Merge commit 'f78b96a' into unstable

* commit 'f78b96a':
  gcc too much a piece of work often
  submit mapped data to filter, not raw
  nonsense
  drop decimal places for rot/trans in UI
  rotation below -99 didn't display, just froze
  add-comment

8 files changed, 97 insertions, 89 deletions

diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index f689cb5f..73dae199 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -353,6 +353,12 @@ void FaceTrackNoIR::showHeadPose()
 
     if (mapping_widget)
         mapping_widget->update();
+    
+    for (int i = 0; i < 6; i++)
+    {
+        mapped[i] = (int) mapped[i];
+        raw[i] = (int) raw[i];
+    }
 
     ui.lcdNumX->display(raw[TX]);
     ui.lcdNumY->display(raw[TY]);
diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h
index d4c3a369..040bb170 100644
--- a/facetracknoir/facetracknoir.h
+++ b/facetracknoir/facetracknoir.h
@@ -91,6 +91,8 @@ public slots:
     void shortcutRecentered();
     void shortcutToggled();
 private:
+    // XXX move the shit outta the _widget_, establish a class
+    // for running tracker state, etc -sh 20141014
     Mappings pose;
     Ui::OpentrackUI ui;
     QTimer timUpdateHeadPose;
diff --git a/facetracknoir/facetracknoir.ui b/facetracknoir/facetracknoir.ui
index ad968030..a201b643 100644
--- a/facetracknoir/facetracknoir.ui
+++ b/facetracknoir/facetracknoir.ui
@@ -95,7 +95,7 @@
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Outline</enum>
@@ -117,7 +117,7 @@
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Outline</enum>
@@ -165,7 +165,7 @@
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Outline</enum>
@@ -187,7 +187,7 @@
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Outline</enum>
@@ -247,7 +247,7 @@
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Outline</enum>
@@ -295,7 +295,7 @@
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Outline</enum>
@@ -341,14 +341,11 @@
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
             <property name="smallDecimalPoint">
              <bool>true</bool>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Flat</enum>
@@ -369,14 +366,11 @@
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
             <property name="smallDecimalPoint">
              <bool>true</bool>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Flat</enum>
@@ -413,14 +407,11 @@
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
             <property name="smallDecimalPoint">
              <bool>true</bool>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Flat</enum>
@@ -463,14 +454,11 @@
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
             <property name="smallDecimalPoint">
              <bool>true</bool>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Flat</enum>
@@ -529,14 +517,11 @@
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
             <property name="smallDecimalPoint">
              <bool>true</bool>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Flat</enum>
@@ -573,14 +558,11 @@
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
             <property name="smallDecimalPoint">
              <bool>true</bool>
             </property>
             <property name="digitCount">
-             <number>3</number>
+             <number>4</number>
             </property>
             <property name="segmentStyle">
              <enum>QLCDNumber::Flat</enum>
diff --git a/facetracknoir/options.h b/facetracknoir/options.h
index 7833ea41..d9667e4a 100644
--- a/facetracknoir/options.h
+++ b/facetracknoir/options.h
@@ -75,7 +75,7 @@ namespace options {
     // snapshot of qsettings group at given time
     class group {
     private:
-        map<string, QVariant> map;
+        map<string, QVariant> kvs;
         string name;
         static const QString ini_pathname()
         {
@@ -93,7 +93,7 @@ namespace options {
             {
                 auto tmp = k_.toUtf8();
                 string k(tmp);
-                map[k] = conf.value(k_);
+                kvs[k] = conf.value(k_);
             }
             conf.endGroup();
         }
@@ -104,7 +104,7 @@ namespace options {
             QSettings s(ini_pathname(), QSettings::IniFormat);
             auto q_name = QString::fromStdString(name);
             s.beginGroup(q_name);
-            for (auto& i : map)
+            for (auto& i : kvs)
             {
                 auto k = QString::fromStdString(i.first);
                 s.setValue(k, i.second);
@@ -115,17 +115,17 @@ namespace options {
         template<typename t>
         t get(const string& k)
         {
-            return qcruft_to_t<t>(map[k]);
+            return qcruft_to_t<t>(kvs[k]);
         }
         
         void put(const string& s, const QVariant& d)
         {
-            map[s] = d;
+            kvs[s] = d;
         }
         
         bool contains(const string& s)
         {
-            return map.count(s) != 0;
+            return kvs.count(s) != 0;
         }
     };
 
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 09edd45b..0f299153 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -36,14 +36,13 @@ Tracker::~Tracker()
     wait();
 }
 
-void Tracker::get_curve(double pos, double& out, Mapping& axis) {
+double Tracker::map(double pos, Mapping& axis) {
     bool altp = (pos < 0) && axis.opts.altp;
     axis.curve.setTrackingActive( !altp );
     axis.curveAlt.setTrackingActive( altp );
     auto& fc = altp ? axis.curveAlt : axis.curve;
-    out = (axis.opts.invert ? -1 : 1) * fc.getValue(pos);
-
-    out += axis.opts.zero;
+    double invert = axis.opts.invert ? -1 : 1;
+    return invert * (fc.getValue(pos) + axis.opts.zero);
 }
 
 void Tracker::t_compensate(const double* input, double* output, bool rz)
@@ -82,24 +81,14 @@ void Tracker::t_compensate(const double* input, double* output, bool rz)
         output[i] = ret(i);
 }
 
