tracker/nn: Improve preview

* The preview image is now generated with the dimensions of the widget
* The pose visualization is added afterwards adjusted to the preview size
* The fps / inference time readout is moved to the settings dialog
* The actual obtained resolution from the camera is also shown
* Dialog layout is changed

Note: Switching to using underscore to mark class member vars.
      It's not consistently applied yet.

7 files changed, 664 insertions, 405 deletions

diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
index f849f4e1..352baf29 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
@@ -15,6 +15,7 @@
 #include <opencv2/calib3d.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include "compat/timer.hpp"
+#include "compat/check-visible.hpp"
 #include <omp.h>
 
 #ifdef _MSC_VER
@@ -54,6 +55,18 @@ std::string convert(const QString &s) { return s.toStdString(); }
 #endif
 
 
+template<class F>
+struct OnScopeExit
+{
+    explicit OnScopeExit(F&& f) : f_{ f } {}
+    ~OnScopeExit() noexcept
+    {
+        f_();
+    }
+    F f_;
+};
+
+
 float sigmoid(float x)
 {
     return 1.f/(1.f + std::exp(-x));
@@ -88,7 +101,6 @@ cv::Rect make_crop_rect_multiple_of(const cv::Size &size, int multiple)
     );
 }
 
-
 template<class T>
 cv::Rect_<T> squarize(const cv::Rect_<T> &r)
 {
@@ -592,12 +604,20 @@ double PoseEstimator::last_inference_time_millis() const
 
 bool neuralnet_tracker::detect()
 {
+    double inference_time = 0.;
+
+    OnScopeExit update_inference_time{ [&]() {
+
+            QMutexLocker lck{ &stats_mtx_ };
+            inference_time_ = inference_time;
+    } };
+
     // Note: BGR colors!
     if (!last_localizer_roi || !last_roi ||
         iou(*last_localizer_roi,*last_roi)<0.25)
     {
-        auto [p, rect] = localizer->run(grayscale);
-        last_inference_time += localizer->last_inference_time_millis();
+        auto [p, rect] = localizer->run(grayscale_);
+        inference_time += localizer->last_inference_time_millis();
         if (p > 0.5 || rect.height < 5 || rect.width < 5)
         {
             last_localizer_roi = rect;
@@ -612,17 +632,17 @@ bool neuralnet_tracker::detect()
 
     if (!last_roi)
     {
-        draw_gizmos(frame, {}, {});
+        draw_gizmos({}, {});
         return false;
     }
 
-    auto face = poseestimator->run(grayscale, *last_roi);
-    last_inference_time += poseestimator->last_inference_time_millis();
+    auto face = poseestimator->run(grayscale_, *last_roi);
+    inference_time += poseestimator->last_inference_time_millis();
 
     if (!face)
     {
         last_roi.reset();
-        draw_gizmos(frame, *face, {});
+        draw_gizmos(*face, {});
         return false;
     }
 
@@ -646,7 +666,7 @@ bool neuralnet_tracker::detect()
 
     Affine pose = compute_pose(*face);
 
-    draw_gizmos(frame, *face, pose);
+    draw_gizmos(*face, pose);
 
     {
         QMutexLocker lck(&mtx);
@@ -657,12 +677,31 @@ bool neuralnet_tracker::detect()
 }
 
 
+void neuralnet_tracker::draw_gizmos(
+    const std::optional<PoseEstimator::Face> &face,
+    const Affine& pose)
+{
+    if (!is_visible_)
+        return;
+
+    preview_.draw_gizmos(face, pose, last_roi, last_localizer_roi, world_to_image(pose.t, grayscale_.size(), intrinsics));
+
+    if (settings.show_network_input)
+    {
+        cv::Mat netinput = poseestimator->last_network_input();
+        preview_.overlay_netinput(netinput);
+    }
+
+    //preview_.draw_fps(fps, last_inference_time);
+}
+
+
 Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
 {
     // Compute the location the network outputs in 3d space.
 
     const mat33 rot_correction = compute_rotation_correction(
-        normalize(face.center, frame.rows, frame.cols),
+        normalize(face.center, grayscale_.rows, grayscale_.cols),
         intrinsics.focal_length_w);
 
     const mat33 m = rot_correction * quaternion_to_mat33(
@@ -683,16 +722,15 @@ Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
 
     const vec3 face_world_pos = image_to_world(
         face.center.x, face.center.y, face.size, head_size_mm,
-        frame.size(),
+        grayscale_.size(),
         intrinsics);
 
     // But this is in general not the location of the rotation joint in the neck.
     // So we need an extra offset. Which we determine by solving
     // z,y,z-pos = head_joint_loc + R_face * offset
-
     const vec3 pos = face_world_pos
         + m * vec3{
-            static_cast<float>(settings.offset_fwd), 
+            static_cast<float>(settings.offset_fwd),
             static_cast<float>(settings.offset_up),
             static_cast<float>(settings.offset_right)};
 
