bump HT to 0.9

4 files changed, 62 insertions, 38 deletions

diff --git a/bin/tracker-ht/bounding-box.raw b/bin/tracker-ht/bounding-box.raw
index 1080cd76..51a3c367 100644
--- a/bin/tracker-ht/bounding-box.raw
+++ b/bin/tracker-ht/bounding-box.raw
@@ -1,16 +1,48 @@
--0.024024 -0.072011 0.093228 0.000207 -0.077355 0.097518 0.000673 -0.041301 0.108331 
-0.000673 -0.041301 0.108331 0.001693 0.007871 0.120507 -0.064415 0.007033 0.088173 
--0.024024 -0.072011 0.093228 0.000673 -0.041301 0.108331 -0.064415 0.007033 0.088173 
--0.024024 -0.072011 0.093228 -0.064415 0.007033 0.088173 -0.062165 -0.045634 0.083012 
-0.024024 -0.072011 0.093228 0.000673 -0.041301 0.108331 0.000207 -0.077355 0.097518 
-0.064415 0.007033 0.088173 0.001693 0.007871 0.120507 0.000673 -0.041301 0.108331 
-0.024024 -0.072011 0.093228 0.064415 0.007033 0.088173 0.000673 -0.041301 0.108331 
-0.024024 -0.072011 0.093228 0.062165 -0.045634 0.083012 0.064415 0.007033 0.088173 
--0.024024 0.087405 0.106107 0.000673 0.054668 0.116085 0.000207 0.091990 0.111200 
--0.064415 0.007033 0.088173 0.001693 0.007871 0.120507 0.000673 0.054668 0.116085 
--0.024024 0.087405 0.106107 -0.064415 0.007033 0.088173 0.000673 0.054668 0.116085 
--0.024024 0.087405 0.106107 -0.062165 0.063010 0.091790 -0.064415 0.007033 0.088173 
-0.024024 0.087405 0.106107 0.000207 0.091990 0.111200 0.000673 0.054668 0.116085 
-0.000673 0.054668 0.116085 0.001693 0.007871 0.120507 0.064415 0.007033 0.088173 
-0.024024 0.087405 0.106107 0.000673 0.054668 0.116085 0.064415 0.007033 0.088173 
-0.024024 0.087405 0.106107 0.064415 0.007033 0.088173 0.062165 0.063010 0.091790 
+-0.039194 -0.074647 0.092979 0.000246 -0.080087 0.097518 0.000673 -0.031103 0.115007 
+0.000673 -0.031103 0.115007 0.001292 -0.031616 0.114585 -0.039194 -0.074647 0.092979 
+-0.073819 -0.047793 0.070450 -0.039194 -0.074647 0.092979 -0.038267 -0.069614 0.093285 
+-0.073819 -0.047793 0.070450 -0.038267 -0.069614 0.093285 -0.020326 0.006192 0.097678 
+-0.073819 -0.047793 0.070450 -0.020326 0.006192 0.097678 -0.076492 0.008045 0.075610 
+0.001848 0.008624 0.148413 -0.020326 0.006192 0.097678 -0.017434 -0.024661 0.106884 
+0.000673 -0.031103 0.115007 0.001693 0.008608 0.148584 0.001848 0.008624 0.148413 
+0.000673 -0.031103 0.115007 0.001848 0.008624 0.148413 -0.017434 -0.024661 0.106884 
+0.001292 -0.031616 0.114585 0.000673 -0.031103 0.115007 -0.017434 -0.024661 0.106884 
+-0.039194 -0.074647 0.092979 -0.017434 -0.024661 0.106884 -0.020326 0.006192 0.097678 
+-0.020326 0.006192 0.097678 -0.038267 -0.069614 0.093285 -0.039194 -0.074647 0.092979 
+-0.039194 -0.074647 0.092979 0.001292 -0.031616 0.114585 -0.017434 -0.024661 0.106884 
+0.039194 -0.074647 0.092979 0.001292 -0.031616 0.114585 0.000673 -0.031103 0.115007 
+0.000673 -0.031103 0.115007 0.000246 -0.080087 0.097518 0.039194 -0.074647 0.092979 
+0.073819 -0.047793 0.070450 0.038267 -0.069614 0.093285 0.039194 -0.074647 0.092979 
+0.073819 -0.047793 0.070450 0.020326 0.006192 0.097678 0.038267 -0.069614 0.093285 
+0.073819 -0.047793 0.070450 0.076492 0.008045 0.075610 0.020326 0.006192 0.097678 
+0.001848 0.008624 0.148413 0.017434 -0.024661 0.106884 0.020326 0.006192 0.097678 
+0.001848 0.008624 0.148413 0.001693 0.008608 0.148584 0.000673 -0.031103 0.115007 
