PT: Camera pitch correction for translation, prepared GUI for release

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@208 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

4 files changed, 52 insertions, 72 deletions

diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
index a2389f71..0174df23 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
+++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
@@ -69,17 +69,17 @@
          <layout class="QVBoxLayout" name="verticalLayout_6">

           <item>

            <layout class="QGridLayout" name="gridLayout">

-            <item row="0" column="3">

-             <widget class="QCheckBox" name="videowidget_check">

+            <item row="1" column="0">

+             <widget class="QCheckBox" name="dynpose_check">

               <property name="toolTip">

-               <string>Whether to update the content of the VideoWidget</string>

+               <string/>

               </property>

               <property name="text">

-               <string>Show VideoWidget</string>

+               <string>Dynamic Pose Resolution</string>

               </property>

              </widget>

             </item>

-            <item row="0" column="0">

+            <item row="0" column="2">

              <widget class="QLabel" name="label_39">

               <property name="text">

                <string>Sleep time</string>

@@ -89,7 +89,7 @@
               </property>

              </widget>

             </item>

-            <item row="0" column="1">

+            <item row="0" column="3">

              <layout class="QHBoxLayout" name="horizontalLayout_11">

               <item>

                <widget class="QSpinBox" name="sleep_spin">

@@ -113,20 +113,7 @@
               </item>

              </layout>

             </item>

-            <item row="0" column="2">

-             <spacer name="horizontalSpacer_11">

-              <property name="orientation">

-               <enum>Qt::Horizontal</enum>

-              </property>

-              <property name="sizeHint" stdset="0">

-               <size>

-                <width>40</width>

-                <height>20</height>

-               </size>

-              </property>

-             </spacer>

-            </item>

-            <item row="1" column="0">

+            <item row="1" column="2">

              <widget class="QLabel" name="label_43">

               <property name="text">

                <string>Auto-reset time</string>

@@ -136,7 +123,7 @@
               </property>

              </widget>

             </item>

-            <item row="1" column="1">

+            <item row="1" column="3">

              <layout class="QHBoxLayout" name="horizontalLayout_12">

               <item>

                <widget class="QSpinBox" name="reset_spin">

@@ -157,17 +144,17 @@
               </item>

              </layout>

             </item>

-            <item row="1" column="3">

-             <widget class="QCheckBox" name="dynpose_check">

+            <item row="0" column="0">

+             <widget class="QCheckBox" name="videowidget_check">

               <property name="toolTip">

-               <string/>

+               <string>Whether to update the content of the VideoWidget</string>

