Merge branch 'posix' of ssh://git.code.sf.net/p/facetracknoir/codegit into posix

15 files changed, 80 insertions, 352 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54bb79fd..31f6f6b4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,9 +1,11 @@
 project(facetracknoir)
 cmake_minimum_required(VERSION 2.8)
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_SOURCE_DIR}/cmake/")
-SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-SET(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX})
+SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+SET(CMAKE_SKIP_INSTALL_RPATH FALSE)
 SET(CMAKE_SKIP_RPATH FALSE)
+SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}")
 
 SET(SDK_FACEAPI_ONLY FALSE CACHE BOOL "FaceAPI only (MSVC 2005)")
 
@@ -203,7 +205,6 @@ if(NOT SDK_FACEAPI_ONLY)
     QT4_WRAP_UI(ftnoir-proto-win32-mouse-uih ${ftnoir-proto-win32-mouse-ui})
     QT4_ADD_RESOURCES(ftnoir-proto-win32-mouse-rcc ${ftnoir-proto-win32-mouse-rc})
 
-# TODO manifest problems :(
     file(GLOB ftnoir-proto-simconnect-c "ftnoir_protocol_sc/*.cpp")
     file(GLOB ftnoir-proto-simconnect-h "ftnoir_protocol_sc/*.h")
     QT4_WRAP_CPP(ftnoir-proto-simconnect-moc ${ftnoir-proto-simconnect-h})
@@ -344,6 +345,9 @@ endif()
         if(SDK_FSUIPC)
             add_library(ftnoir-proto-fsuipc SHARED ${ftnoir-proto-fsuipc-c} ${ftnoir-proto-fsuipc-moc} ${ftnoir-proto-fsuipc-uih} ${ftnoir-proto-fsuipc-rcc})
             target_link_libraries(ftnoir-proto-fsuipc ${MY_QT_LIBS} "${SDK_FSUIPC}/FSUIPC_User.lib")
+            if(MSVC)
+                    set_target_properties(ftnoir-proto-fsuipc PROPERTIES LINK_FLAGS "/NODEFAULTLIB:libc")
+            endif()
         endif()
 
         if(SDK_SIMCONNECT)
diff --git a/bin/tracker-ht/headtracker-ftnoir.exe b/bin/tracker-ht/headtracker-ftnoir.exe
index 4ed54a58..c1d9d3a7 100644
--- a/bin/tracker-ht/headtracker-ftnoir.exe
+++ b/bin/tracker-ht/headtracker-ftnoir.exe
diff --git a/cmake/findqxt.cmake b/cmake/FindQxt.cmake
index 1ddfa0dd..1ddfa0dd 100644
--- a/cmake/findqxt.cmake
+++ b/cmake/FindQxt.cmake
diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index 8940588e..2fb07baa 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -376,9 +376,7 @@ QFrame *FaceTrackNoIR::get_video_widget() {
 /** read the name of the first video-capturing device at start up **/

 /** FaceAPI can only use this first one... **/

 void FaceTrackNoIR::GetCameraNameDX() {

-#if 1

-////	ui.widget->setCameraName("No video-capturing device was found in your system: check if it's connected!");

-

+#if defined(_WIN32)

 	ui.cameraName->setText("No video-capturing device was found in your system: check if it's connected!");

 

 	// Create the System Device Enumerator.

@@ -568,8 +566,6 @@ void FaceTrackNoIR::saveAs()
 // Load the current Settings from the currently 'active' INI-file.

 //

 void FaceTrackNoIR::loadSettings() {

-    if (looping)

-        return;

     looping = true;

 	qDebug() << "loadSettings says: Starting ";

 	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

@@ -1323,6 +1319,8 @@ void FaceTrackNoIR::trackingSourceSelected(int index)
 //

 void FaceTrackNoIR::profileSelected(int index)

 {

+    if (looping)

+        return;

 	//

 	// Read the current INI-file setting, to get the folder in which it's located...