+0.017434 -0.024661 0.106884 0.001848 0.008624 0.148413 0.000673 -0.031103 0.115007 
+0.001292 -0.031616 0.114585 0.017434 -0.024661 0.106884 0.000673 -0.031103 0.115007 
+0.020326 0.006192 0.097678 0.017434 -0.024661 0.106884 0.039194 -0.074647 0.092979 
+0.039194 -0.074647 0.092979 0.038267 -0.069614 0.093285 0.020326 0.006192 0.097678 
+0.039194 -0.074647 0.092979 0.017434 -0.024661 0.106884 0.001292 -0.031616 0.114585 
+-0.039194 0.090047 0.106285 0.001292 0.044105 0.120703 0.000673 0.043531 0.121037 
+0.000673 0.043531 0.121037 0.000246 0.094687 0.111639 -0.039194 0.090047 0.106285 
+-0.073819 0.067158 0.079737 -0.038267 0.085029 0.105779 -0.039194 0.090047 0.106285 
+-0.073819 0.067158 0.079737 -0.020326 0.006192 0.097678 -0.038267 0.085029 0.105779 
+-0.073819 0.067158 0.079737 -0.076492 0.008045 0.075610 -0.020326 0.006192 0.097678 
+0.001848 -0.001044 0.147632 -0.017434 0.038477 0.111985 -0.020326 0.006192 0.097678 
+0.001848 -0.001044 0.147632 0.001693 -0.001055 0.147803 0.000673 0.043531 0.121037 
+-0.017434 0.038477 0.111985 0.001848 -0.001044 0.147632 0.000673 0.043531 0.121037 
+0.001292 0.044105 0.120703 -0.017434 0.038477 0.111985 0.000673 0.043531 0.121037 
+-0.020326 0.006192 0.097678 -0.017434 0.038477 0.111985 -0.039194 0.090047 0.106285 
+-0.039194 0.090047 0.106285 -0.038267 0.085029 0.105779 -0.020326 0.006192 0.097678 
+-0.039194 0.090047 0.106285 -0.017434 0.038477 0.111985 0.001292 0.044105 0.120703 
+0.039194 0.090047 0.106285 0.000246 0.094687 0.111639 0.000673 0.043531 0.121037 
+0.000673 0.043531 0.121037 0.001292 0.044105 0.120703 0.039194 0.090047 0.106285 
+0.073819 0.067158 0.079737 0.039194 0.090047 0.106285 0.038267 0.085029 0.105779 
+0.073819 0.067158 0.079737 0.038267 0.085029 0.105779 0.020326 0.006192 0.097678 
+0.073819 0.067158 0.079737 0.020326 0.006192 0.097678 0.076492 0.008045 0.075610 
+0.001848 -0.001044 0.147632 0.020326 0.006192 0.097678 0.017434 0.038477 0.111985 
+0.000673 0.043531 0.121037 0.001693 -0.001055 0.147803 0.001848 -0.001044 0.147632 
+0.000673 0.043531 0.121037 0.001848 -0.001044 0.147632 0.017434 0.038477 0.111985 
+0.001292 0.044105 0.120703 0.000673 0.043531 0.121037 0.017434 0.038477 0.111985 
+0.020326 0.006192 0.097678 0.038267 0.085029 0.105779 0.039194 0.090047 0.106285 
+0.039194 0.090047 0.106285 0.017434 0.038477 0.111985 0.020326 0.006192 0.097678 
+0.039194 0.090047 0.106285 0.001292 0.044105 0.120703 0.017434 0.038477 0.111985 
diff --git a/bin/tracker-ht/head.raw b/bin/tracker-ht/head.raw
index 85d94c0f..a58d0b8e 100644
--- a/bin/tracker-ht/head.raw
+++ b/bin/tracker-ht/head.raw
@@ -9,28 +9,24 @@
 -0.007717 0.025703 0.113210 0.000000 0.019987 0.121199 0.000000 0.034987 0.108182 
 -0.004673 0.046663 0.102059 0.000000 0.047108 0.102409 0.000000 0.054866 0.104081 
 -0.034447 -0.017321 0.093453 -0.025034 -0.014668 0.096344 -0.038798 -0.004968 0.090329 
--0.009632 -0.036241 0.109342 0.000000 -0.036493 0.110999 0.000000 -0.014635 0.112559 
+-0.009632 -0.037490 0.109342 0.000000 -0.037742 0.110999 0.000000 -0.014635 0.112559 
 -0.029317 0.006111 0.093098 -0.018583 0.010280 0.100619 -0.014415 0.025975 0.088877 
 -0.031328 -0.025940 0.098166 -0.016650 -0.036445 0.106242 -0.025034 -0.014668 0.096344 
--0.018924 -0.008888 0.098119 -0.016650 -0.036445 0.106242 -0.009632 -0.036241 0.109342 