               </property>

               <property name="text">

-               <string>Dynamic Pose Resolution</string>

+               <string>Show VideoWidget</string>

               </property>

              </widget>

             </item>

-            <item row="1" column="2">

+            <item row="1" column="1">

              <spacer name="horizontalSpacer_7">

               <property name="orientation">

                <enum>Qt::Horizontal</enum>

@@ -180,6 +167,32 @@
               </property>

              </spacer>

             </item>

+            <item row="0" column="1">

+             <spacer name="horizontalSpacer_11">

+              <property name="orientation">

+               <enum>Qt::Horizontal</enum>

+              </property>

+              <property name="sizeHint" stdset="0">

+               <size>

+                <width>40</width>

+                <height>20</height>

+               </size>

+              </property>

+             </spacer>

+            </item>

+            <item row="2" column="0">

+             <widget class="QPushButton" name="reset_button">

+              <property name="enabled">

+               <bool>false</bool>

+              </property>

+              <property name="toolTip">

+               <string>Reset the tracker's internal state</string>

+              </property>

+              <property name="text">

+               <string>Reset</string>

+              </property>

+             </widget>

+            </item>

            </layout>

           </item>

          </layout>

@@ -499,36 +512,6 @@
          </layout>

         </widget>

        </item>

-       <item>

-        <layout class="QHBoxLayout" name="horizontalLayout_10">

-         <item>

-          <widget class="QPushButton" name="center_button">

-           <property name="enabled">

-            <bool>false</bool>

-           </property>

-           <property name="toolTip">

-            <string>Center the tracker</string>

-           </property>

-           <property name="text">

-            <string>Center</string>

-           </property>

-          </widget>

-         </item>

-         <item>

-          <widget class="QPushButton" name="reset_button">

-           <property name="enabled">

-            <bool>false</bool>

-           </property>

-           <property name="toolTip">

-            <string>Reset the tracker's internal state</string>

-           </property>

-           <property name="text">

-            <string>Reset</string>

-           </property>

-          </widget>

-         </item>

-        </layout>

-       </item>

       </layout>

      </widget>

      <widget class="QWidget" name="tab_2">

@@ -1654,7 +1637,7 @@
         </rect>

        </property>

        <property name="text">

-        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.0 beta&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>

+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.0&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>

        </property>

        <property name="openExternalLinks">

         <bool>true</bool>

@@ -1715,17 +1698,13 @@
  <tabstops>

   <tabstop>tabWidget</tabstop>

   <tabstop>sleep_spin</tabstop>

-  <tabstop>videowidget_check</tabstop>

   <tabstop>reset_spin</tabstop>

-  <tabstop>dynpose_check</tabstop>

   <tabstop>chkEnableRoll</tabstop>

   <tabstop>chkEnablePitch</tabstop>

   <tabstop>chkEnableYaw</tabstop>

   <tabstop>chkEnableX</tabstop>

   <tabstop>chkEnableY</tabstop>

   <tabstop>chkEnableZ</tabstop>

-  <tabstop>center_button</tabstop>

-  <tabstop>reset_button</tabstop>

   <tabstop>camindex_spin</tabstop>

   <tabstop>res_x_spin</tabstop>

   <tabstop>res_y_spin</tabstop>

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index e9394eff..5b77da69 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -201,7 +201,14 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		FrameTrafo X_CH = X_CM * X_MH;

 

 		Matx33f R = X_CH.R * X_CH_0.R.t(); 

-		Vec3f t   = X_CH.t - X_CH_0.t;

+		Vec3f t   = X_CH.t - X_CH_0.t;		

+		

+		// correct for camera pitch

+		Matx33f R_CP( 1, 0, 0,

+			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),

+					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));

+		R = R_CP * R * R_CP.t();

+		t = R_CP * t;

 

 		// get translation(s)

 		if (bEnableX) {

@@ -213,12 +220,6 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		if (bEnableZ) {

 			data->z = t[2] / 10.0;

 		}

-	

-		// correct for camera pitch

-		Matx33f R_CP( 1, 0, 0,

-			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),

-					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));

-		R = R_CP * R * R_CP.t();

 

 		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame

 		// -z -> x, y -> z, x -> -y

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
index 83c04305..a1531dd7 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
@@ -105,7 +105,7 @@ TrackerDialog::TrackerDialog()
 	connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );

 

 	connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));

-	connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));

+	//connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));

 

 	connect(ui.ok_button, SIGNAL(clicked()),     this, SLOT(doOK()));

 	connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));

@@ -314,7 +314,7 @@ void TrackerDialog::registerTracker(ITracker *t)
 	tracker = static_cast<Tracker*>(t);

 	if (isVisible() && settings_dirty) tracker->apply(settings);

 	ui.tcalib_button->setEnabled(true);

-	ui.center_button->setEnabled(true);

+	//ui.center_button->setEnabled(true);

 	ui.reset_button->setEnabled(true);

 }

 

@@ -323,7 +323,7 @@ void TrackerDialog::unRegisterTracker()
 	qDebug()<<"TrackerDialog:: Tracker un-registered";

 	tracker = NULL;

 	ui.tcalib_button->setEnabled(false); 

-	ui.center_button->setEnabled(false);

+	//ui.center_button->setEnabled(false);

 	ui.reset_button->setEnabled(false);

 }

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp
index 9ceaa321..7f58d77d 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp
@@ -12,7 +12,7 @@
 //-----------------------------------------------------------------------------

 void TrackerDll::getFullName(QString *strToBeFilled)

 {

-	*strToBeFilled = "PointTracker 1.0 beta";

+	*strToBeFilled = "PointTracker 1.0";

 }

 

 void TrackerDll::getShortName(QString *strToBeFilled)