 	//

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 15b36f69..f624d6a1 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -143,15 +143,14 @@ void Tracker::run() {
     bool bTracker2Confid = false;

     

     THeadPoseData last;

+    THeadPoseData newpose;

+    THeadPoseData last_post_filter;

     

     forever

 	{

         if (should_quit)

             break;

 

-        // Check event for stop thread

-

-        THeadPoseData newpose;

         newpose.pitch = 0.0f;

         newpose.roll = 0.0f;

         newpose.yaw = 0.0f;

@@ -199,7 +198,7 @@ void Tracker::run() {
             //

             // Only copy valid values

             //

-            if (Tracker::confid) {

+            if (confid) {

                 offset_camera.x     = GlobalPose->X.headPos;

                 offset_camera.y     = GlobalPose->Y.headPos;

                 offset_camera.z     = GlobalPose->Z.headPos;

@@ -222,7 +221,7 @@ void Tracker::run() {
             do_game_zero = false;

         }

 

-        if (Tracker::do_tracking && Tracker::confid) {

+        if (do_tracking && confid) {

             // get values

             target_camera.x     = GlobalPose->X.headPos;

             target_camera.y     = GlobalPose->Y.headPos;

@@ -238,7 +237,7 @@ void Tracker::run() {
             // Use advanced filtering, when a filter was selected.

             //

             if (Libraries->pFilter) {

-                THeadPoseData last_post_filter = gameoutput_camera;

+                last_post_filter = gameoutput_camera;

                 Libraries->pFilter->FilterHeadPoseData(&current_camera, &target_camera, &new_camera, &last_post_filter, newp);

             }

             else {

@@ -261,7 +260,7 @@ void Tracker::run() {
             //

             // Reverse Axis.

             //

-            if (Tracker::do_axis_reverse) {

+            if (do_axis_reverse) {

                 output_camera.z = Z_PosWhenReverseAxis;	// Set the desired Z-position

             }

 

diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
index c01096bf..90ca3dba 100644
--- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
+++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
@@ -153,13 +153,13 @@ PDWORD_PTR MsgResult = 0;
 //

 bool FTNoIR_Protocol::checkServerInstallationOK()

 {   

-	QString aFileName;														// File Path and Name

-

-	// Code to activate the context for the SimConnect DLL

-    ACTCTX act = { 0 };

+    // Code to activate the context for the SimConnect DLL

+    ACTCTXA act;

 	HANDLE hctx;

 	ULONG_PTR ulCookie;

 

+    memset(&act, 0, sizeof(act));

+

 	qDebug() << "SCCheckClientDLL says: Starting Function";

 

 	try {

@@ -167,8 +167,9 @@ bool FTNoIR_Protocol::checkServerInstallationOK()
 		act.cbSize = sizeof(act);

 		act.dwFlags = ACTCTX_FLAG_RESOURCE_NAME_VALID;

         char full_path[2048];

-        strcpy(full_path, QCoreApplication::applicationDirPath().toLatin1().constData());

-        strcat(full_path, "\\libftnoir-proto-simconnect.dll");

+        QByteArray foo = QCoreApplication::applicationDirPath().toLatin1();

+        strcpy(full_path, foo.constData());

+        strcat(full_path, "/ftnoir-proto-simconnect.dll");

 

         act.lpSource = full_path;

         act.lpResourceName = MAKEINTRESOURCEA(101);

@@ -199,10 +200,23 @@ bool FTNoIR_Protocol::checkServerInstallationOK()
 		return false;

 	}

 

-    SCClientLib.setFileName(SC_CLIENT_FILENAME);

-    if (SCClientLib.load() != true) {

-        qDebug() << "SCCheckClientDLL says: Error loading SimConnect DLL";

-        return false;

+    const char* simconnect_paths[] = {

+        "SimConnect.DLL",

+        "C:\\Windows\\WinSxS\\x86_microsoft.flightsimulator.simconnect_67c7c14424d61b5b_10.0.60905.0_none_dd92b94d8a196297\\SimConnect.DLL",

+        "C:\\Windows\\WinSxS\\x86_microsoft.flightsimulator.simconnect_67c7c14424d61b5b_10.0.61242.0_none_e079b46b85043c20\\SimConnect.DLL",

+        "C:\\Windows\\WinSxS\\x86_microsoft.flightsimulator.simconnect_67c7c14424d61b5b_10.0.61259.0_none_55f5ecdc14f60568\\SimConnect.DLL",