+-0.018924 -0.008888 0.098119 -0.016650 -0.036445 0.106242 -0.009632 -0.037490 0.109342 
 -0.018583 0.010280 0.100619 -0.029317 0.006111 0.093098 -0.018924 -0.008888 0.098119 
--0.011896 -0.050980 0.106074 0.000000 -0.051422 0.108257 -0.009632 -0.036241 0.109342 
 -0.004673 0.046663 0.102059 0.000000 0.054866 0.104081 -0.011053 0.050912 0.102784 
 -0.011024 -0.002516 0.124890 -0.007717 0.025703 0.113210 -0.012957 0.011201 0.112091 
--0.031328 -0.025940 0.098166 -0.018721 -0.049662 0.103775 -0.016650 -0.036445 0.106242 
+-0.031328 -0.025940 0.098166 -0.027280 -0.032417 0.099967 -0.016650 -0.036445 0.106242 
 -0.005057 0.036518 0.104452 -0.004673 0.046663 0.102059 -0.009974 0.035914 0.094960 
 0.000000 0.047108 0.102409 -0.005057 0.036518 0.104452 0.000000 0.034987 0.108182 
 -0.025034 -0.014668 0.096344 -0.018924 -0.008888 0.098119 -0.029317 0.006111 0.093098 
--0.016650 -0.036445 0.106242 -0.018721 -0.049662 0.103775 -0.011896 -0.050980 0.106074 
 -0.016650 -0.036445 0.106242 -0.018924 -0.008888 0.098119 -0.025034 -0.014668 0.096344 
 0.000000 0.019987 0.121199 -0.011024 -0.002516 0.124890 0.000000 0.003099 0.131941 
 -0.025034 -0.014668 0.096344 -0.029317 0.006111 0.093098 -0.038798 -0.004968 0.090329 
 -0.011024 -0.002516 0.124890 -0.018924 -0.008888 0.098119 0.000000 -0.014635 0.112559 
 -0.025034 -0.014668 0.096344 -0.034447 -0.017321 0.093453 -0.031328 -0.025940 0.098166 
-0.000000 -0.014635 0.112559 -0.018924 -0.008888 0.098119 -0.009632 -0.036241 0.109342 
--0.009632 -0.036241 0.109342 0.000000 -0.051422 0.108257 0.000000 -0.036493 0.110999 
+0.000000 -0.014635 0.112559 -0.018924 -0.008888 0.098119 -0.009632 -0.037490 0.109342 
 -0.012957 0.011201 0.112091 -0.007717 0.025703 0.113210 -0.014415 0.025975 0.088877 
--0.009632 -0.036241 0.109342 -0.016650 -0.036445 0.106242 -0.011896 -0.050980 0.106074 
 -0.018583 0.010280 0.100619 -0.012957 0.011201 0.112091 -0.014415 0.025975 0.088877 
 -0.007717 0.025703 0.113210 -0.011024 -0.002516 0.124890 0.000000 0.019987 0.121199 
 -0.009974 0.035914 0.094960 -0.014415 0.025975 0.088877 -0.005057 0.036518 0.104452 
@@ -57,28 +53,24 @@
 0.007717 0.025703 0.113210 0.000000 0.034987 0.108182 0.000000 0.019987 0.121199 
 0.004673 0.046663 0.102059 0.000000 0.054866 0.104081 0.000000 0.047108 0.102409 
 0.034447 -0.017321 0.093453 0.038798 -0.004968 0.090329 0.025034 -0.014668 0.096344 
-0.009632 -0.036241 0.109342 0.000000 -0.014635 0.112559 0.000000 -0.036493 0.110999 
+0.009632 -0.037490 0.109342 0.000000 -0.014635 0.112559 0.000000 -0.037742 0.110999 
 0.029317 0.006111 0.093098 0.014415 0.025975 0.088877 0.018583 0.010280 0.100619 
 0.031328 -0.025940 0.098166 0.025034 -0.014668 0.096344 0.016650 -0.036445 0.106242 
-0.018924 -0.008888 0.098119 0.009632 -0.036241 0.109342 0.016650 -0.036445 0.106242 
+0.018924 -0.008888 0.098119 0.009632 -0.037490 0.109342 0.016650 -0.036445 0.106242 
 0.018583 0.010280 0.100619 0.018924 -0.008888 0.098119 0.029317 0.006111 0.093098 
-0.011896 -0.050980 0.106074 0.009632 -0.036241 0.109342 0.000000 -0.051422 0.108257 
 0.004673 0.046663 0.102059 0.011053 0.050912 0.102784 0.000000 0.054866 0.104081 
 0.011024 -0.002516 0.124890 0.012957 0.011201 0.112091 0.007717 0.025703 0.113210 
-0.031328 -0.025940 0.098166 0.016650 -0.036445 0.106242 0.018721 -0.049662 0.103775 
