - -void dialog_kalman::doOK() { - s.b->save(); - close(); -} - - -void dialog_kalman::doCancel() -{ - close(); -} - -double settings::map_slider_value(const slider_value& v_) -{ - const double v = v_; -#if 0 - //return std::pow(10., v * 4. - 3.); -#else - constexpr int min_log10 = -3; - constexpr int max_log10 = 1; - constexpr int num_divisions = max_log10 - min_log10; - /* ascii art representation of slider - // ----- // ------// ------// ------- // 4 divisions - -3 - 2 -1 0 1 power of 10 - | | - | f + left_side_log10 - | - left_side_log10 - */ - const int k = int(v * num_divisions); // in which division are we?! - const double f = v * num_divisions - k; // where in the division are we?! - const double ff = f * 9. + 1.; - const double multiplier = int(ff * 10.) / 10.; - const int left_side_log10 = min_log10 + k; - const double val = std::pow(10., left_side_log10) * multiplier; - return val; -#endif -} - -OPENTRACK_DECLARE_FILTER(kalman, dialog_kalman, kalmanDll) diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h deleted file mode 100644 index 1e6e2ac4..00000000 --- a/filter-kalman/kalman.h +++ /dev/null @@ -1,159 +0,0 @@ -#pragma once -/* Copyright (c) 2016 Michael Welter <mw.pub@welter-4d.de> - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "compat/timer.hpp" -#include "api/plugin-api.hpp" -#include "options/options.hpp" -using namespace options; - -// Eigen can't check for SSE3 on MSVC -#if defined _MSC_VER && defined __SSE2__ -# define EIGEN_VECTORIZE_SSE3 -// this hardware is 10 years old -# define EIGEN_VECTORIZE_SSE4_1 -# define EIGEN_VECTORIZE_SSE4_2 -#endif - -// nodiscard for placement new -#ifdef _MSC_VER -# pragma warning(push) -# pragma warning(disable : 4834) -#endif - -#include <Eigen/Core> -#include <Eigen/LU> - -#ifdef _MSC_VER -# pragma warning(pop) -#endif - -#include "ui_ftnoir_kalman_filtercontrols.h" -#include <QString> -#include <QWidget> - -static constexpr int NUM_STATE_DOF = 12; -static constexpr int NUM_MEASUREMENT_DOF = 6; -// These vectors are compile time fixed size, stack allocated -using StateToMeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_STATE_DOF>; -using StateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_STATE_DOF>; -using MeasureToStateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_MEASUREMENT_DOF>; -using MeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_MEASUREMENT_DOF>; -using StateVector = Eigen::Matrix<double, NUM_STATE_DOF, 1>; -using PoseVector = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, 1>; - -struct KalmanFilter -{ - MeasureMatrix - measurement_noise_cov; - StateMatrix - process_noise_cov, - state_cov, - state_cov_prior, - transition_matrix; - MeasureToStateMatrix - kalman_gain; - StateToMeasureMatrix - measurement_matrix; - StateVector - state, - state_prior; - PoseVector - innovation; - - void init(); - void time_update(); - void measurement_update(const PoseVector &measurement); -}; - -struct KalmanProcessNoiseScaler -{ - MeasureMatrix - innovation_cov_estimate; - StateMatrix - base_cov; // baseline (unscaled) process noise covariance matrix - void init(); - void update(KalmanFilter &kf, double dt); -}; - - -struct DeadzoneFilter -{ - PoseVector last_output { PoseVector::Zero() }, - dz_size { PoseVector::Zero() }; - - DeadzoneFilter() = default; - void reset(); - PoseVector filter(const PoseVector &input); -}; - - -struct settings : opts { - value<slider_value> noise_rot_slider_value { b, "noise-rotation-slider", { .5, 0, 1 } }; - value<slider_value> noise_pos_slider_value { b, "noise-position-slider", { .5, 0, 1 } }; - - static constexpr double adaptivity_window_length = 0.25; // seconds - static constexpr double deadzone_scale = 8; - static constexpr double