Unversioning local .vcproj and .sln

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@183 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

8 files changed, 42 insertions, 44 deletions

diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
index 77e412af..77e3ada7 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
+++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
@@ -335,6 +335,8 @@
           </item>

          </layout>

          <zorder></zorder>

+         <zorder>caminfo_label</zorder>

+         <zorder>formLayoutWidget</zorder>

         </widget>

        </item>

       </layout>

@@ -661,13 +663,10 @@
              </spacer>

             </item>

             <item>

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

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

               <property name="text">

                <string>Calibrate</string>

               </property>

-              <property name="checkable">

-               <bool>true</bool>

-              </property>

              </widget>

             </item>

            </layout>

@@ -720,6 +719,11 @@
         </layout>

        </item>

       </layout>

+      <zorder>groupBox_3</zorder>

+      <zorder>groupBox_4</zorder>

+      <zorder>label_32</zorder>

+      <zorder>horizontalLayoutWidget_3</zorder>

+      <zorder>label_33</zorder>

      </widget>

      <widget class="QWidget" name="tab_3">

       <attribute name="title">

@@ -820,6 +824,7 @@
   <tabstop>tx_spin</tabstop>

   <tabstop>ty_spin</tabstop>

   <tabstop>tz_spin</tabstop>

+  <tabstop>pushButton</tabstop>

  </tabstops>

  <resources>

   <include location="ftnoir_tracker_pt.qrc"/>

diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp
index a0bae694..c1d0149c 100644
--- a/FTNoIR_Tracker_PT/camera.cpp
+++ b/FTNoIR_Tracker_PT/camera.cpp
@@ -54,7 +54,7 @@ cv::Mat Camera::get_frame(float dt)
 	if (!frame.empty())

 	{

 		dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;

-		cam_info.fps = 1.0 / dt_mean;

+		cam_info.fps = 1.0 / (dt_mean + 1e-6);

 		dt_valid = 0;

 	}

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index f6682c58..db1512cb 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -58,12 +58,13 @@ void Tracker::run()
 			if (commands & PAUSE) continue;

 			commands = 0;

 			

-			float dt = time.elapsed() / 1000.0;

+			float dt = time.elapsed();

 			time.restart();

 

 			frame = camera.get_frame(dt);

 			if (!frame.empty())

 			{

+				qDebug()<<"processing frame";

 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

 				point_tracker.track(points, camera.get_info().f, dt);

 				frame_count++;

@@ -94,7 +95,6 @@ void Tracker::apply_without_camindex(const TrackerSettings& settings)
 	point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

 	sleep_time = settings.sleep_time;

 	draw_frame = settings.video_widget;

-	t_MH = settings.t_MH;

 }

 

 //-----------------------------------------------------------------------------

@@ -123,7 +123,7 @@ void Tracker::refreshVideo()
 	{

 		Mat frame_copy;

 		shared_ptr< vector<Vec2f> > points;

-		//qDebug("Tracker::refreshVideo()");

+		qDebug("Tracker::refreshVideo()");

 		{

 			QMutexLocker lock(&mutex);

 			if (!draw_frame || frame.empty()) return;

@@ -152,6 +152,21 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 	const float rad2deg = 180.0/3.14159265;

 	{

 		QMutexLocker lock(&mutex);

+<<<<<<< .mine

+		// convert to cm

+		data->x = pose.t[0] / 10.0;

+		data->y = pose.t[1] / 10.0;

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

+		const Matx33f& R = pose.R;

+		data->yaw = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );

+		float cos_beta = cos(data->yaw);

+		if (cos_beta != 0)

+		{

+			data->pitch = rad2deg * atan2( R(2,1)/cos_beta, R(2,2)/cos_beta);

+			data->roll  = rad2deg * atan2( R(1,0)/cos_beta, R(0,0)/cos_beta);

+		}

+		data->yaw *= rad2deg;

+=======

 

 		FrameTrafo X_CM = point_tracker.get_pose();

 		FrameTrafo X_MH(Matx33f::eye(), t_MH);

@@ -182,6 +197,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		data->yaw   = rad2deg * alpha;

 		data->pitch = rad2deg * beta;

 		data->roll  = rad2deg * gamma;

+>>>>>>> .r148

 	}

 	return true;

 }

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
index 24ecb6f1..6b6af060 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
@@ -41,10 +41,6 @@ public:
 	void apply_without_camindex(const TrackerSettings& settings); // changing the camindex is expensive and not suitable for realtime editing

 	void run();

 

-	void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }

-	int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }

-	void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }

-

 protected:	

 	FrameTrafo X_CH_0; // for centering

 

@@ -62,7 +58,7 @@ protected:
 	Camera camera;

 	PointExtractor point_extractor;

 	PointTracker point_tracker;

-	cv::Vec3f t_MH;

+	FrameTrafo X_MH;

 	bool draw_frame;

 	int sleep_time;

