From 2fa53d724c9653a6baabf0f5b5d373e22ec382c7 Mon Sep 17 00:00:00 2001
From: XuHao <xuhao1@users.noreply.github.com>
Date: Sun, 27 Jun 2021 04:43:42 +0800
Subject: [PATCH] Tune.

---
 config.yaml          | 26 +++++++++++++-------------
 inc/filterconfig.h   |  4 ++--
 src/poseremapper.cpp |  1 -
 3 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/config.yaml b/config.yaml
index dd6e85f..810d7cf 100644
--- a/config.yaml
+++ b/config.yaml
@@ -33,26 +33,26 @@ camera_expo: 1
 camera_gain: 0.22
 enable_face_spd_est: true
 inp_bound_x: 0.30700000000000005
-inp_bound_y: 0.253
+inp_bound_y: 0.11800000000000001
 inp_bound_z: 0.30700000000000005
-out_bound_x: 0.60099999999999998
+out_bound_x: 0.76899999999999991
 out_bound_y: 0.73399999999999999
-out_bound_z: 0.60099999999999998
+out_bound_z: 0.75499999999999989
 expo_trans_x: 0
 expo_trans_y: 0
 expo_trans_z: 0
 inp_bound_roll: 44.649999999999999
-inp_bound_pitch: 20.850000000000001
-inp_bound_yaw: 24.699999999999999
-out_bound_roll: 178.5
-out_bound_pitch: 178.5
+inp_bound_pitch: 15.949999999999999
+inp_bound_yaw: 25.75
+out_bound_roll: 43.5
+out_bound_pitch: 103.5
 out_bound_yaw: 178.5
-expo_eul_roll: 0.37
-expo_eul_pitch: 0.34999999999999998
-expo_eul_yaw: 0.28000000000000003
+expo_eul_roll: 0
+expo_eul_pitch: 0
+expo_eul_yaw: 0.20999999999999999
 use_accela: true
-accela_rot_smoothing: 0.029000000000000005
-accela_rot_deadzone: 1.0266000000000002
+accela_rot_smoothing: 0.08539999999999999
+accela_rot_deadzone: 2.9701
 accela_pos_smoothing: 0.029000000000000005
 accela_pos_deadzone: 0.029999999999999999
-double_accela: true
\ No newline at end of file
+double_accela: false
\ No newline at end of file
diff --git a/inc/filterconfig.h b/inc/filterconfig.h
index d94b3b8..08c4cb3 100644
--- a/inc/filterconfig.h
+++ b/inc/filterconfig.h
@@ -21,10 +21,10 @@ class FilterConfig : public QWidget
     Q_OBJECT
 
     double rot_smooth_min = 0.01;
-    double rot_smooth_max = 2.5;
+    double rot_smooth_max = 0.3;
 
     double rot_deadzone_min = 0.01;
-    double rot_deadzone_max = 0.3;
+    double rot_deadzone_max = 3.0;
 
     double trans_smooth_min = 0.01;
     double trans_smooth_max = 0.2;
diff --git a/src/poseremapper.cpp b/src/poseremapper.cpp
index 8af678f..2c3eb13 100644
--- a/src/poseremapper.cpp
+++ b/src/poseremapper.cpp
@@ -53,7 +53,6 @@ void PoseRemapper::pose_callback_loop() {
         double t = QDateTime::currentMSecsSinceEpoch()/1000.0 - t0;
         double dt = t - t_last;
         t_last = t;
-
         Eigen::Vector3d eul, T;
         if (settings->use_accela) {
             auto ret = _accela.filter(eul_last, T_last, dt);