deadzone_exponent = 2.0; - static constexpr double process_sigma_pos = 0.5; - static constexpr double process_sigma_rot = 0.5; - - static double map_slider_value(const slider_value &v); - - settings() : opts("kalman-filter") {} -}; - -class kalman : public IFilter -{ - PoseVector do_kalman_filter(const PoseVector &input, double dt, bool new_input); - void fill_transition_matrix(double dt); - void fill_process_noise_cov_matrix(StateMatrix &target, double dt) const; -public: - kalman(); - void reset(); - void filter(const double *input, double *output) override; - void center() override { reset(); } - module_status initialize() override { return status_ok(); } - - double dt_since_last_input; - PoseVector last_input; - KalmanFilter kf; - KalmanProcessNoiseScaler kf_adaptive_process_noise_cov; - DeadzoneFilter dz_filter; - settings s; - slider_value prev_slider_pos[2] { - *s.noise_pos_slider_value, - *s.noise_rot_slider_value, - }; - Timer timer; - - bool first_run = true; -}; - -class kalmanDll : public Metadata -{ - Q_OBJECT - - QString name() override { return tr("Kalman"); } - QIcon icon() override { return QIcon(":/images/filter-16.png"); } -}; - -class dialog_kalman: public IFilterDialog -{ - Q_OBJECT -public: - dialog_kalman(); - Ui::KalmanUICdialog_kalman ui; - void register_filter(IFilter*) override {} - void unregister_filter() override {} - settings s; - kalman *filter; -public slots: - void doOK(); - void doCancel(); - void updateLabels(const slider_value&); -}; diff --git a/filter-kalman/kalman_simulation.py b/filter-kalman/kalman_simulation.py deleted file mode 100644 index 3e792212..00000000 --- a/filter-kalman/kalman_simulation.py +++ /dev/null @@ -1,76 +0,0 @@ -# -*- coding: utf-8 -*- -import numpy as np -import numpy.matlib as mt -import matplotlib.pyplot as plt - -M = 2 -N = 500 -dt = 1.0 / 30. -sigma_measure = 0.1 -# x = 1/2 a t**2 -# assume x = 0.5 in 0.5, i.e. head turns half maximal movement range in 0.5 sec. -# so a = 2 x / t**2 = 4.0 -sigma_accel = 4.0 - -x = np.zeros(N, dtype = np.float) -x[N/3:] = 1.0 # step input -measurement = x.copy() -measurement += np.random.normal(0., sigma_measure, N) - -A = np.matrix([ - [ 1. , dt ], - [ 0. , 1. ] -]) - -R = np.matrix([[ sigma_measure**2 ]]) - -dv = sigma_accel * dt -dp = sigma_accel * 0.5 * dt * dt -Q = np.matrix([ - [ dp*dp, dp*dv ], - [ dv*dp, dv*dv ] -]) - -H = np.matrix([ - [ 1., 0. ], -]) - -I = mt.identity(M, dtype = np.float) - -def arrayOfMatrices(n, shape): - return np.asarray([mt.zeros(shape, dtype = np.float) for i in xrange(n)]) - -# Base on the scipy-cookbook http://scipy-cookbook.readthedocs.io/items/KalmanFiltering.html -sz_state = (M, 1) -sz_cov = (M, M) -sz_K = (M, 1) -xhat= arrayOfMatrices(N, sz_state) # a posteri estimate of x -P=arrayOfMatrices(N, sz_cov) # a posteri error estimate -xhatminus=arrayOfMatrices(N, sz_state) # a priori estimate of x -Pminus=arrayOfMatrices(N, sz_cov) # a priori error estimate -K=arrayOfMatrices(N, sz_K) # gain or blending factor - -P[0] = mt.ones((M,M)) * 100 -xhat[0] = measurement[0] - -for k in range(1,N): - # time update - xhatminus[k] = A * xhat[k-1] - Pminus[k] = A * P[k-1] * A.T + Q - - # measurement update - K[k] = Pminus[k] * H.T * np.linalg.inv( H * Pminus[k] * H.T + R ) - xhat[k] = xhatminus[k] + K[k] * (measurement[k] - H * xhatminus[k]) - P[k] = ( I - K[k]*H ) * Pminus[k] - -t = np.arange(N) * dt -plt.figure() -plt.subplot(2,1,1) -plt.plot(t, measurement,'k+',label='noisy measurements') -plt.plot(t, xhat[:,0,0],'b-',label='position estimate') -plt.plot(t, x, 'r-', label='ground truth') - -plt.subplot(2,1,2) -plt.plot(t, xhat[:,1,0],'g-',label='velocity estimate') - -plt.show() diff --git a/filter-kalman/lang/nl_NL.ts