-void Tracker::run() {
-    Pose pose_offset, unstopped_pose;
-
-    double newpose[6] = {0};
-    const int sleep_ms = 3;
-
-#if defined(_WIN32)
-    (void) timeBeginPeriod(1);
-#endif
+void Tracker::logic()
+{
+    Libraries->pTracker->GetHeadPoseData(newpose);
+    
+    Pose final_raw;
 
-    while (!should_quit)
+    if (enabledp)
     {
-        t.start();
-
-        Libraries->pTracker->GetHeadPoseData(newpose);
-
-        Pose final_raw, filtered;
-
         for (int i = 0; i < 6; i++)
         {
             auto& axis = m(i);
@@ -109,37 +98,57 @@ void Tracker::run() {
             // not really raw, after axis remap -sh
             final_raw(i) = newpose[k];
         }
+        unstopped_raw = final_raw;
+    }
+    
+    Pose filtered_pose;
+    
+    if (Libraries->pFilter)
+        Libraries->pFilter->FilterHeadPoseData(final_raw, filtered_pose);
+    else
+        filtered_pose = final_raw;
+    
+    if (centerp)
+    {
+        centerp = false;
+        raw_center = final_raw;
+    }
+    
+    Pose raw_centered = filtered_pose & raw_center;
+    
+    Pose mapped_pose_precomp;
+    
+    for (int i = 0; i < 6; i++)
+        mapped_pose_precomp(i) = map(raw_centered(i), m(i));
+    
+    Pose mapped_pose;
+    
+    if (s.tcomp_p)
+        t_compensate(mapped_pose_precomp, mapped_pose, s.tcomp_tz);
+    else
+        mapped_pose = mapped_pose_precomp;
 
-        {
-            if (enabledp)
-                unstopped_pose = final_raw;
-
-            if (Libraries->pFilter)
-                Libraries->pFilter->FilterHeadPoseData(unstopped_pose, filtered);
-            else
-                filtered = unstopped_pose;
-            
-            if (centerp)  {
-                centerp = false;
-                pose_offset = filtered;
-            }
-
-            filtered = filtered & pose_offset;
-
-            for (int i = 0; i < 6; i++)
-                get_curve(filtered(i), filtered(i), m(i));
-        }
+    Libraries->pProtocol->sendHeadposeToGame(mapped_pose);
 
-        if (s.tcomp_p)
-            t_compensate(filtered, filtered, s.tcomp_tz);
+    {
+        QMutexLocker foo(&mtx);
+        output_pose = mapped_pose;
+        raw_6dof = unstopped_raw;
+    }
+}
 
-        Libraries->pProtocol->sendHeadposeToGame(filtered);
+void Tracker::run() {
+    const int sleep_ms = 3;
 
-        {
-            QMutexLocker foo(&mtx);
-            output_pose = filtered;
-            raw_6dof = final_raw;
-        }
+#if defined(_WIN32)
+    (void) timeBeginPeriod(1);
+#endif
+
+    while (!should_quit)
+    {
+        t.start();
+
+        logic();
 
         double q = sleep_ms * 1000L;
         q -= t.elapsed();
diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h
index d65e1cf1..afb86802 100644
--- a/facetracknoir/tracker.h
+++ b/facetracknoir/tracker.h
@@ -23,12 +23,14 @@ private:
     // XXX can be const-cast when functionconfig const-correct -sh 20141004
     Mappings& m;
     Timer t;
-    Pose output_pose, raw_6dof;
+    Pose output_pose, raw_6dof, raw_center, unstopped_raw;
+    double newpose[6];
     std::atomic<bool> centerp;
     std::atomic<bool> enabledp;
     std::atomic<bool> should_quit;
 
-    static void get_curve(double pos, double& out, Mapping& axis);
+    double map(double pos, Mapping& axis);
+    void logic();
     static void t_compensate(const double* input, double* output, bool rz);
 protected:
     void run() override;
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index fd8a8ce1..87c5315e 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -203,6 +203,12 @@ void Tracker::run()
         auto tm = cv::getTickCount();
         
         cv::Mat grayscale;
+        {
+            std::vector<cv::Mat> tmp;
+            cv::split(color, tmp);
+            // red only, best on CCD, also artifacts on blue ps3eye
+            grayscale = tmp[2];
+        }
         cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
         
         const int scale = frame.cols > 480 ? 2 : 1;
@@ -221,7 +227,7 @@ void Tracker::run()
         std::vector< aruco::Marker > markers;
 
         const double size_min = 0.04;
-        const double size_max = 0.38;
+        const double size_max = 0.28;
         
         bool roi_valid = false;
         
@@ -229,6 +235,7 @@ void Tracker::run()
         {
             detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width),
                                    std::min(1.0, size_max * grayscale.cols / last_roi.width));
+            
             if (detector.detect(grayscale(last_roi), markers, cv::Mat(), cv::Mat(), -1, false),
                 markers.size() == 1 && markers[0].size() == 4)
             {
@@ -299,7 +306,7 @@ void Tracker::run()
             
             cv::Vec3d rvec, tvec;
             
-            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::P3P);
+            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::ITERATIVE);
             
             std::vector<cv::Point2f> roi_projection(4);
             
@@ -324,7 +331,7 @@ void Tracker::run()
             
             {
                 cv::Mat rvec_, tvec_;
-                cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, cv::P3P);
+                cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, cv::ITERATIVE);
                 tvec = tvec_;
             }
             
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 3d37dacd..090cf478 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -43,7 +43,7 @@ struct settings {
 class Tracker : protected QThread, public ITracker
 {
     Q_OBJECT
-    static constexpr double c_search_window = 2.2;
+    static constexpr double c_search_window = 2.65;
 public:
     Tracker();
     ~Tracker() override;