 	

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
index 81f6fc83..4b92fa72 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
@@ -12,9 +12,6 @@
 #include "ftnoir_tracker_pt_settings.h"

 #include "ftnoir_tracker_pt.h"

 #include "ui_FTNoIR_PT_Controls.h"

-#include "trans_calib.h"

-

-#include <QTimer>

 

 //-----------------------------------------------------------------------------

 class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDialog

@@ -28,8 +25,6 @@ public:
 	void Initialize(QWidget *parent);

 	void registerTracker(ITracker *tracker);

 	void unRegisterTracker();

-	

-	void trans_calib_step();

 

 protected slots:

 	void doOK();

@@ -50,13 +45,6 @@ protected slots:
 	void set_m2x(int val) { settings.M02[0] = val; settings_changed(); }

 	void set_m2y(int val) { settings.M02[1] = val; settings_changed(); }

 	void set_m2z(int val) { settings.M02[2] = val; settings_changed(); }

-	void set_tx(int val) { settings.t_MH[0] = val; settings_changed(); }

-	void set_ty(int val) { settings.t_MH[1] = val; settings_changed(); }

-	void set_tz(int val) { settings.t_MH[2] = val; settings_changed(); }

-

-	void startstop_trans_calib(bool start);

-	

-	void poll_tracker_info();

 

 protected:

 	void settings_changed();

@@ -65,9 +53,6 @@ protected:
 	bool settings_dirty;

 

 	Tracker* tracker;

-	TranslationCalibrator trans_calib;

-	bool trans_calib_running;

-	QTimer timer;

 	Ui::UICPTClientControls ui;

 };

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
index e540d78f..408ac9d2 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
@@ -25,15 +25,13 @@ void TrackerSettings::load_ini()
 	threshold      = iniFile.value("PointExtractThreshold", 128).toInt();

 	min_point_size = iniFile.value("PointExtractMinSize", 2).toInt();

 	max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt();

-	M01[0]  = iniFile.value("PointModelM01x", 0).toFloat();

-	M01[1]  = iniFile.value("PointModelM01y", 40).toFloat();

-	M01[2]  = iniFile.value("PointModelM01z", -30).toFloat();

-	M02[0]  = iniFile.value("PointModelM02x", 0).toFloat();

-	M02[1]  = iniFile.value("PointModelM02y", -70).toFloat();

-	M02[2]  = iniFile.value("PointModelM02z", -80).toFloat();

-	t_MH[0] = iniFile.value("tMHx", 0).toFloat();

-	t_MH[1] = iniFile.value("tMHy", 0).toFloat();

-	t_MH[2] = iniFile.value("tMHz", 0).toFloat();

+	M01[0] = iniFile.value("PointModelM01x", 0).toFloat();

+	M01[1] = iniFile.value("PointModelM01y", 40).toFloat();

+	M01[2] = iniFile.value("PointModelM01z", -30).toFloat();

+	M02[0] = iniFile.value("PointModelM02x", 0).toFloat();

+	M02[1] = iniFile.value("PointModelM02y", -70).toFloat();

+	M02[2] = iniFile.value("PointModelM02z", -80).toFloat();

+	//TODO: headpos

 	video_widget = iniFile.value("VideoWidget", true).toBool();

 	sleep_time   = iniFile.value("SleepTime", 10).toInt();

 	

@@ -61,9 +59,7 @@ void TrackerSettings::save_ini() const
 	iniFile.setValue("PointModelM02x", M02[0]);

 	iniFile.setValue("PointModelM02y", M02[1]);

 	iniFile.setValue("PointModelM02z", M02[2]);

-	iniFile.setValue("tMHx", t_MH[0]);

-	iniFile.setValue("tMHy", t_MH[1]);

-	iniFile.setValue("tMHz", t_MH[2]);

+	//TODO: headpos

 	iniFile.setValue("VideoWidget", video_widget);

 	iniFile.setValue("SleepTime", sleep_time);

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
index de0366e9..18ff6e37 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
@@ -27,8 +27,8 @@ struct TrackerSettings
 	cv::Vec3f M01;

 	cv::Vec3f M02;

 

-	// head to model translation

-	cv::Vec3f t_MH;

+	// head pos

+	FrameTrafo X_MH;

 

 	int sleep_time;

 	bool video_widget;

diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
index 90093032..cbe3e9da 100644
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ b/FTNoIR_Tracker_PT/point_tracker.cpp
@@ -223,8 +223,8 @@ void PointTracker::POSIT(float f)
 	X_CM.t[1] = p[0][1] * Z0/f;

 	X_CM.t[2] = Z0;

 

-	//qDebug()<<"iter: "<<i;

-	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];

+	qDebug()<<"iter: "<<i;

+	qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];

 	//Vec3f r;

 	//Rodrigues(X_CM.R, r);

 	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';