+        NULL

+    };

+

+    for (int i = 0; simconnect_paths[i]; i++)

+    {

+        SCClientLib.setFileName(simconnect_paths[i]);

+        if (!SCClientLib.load()) {

+            qDebug() << "SCCheckClientDLL says: Error loading SimConnect DLL";

+            qDebug() << SCClientLib.errorString();

+            continue;

+        }

+        break;

     }

 

 	//

diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp
index 32abf64a..ef9dd924 100644
--- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp
+++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp
@@ -150,7 +150,7 @@ void SCControls::save() {
 //   GetProtocolDialog     - Undecorated name, which can be easily used with GetProcAddress

 //                          Win32 API function.

 //   _GetProtocolDialog@0  - Common name decoration for __stdcall functions in C language.

-#pragma comment(linker, "/export:GetProtocolDialog=_GetProtocolDialog@0")

+//#pragma comment(linker, "/export:GetProtocolDialog=_GetProtocolDialog@0")

 

 extern "C" FTNOIR_PROTOCOL_BASE_EXPORT void* CALLING_CONVENTION GetDialog( )

 {

diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp
index 3d59ef48..72d63c5e 100644
--- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp
+++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp
@@ -49,7 +49,7 @@ FTNoIR_ProtocolDll::~FTNoIR_ProtocolDll()
 //   GetProtocolDll     - Undecorated name, which can be easily used with GetProcAddress

 //						Win32 API function.

 //   _GetProtocolDll@0  - Common name decoration for __stdcall functions in C language.

-#pragma comment(linker, "/export:GetProtocolDll=_GetProtocolDll@0")

+//#pragma comment(linker, "/export:GetProtocolDll=_GetProtocolDll@0")

 

 extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()