+0.031328 -0.025940 0.098166 0.016650 -0.036445 0.106242 0.027280 -0.032417 0.099967 
 0.005057 0.036518 0.104452 0.009974 0.035914 0.094960 0.004673 0.046663 0.102059 
 0.000000 0.047108 0.102409 0.000000 0.034987 0.108182 0.005057 0.036518 0.104452 
 0.025034 -0.014668 0.096344 0.029317 0.006111 0.093098 0.018924 -0.008888 0.098119 
-0.016650 -0.036445 0.106242 0.011896 -0.050980 0.106074 0.018721 -0.049662 0.103775 
 0.016650 -0.036445 0.106242 0.025034 -0.014668 0.096344 0.018924 -0.008888 0.098119 
 0.000000 0.019987 0.121199 0.000000 0.003099 0.131941 0.011024 -0.002516 0.124890 
 0.025034 -0.014668 0.096344 0.038798 -0.004968 0.090329 0.029317 0.006111 0.093098 
 0.011024 -0.002516 0.124890 0.000000 -0.014635 0.112559 0.018924 -0.008888 0.098119 
 0.025034 -0.014668 0.096344 0.031328 -0.025940 0.098166 0.034447 -0.017321 0.093453 
-0.000000 -0.014635 0.112559 0.009632 -0.036241 0.109342 0.018924 -0.008888 0.098119 
-0.009632 -0.036241 0.109342 0.000000 -0.036493 0.110999 0.000000 -0.051422 0.108257 
+0.000000 -0.014635 0.112559 0.009632 -0.037490 0.109342 0.018924 -0.008888 0.098119 
 0.012957 0.011201 0.112091 0.014415 0.025975 0.088877 0.007717 0.025703 0.113210 
-0.009632 -0.036241 0.109342 0.011896 -0.050980 0.106074 0.016650 -0.036445 0.106242 
 0.018583 0.010280 0.100619 0.014415 0.025975 0.088877 0.012957 0.011201 0.112091 
 0.000000 0.019987 0.121199 0.011024 -0.002516 0.124890 0.007717 0.025703 0.113210 
 0.009974 0.035914 0.094960 0.005057 0.036518 0.104452 0.014415 0.025975 0.088877 
diff --git a/bin/tracker-ht/headtracker-ftnoir.exe b/bin/tracker-ht/headtracker-ftnoir.exe
index 07c8b6a6..0e5095f6 100644
--- a/bin/tracker-ht/headtracker-ftnoir.exe
+++ b/bin/tracker-ht/headtracker-ftnoir.exe
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 6e0c607d..081cf457 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -111,20 +111,20 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
     config->max_keypoints = 200;
     config->keypoint_quality = 2;
-    config->keypoint_distance = 2;
-    config->keypoint_3distance = 5;
-    config->keypoint_9distance = 10;
+    config->keypoint_distance = 1.8;
+    config->keypoint_3distance = 4;
+    config->keypoint_9distance = 8;
     //config->force_width = 640;
     //config->force_height = 480;
     config->force_fps = iniFile.value("fps", 0).toInt();
     config->camera_index = iniFile.value("camera-index", -1).toInt();
     config->ransac_num_iters = 50;
-    config->ransac_max_reprojection_error = 3.75;
+    config->ransac_max_reprojection_error = 3.9;
     config->ransac_max_inlier_error = 3.8;
     config->ransac_abs_max_mean_error = 8;
     config->ransac_max_mean_error = 3.8;
     config->debug = 1;
-    config->ransac_min_features = 0.84;
+    config->ransac_min_features = 0.86;
     int res = iniFile.value("resolution", 0).toInt();
     if (res < 0 || res >= (int)(sizeof(*resolution_choices) / sizeof(resolution_tuple)))
 		res = 0;
@@ -262,7 +262,7 @@ bool Tracker::GiveHeadPoseData(double *data)
 //-----------------------------------------------------------------------------
 void TrackerDll::getFullName(QString *strToBeFilled)
 {
-    *strToBeFilled = "HT 0.8";
+    *strToBeFilled = "HT 0.9";
 }
 
 void TrackerDll::getShortName(QString *strToBeFilled)