b/filter-kalman/lang/nl_NL.ts deleted file mode 100644 index e3c61bbb..00000000 --- a/filter-kalman/lang/nl_NL.ts +++ /dev/null @@ -1,38 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<!DOCTYPE TS> -<TS version="2.1" language="nl_NL"> -<context> - <name>KalmanUICdialog_kalman</name> - <message> - <source>Kalman settings</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Measurement noise</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Rotation</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Position</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>°</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>-</source> - <translation type="unfinished"></translation> - </message> -</context> -<context> - <name>kalmanDll</name> - <message> - <source>Kalman</source> - <translation type="unfinished"></translation> - </message> -</context> -</TS> diff --git a/filter-kalman/lang/ru_RU.ts b/filter-kalman/lang/ru_RU.ts deleted file mode 100644 index 6fda97be..00000000 --- a/filter-kalman/lang/ru_RU.ts +++ /dev/null @@ -1,38 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<!DOCTYPE TS> -<TS version="2.1" language="ru_RU"> -<context> - <name>KalmanUICdialog_kalman</name> - <message> - <source>Kalman settings</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Measurement noise</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Rotation</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Position</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>°</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>-</source> - <translation type="unfinished"></translation> - </message> -</context> -<context> - <name>kalmanDll</name> - <message> - <source>Kalman</source> - <translation type="unfinished"></translation> - </message> -</context> -</TS> diff --git a/filter-kalman/lang/stub.ts b/filter-kalman/lang/stub.ts deleted file mode 100644 index 29fae5c0..00000000 --- a/filter-kalman/lang/stub.ts +++ /dev/null @@ -1,38 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<!DOCTYPE TS> -<TS version="2.1"> -<context> - <name>KalmanUICdialog_kalman</name> - <message> - <source>Kalman settings</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Measurement noise</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Rotation</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Position</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>°</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>-</source> - <translation type="unfinished"></translation> - </message> -</context> -<context> - <name>kalmanDll</name> - <message> - <source>Kalman</source> - <translation type="unfinished"></translation> - </message> -</context> -</TS> diff --git a/filter-kalman/lang/zh_CN.ts b/filter-kalman/lang/zh_CN.ts deleted file mode 100644 index d8de6cf2..00000000 --- a/filter-kalman/lang/zh_CN.ts +++ /dev/null @@ -1,38 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<!DOCTYPE TS> -<TS version="2.1" language="zh_CN"> -<context> - <name>KalmanUICdialog_kalman</name> - <message> - <source>Kalman settings</source> - <translation>Kalman 设置</translation> - </message> - <message> - <source>Measurement noise</source> - <translation type="unfinished">衡量噪声</translation> - </message> - <message> - <source>Rotation</source> - <translation>旋转</translation> - </message> - <message> - <source>Position</source> - <translation>方位</translation> - </message> - <message> - <source>°</source> - <translation></translation> - </message> - <message> - <source>-</source> - <translation type="unfinished"></translation> - </message> -</context> -<context> - <name>kalmanDll</name> - <message> - <source>Kalman</source> - <translation type="unfinished"></translation> - </message> -</context> -</TS> |