 {

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index c5e860ee..59af6991 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -109,28 +109,30 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
     config->field_of_view = iniFile.value("fov", 52).toFloat();
 	config->pyrlk_pyramids = 3;
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
-    config->max_keypoints = 100;
-    config->keypoint_quality = 7;
-    config->keypoint_distance = 1.5;
-    config->keypoint_3distance = 5.0;
+    config->max_keypoints = 200;
+    config->keypoint_quality = 2;
+    config->keypoint_distance = 1;
+    config->keypoint_3distance = 4;
     //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 = 100;
-    config->ransac_max_reprojection_error = 3.75;
-    config->ransac_max_inlier_error = 3.8;
-    config->ransac_max_mean_error = 4;
-    config->ransac_abs_max_mean_error = 10;
-    config->debug = 0;
-    config->ransac_min_features = 0.85;
+    config->ransac_max_reprojection_error = 3.05;
+    config->ransac_max_inlier_error = 3.14;
+    config->ransac_max_mean_error = 3;
+    config->ransac_abs_max_mean_error = 12;
+    config->debug = 1;
+    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;
 	resolution_tuple r = resolution_choices[res];
 	config->force_width = r.width;
     config->force_height = r.height;
-    config->user_landmarks = iniFile.value("use-bashed-coords").toBool();
+    config->user_landmarks = false; //iniFile.value("use-bashed-coords").toBool();
+    config->flandmark_delay = 150;
+#if 0
     if (config->user_landmarks)
     {
         config->user_landmark_locations[0][0] = iniFile.value("b1").toDouble();
@@ -146,6 +148,7 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
         config->user_landmark_locations[1][3] = iniFile.value("b11").toDouble();
         config->user_landmark_locations[2][3] = iniFile.value("b12").toDouble();
     }
+#endif
     qDebug() << "width" << r.width << "height" << r.height;
 	if (tracker)
 	{
@@ -225,6 +228,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
         videoWidget->updateImage(shm->frame.frame, shm->frame.width, shm->frame.height);
         //memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3);
         fresh = true;
+        shm->frame.width = 0;
     }
     if (shm->result.filled) {
         if (enableRX)
@@ -330,7 +334,7 @@ TrackerControls::TrackerControls()
 	connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
 	connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
 	connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK()));
-    connect(ui.buttonSettings, SIGNAL(clicked()), this, SLOT(cameraSettings()));
+    //connect(ui.buttonSettings, SIGNAL(clicked()), this, SLOT(cameraSettings()));
     loadSettings();
 	settingsDirty = false;
 }
@@ -386,6 +390,7 @@ void TrackerControls::loadSettings()
 	ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::Checked : Qt::Unchecked);
 	ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::Checked : Qt::Unchecked);
     ui.resolution->setCurrentIndex(iniFile.value("resolution", 0).toInt());
+#if 0
     ui.groupBox_2->setChecked(iniFile.value("use-bashed-coords").toBool());
     ui.doubleSpinBox_1->setValue(iniFile.value("b1", 0).toDouble());
     ui.doubleSpinBox_2->setValue(iniFile.value("b2", 0).toDouble());
@@ -399,6 +404,7 @@ void TrackerControls::loadSettings()
     ui.doubleSpinBox_10->setValue(iniFile.value("b10", 0).toDouble());
     ui.doubleSpinBox_11->setValue(iniFile.value("b11", 0).toDouble());
     ui.doubleSpinBox_12->setValue(iniFile.value("b12", 0).toDouble());
+#endif
 	iniFile.endGroup();
 	settingsDirty = false;
 }
@@ -437,6 +443,7 @@ void TrackerControls::save()
 	iniFile.setValue("enable-ty", ui.ty->checkState() != Qt::Unchecked ? true : false);
 	iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false);
 	iniFile.setValue("resolution", ui.resolution->currentIndex());
+#if 0
     iniFile.setValue("b1", ui.doubleSpinBox_1->value());
     iniFile.setValue("b2", ui.doubleSpinBox_2->value());
     iniFile.setValue("b3", ui.doubleSpinBox_3->value());
@@ -450,6 +457,7 @@ void TrackerControls::save()
     iniFile.setValue("b11", ui.doubleSpinBox_11->value());
     iniFile.setValue("b12", ui.doubleSpinBox_12->value());
     iniFile.setValue("use-bashed-coords", ui.groupBox_2->isChecked());
+#endif
 	iniFile.endGroup();
 	settingsDirty = false;
 }
diff --git a/ftnoir_tracker_ht/ht-api.h b/ftnoir_tracker_ht/ht-api.h
index 81caf16f..c09dbf55 100644
--- a/ftnoir_tracker_ht/ht-api.h
+++ b/ftnoir_tracker_ht/ht-api.h
@@ -41,6 +41,7 @@ typedef struct ht_config {
     float ransac_abs_max_mean_error;
     bool  user_landmarks;
     float user_landmark_locations[3][4];
+    float flandmark_delay;
 } ht_config_t;
 
 typedef struct {
diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui
index 968b7dc7..5f414fc2 100644
--- a/ftnoir_tracker_ht/ht-trackercontrols.ui
+++ b/ftnoir_tracker_ht/ht-trackercontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>724</width>
-    <height>160</height>
+    <width>549</width>
+    <height>131</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -122,8 +122,8 @@
   <widget class="QPushButton" name="buttonOK">
    <property name="geometry">
     <rect>
-     <x>220</x>
-     <y>130</y>
+     <x>390</x>
+     <y>100</y>
      <width>75</width>
      <height>23</height>
     </rect>
@@ -135,8 +135,8 @@
   <widget class="QPushButton" name="buttonCancel">
    <property name="geometry">
     <rect>
-     <x>300</x>
-     <y>130</y>
+     <x>470</x>
+     <y>100</y>
      <width>75</width>
      <height>23</height>
     </rect>
@@ -289,302 +289,6 @@
     </property>
    </item>
   </widget>
-  <widget class="QGroupBox" name="groupBox_2">
-   <property name="geometry">
-    <rect>
-     <x>500</x>
-     <y>10</y>
-     <width>221</width>
-     <height>141</height>
-    </rect>
-   </property>
-   <property name="title">
-    <string>Bashed coordinates</string>
-   </property>
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="checked">
-    <bool>false</bool>
-   </property>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_1">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>20</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_2">
-    <property name="geometry">
-     <rect>
-      <x>80</x>
-      <y>20</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_3">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>20</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_6">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>50</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_4">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>50</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_5">
-    <property name="geometry">
-     <rect>
-      <x>80</x>
-      <y>50</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_9">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>80</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_7">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>80</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_8">
-    <property name="geometry">
-     <rect>
-      <x>80</x>
-      <y>80</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_12">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>110</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_11">
-    <property name="geometry">
-     <rect>
-      <x>80</x>
-      <y>110</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-   <widget class="QDoubleSpinBox" name="doubleSpinBox_10">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>110</y>
-      <width>61</width>
-      <height>22</height>
-     </rect>
-    </property>
-    <property name="frame">
-     <bool>true</bool>
-    </property>
-    <property name="buttonSymbols">
-     <enum>QAbstractSpinBox::NoButtons</enum>
-    </property>
-    <property name="decimals">
-     <number>5</number>
-    </property>
-    <property name="minimum">
-     <double>-99.000000000000000</double>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QPushButton" name="buttonSettings">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>130</y>
-     <width>101</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Camera settings</string>
-   </property>
-  </widget>
  </widget>
  <resources/>
  <connections/>
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 96ba3b89..90fcfaaf 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -92,8 +92,8 @@ bool CVCamera::_get_frame(Mat* frame)
 {

