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| //https://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical | |
| class Kalman { | |
| public: | |
| Kalman() { | |
| Q_angle = 0.001; | |
| Q_bias = 0.003; | |
| R_measure = 0.03; | |
| angle = 0; | |
| bias = 0; |
kashimAstro
/ NoiseDithering.glsl
Last active
March 4, 2016 19:39
Generated Noise pattern for dithering
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| vec2 rand(vec2 coord, vec2 uv, float noiseamount, bool noise) { | |
| float noiseX = ((fract(1.0-coord.s*(uv.x/2.0))*0.25)+(fract(coord.t*(uv.y/2.0))*0.75))*2.0-1.0; | |
| float noiseY = ((fract(1.0-coord.s*(uv.x/2.0))*0.75)+(fract(coord.t*(uv.y/2.0))*0.25))*2.0-1.0; | |
| if (noise) { | |
| noiseX = clamp(fract(sin(dot(coord ,vec2(12.9898,78.233))) * 43758.5453),0.0,1.0)*2.0-1.0; | |
| noiseY = clamp(fract(sin(dot(coord ,vec2(12.9898,78.233)*2.0)) * 43758.5453),0.0,1.0)*2.0-1.0; | |
| } | |
| return vec2(noiseX,noiseY)*noiseamount; | |
| } |
kashimAstro
/ i2cUDPMPU6050.py
Last active
February 20, 2016 11:36
i2c UDP Demon Read MPU6050 data and write socket [ USAGE: python i2cUDPMPU6050.py '127.0.0.1' 5005 1 'N' ]
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| #!/usr/bin/python | |
| import smbus | |
| import math | |
| import socket | |
| import sys | |
| import time | |
| if len(sys.argv) < 4: | |
| sys.exit('Usage: %s IPADDRESS PORT ID_BUS_I2C' % sys.argv[0]) |
kashimAstro
/ i2cRaspberryGPIO.h
Last active
June 2, 2022 12:06
i2c Multiple Byte read and write c++
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| #include <unistd.h> | |
| #include <fcntl.h> | |
| #include <sys/ioctl.h> | |
| #include <linux/i2c-dev.h> | |
| class i2cReadWrite { | |
| public: | |
| int file_i2c; | |
| unsigned char buffer[60]; | |
| int length=2; |
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| per ogni y dall'alto in basso | |
| per ogni x da sinistra a destra | |
| vecchio_pixel := pixel[x][y] | |
| nuovo_pixel := trova_il_colore_della_tavolozza_più_vicino(vecchio_pixel) | |
| pixel[x][y] := nuovo_pixel | |
| quant_errore := vecchio_pixel - nuovo_pixel | |
| pixel[x+1][y] := pixel[x+1][y] + 7/16 * quant_errore | |
| pixel[x-1][y+1] := pixel[x-1][y+1] + 3/16 * quant_errore | |
| pixel[x][y+1] := pixel[x][y+1] + 5/16 * quant_errore | |
| pixel[x+1][y+1] := pixel[x+1][y+1] + 1/16 * quant_errore |
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| unsigned char * floydSteinberg(unsigned char * source, int w, int h){ | |
| unsigned char * newSource; | |
| for(int i=0; i<(h*3); i++){ | |
| for(int j=0; j<w; j++) { | |
| int ci = i*w+j; | |
| int cc = source[ci]; | |
| int rc = (cc<128?0:255); | |
| int err = cc-rc; | |
| source[ci] = rc; | |
| if(j+1<w) source[ci+1] += (err*7)>>4; |
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