     Mat tmp;

     bool ret = cap->read(tmp);

-    if (ret)

-        flip(tmp, *frame, 0);

+    //if (ret)

+    //    flip(tmp, *frame, 0);

     return ret;

 }

 

diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 9977431b..6fec12da 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -9,6 +9,7 @@
 #define CAMERA_H

 

 #include <opencv2/opencv.hpp>

+#include <opencv/highgui.h>

 //#include "videoInput/videoInput.h"

 

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

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index b4cb613b..96017d52 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -66,7 +66,6 @@ void Tracker::run()
 	{

 		{	

             

-            refreshVideo();

 			QMutexLocker lock(&mutex);

             if (should_quit)

                 break;

@@ -84,14 +83,16 @@ void Tracker::run()
 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

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

 				frame_count++;

+                fresh = true;

 			}

 #ifdef PT_PERF_LOG

 			log_stream<<"dt: "<<dt;

 			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;

 			log_stream<<"\n";

 #endif

+            refreshVideo();

 		}

-		msleep(sleep_time);

+        msleep(sleep_time);

 	}

 

 	qDebug()<<"Tracker:: Thread stopping";

@@ -143,12 +144,12 @@ void Tracker::center()
 

 void Tracker::refreshVideo()

 {	

-	if (video_widget)

+    if (video_widget && fresh)

 	{

 		Mat frame_copy;

 		std::auto_ptr< vector<Vec2f> > points;

 		{

-			QMutexLocker lock(&mutex);

+//QMutexLocker lock(&mutex);

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

 		

 			// copy the frame and points from the tracker thread

@@ -157,8 +158,7 @@ void Tracker::refreshVideo()
 		}

 		

 		video_widget->update_image(frame_copy, points);

-        fresh = true;

-	}

+    }

 }

 

 void Tracker::StartTracker(QFrame* videoframe)

@@ -194,7 +194,6 @@ void Tracker::paint_widget() {
 

 bool Tracker::GiveHeadPoseData(THeadPoseData *data)

 {

-    refreshVideo();

 	const float rad2deg = 180.0/3.14159265;

 	const float deg2rad = 1.0/rad2deg;

 	{

@@ -245,7 +244,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 			data->yaw   = rad2deg * alpha;

 		}

 		if (bEnablePitch) {

-            data->pitch = -rad2deg * beta;

+            data->pitch = rad2deg * beta;

 		}

 		if (bEnableRoll) {

 			data->roll  = rad2deg * gamma;

diff --git a/qfunctionconfigurator/functionconfig.h b/qfunctionconfigurator/functionconfig.h
index d81711a7..9f380000 100644
--- a/qfunctionconfigurator/functionconfig.h
+++ b/qfunctionconfigurator/functionconfig.h
@@ -28,7 +28,7 @@ private:
 	QString _title;

     float getValueInternal(int x);

 	QPointF lastValueTracked;								// The last input value requested by the Tracker, with it's output-value.

-	bool _tracking_active;

+    volatile bool _tracking_active;

 	int _max_Input;

 	int _max_Output;