@@ -700,27 +738,50 @@ Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
 }
 
 
-void neuralnet_tracker::draw_gizmos(
-    cv::Mat frame,
+void Preview::init(const cv_video_widget& widget)
+{
+    auto [w,h] = widget.preview_size();
+    preview_size_ = { w, h };
+}
+
+
+void Preview::copy_video_frame(const cv::Mat& frame)
+{
+    cv::Rect roi = make_crop_rect_for_aspect(frame.size(), preview_size_.width, preview_size_.height);
+    
+    cv::resize(frame(roi), preview_image_, preview_size_, 0, 0, cv::INTER_NEAREST);
+
+    offset_ = { (float)-roi.x, (float)-roi.y };
+    scale_ = float(preview_image_.cols) / float(roi.width);
+}
+
+
+void Preview::draw_gizmos(
     const std::optional<PoseEstimator::Face> &face,
-    const Affine& pose) const
+    const Affine& pose,
+    const std::optional<cv::Rect2f>& last_roi,
+    const std::optional<cv::Rect2f>& last_localizer_roi,
+    const cv::Point2f& neckjoint_position)
 {
+    if (preview_image_.empty())
+        return;
+
     if (last_roi) 
     {
         const int col = 255;
-        cv::rectangle(frame, *last_roi, cv::Scalar(0, col, 0), /*thickness=*/1);
+        cv::rectangle(preview_image_, transform(*last_roi), cv::Scalar(0, col, 0), /*thickness=*/1);
     }
     if (last_localizer_roi)
     {
         const int col = 255;
-        cv::rectangle(frame, *last_localizer_roi, cv::Scalar(col, 0, 255-col), /*thickness=*/1);
+        cv::rectangle(preview_image_, transform(*last_localizer_roi), cv::Scalar(col, 0, 255-col), /*thickness=*/1);
     }
 
     if (face)
     {
         if (face->size>=1.f)
-            cv::circle(frame, static_cast<cv::Point>(face->center), int(face->size), cv::Scalar(255,255,255), 2);
-        cv::circle(frame, static_cast<cv::Point>(face->center), 3, cv::Scalar(255,255,255), -1);
+            cv::circle(preview_image_, static_cast<cv::Point>(transform(face->center)), int(transform(face->size)), cv::Scalar(255,255,255), 2);
+        cv::circle(preview_image_, static_cast<cv::Point>(transform(face->center)), 3, cv::Scalar(255,255,255), -1);
 
         auto draw_coord_line = [&](int i, const cv::Scalar& color)
         {
@@ -728,32 +789,57 @@ void neuralnet_tracker::draw_gizmos(
             const float vy = -pose.R(1,i);
             static constexpr float len = 100.f;
             cv::Point q = face->center + len*cv::Point2f{vx, vy};
-            cv::line(frame, static_cast<cv::Point>(face->center), static_cast<cv::Point>(q), color, 2);
+            cv::line(preview_image_, static_cast<cv::Point>(transform(face->center)), static_cast<cv::Point>(transform(q)), color, 2);
         };
         draw_coord_line(0, {0, 0, 255});
         draw_coord_line(1, {0, 255, 0});
         draw_coord_line(2, {255, 0, 0});
 
         // Draw the computed joint position
-        auto xy = world_to_image(pose.t, frame.size(), intrinsics);
-        cv::circle(frame, cv::Point(xy[0],xy[1]), 5, cv::Scalar(0,0,255), -1);
+        auto xy = transform(neckjoint_position);
+        cv::circle(preview_image_, cv::Point(xy.x,xy.y), 5, cv::Scalar(0,0,255), -1);
     }
+}
 
-    if (settings.show_network_input)
-    {
-        cv::Mat netinput = poseestimator->last_network_input();
-        if (!netinput.empty())
-        {
-            const int w = std::min(netinput.cols, frame.cols);
-            const int h = std::min(netinput.rows, frame.rows);
-            cv::Rect roi(0, 0, w, h);
-            netinput(roi).copyTo(frame(roi));
-        }
-    }
+void Preview::overlay_netinput(const cv::Mat& netinput)
+{
+    if (netinput.empty())
+        return;
 
+    const int w = std::min(netinput.cols, preview_image_.cols);
+    const int h = std::min(netinput.rows, preview_image_.rows);
+    cv::Rect roi(0, 0, w, h);
+    netinput(roi).copyTo(preview_image_(roi));
+}
+
+void Preview::draw_fps(double fps, double last_inference_time)
+{
     char buf[128];
     ::snprintf(buf, sizeof(buf), "%d Hz, pose inference: %d ms", std::clamp(int(fps), 0, 9999), int(last_inference_time));
-    cv::putText(frame, buf, cv::Point(10, frame.rows-10), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 255, 0), 1);
+    cv::putText(preview_image_, buf, cv::Point(10, preview_image_.rows-10), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 255, 0), 1);
+}
+
+
+void Preview::copy_to_widget(cv_video_widget& widget)
+{
+    if (preview_image_.rows > 0)
+        widget.update_image(preview_image_);
+}
+
+
+cv::Rect2f Preview::transform(const cv::Rect2f& r) const
+{
+    return { (r.x - offset_.x)*scale_, (r.y - offset_.y)*scale_, r.width*scale_, r.height*scale_ };
+}
+
+cv::Point2f Preview::transform(const cv::Point2f& p) const
+{
+    return { (p.x - offset_.x)*scale_ , (p.y - offset_.y)*scale_ };
+}
+
+float Preview::transform(float s) const
+{
+    return s * scale_;
 }
 
 
@@ -856,13 +942,14 @@ bool neuralnet_tracker::open_camera()
         qDebug() << "neuralnet tracker: can't open camera";
         return false;
     }
+
     return true;
 }
 
 
 void neuralnet_tracker::set_intrinsics()
 {
-    const int w = grayscale.cols, h = grayscale.rows;
+    const int w = grayscale_.cols, h = grayscale_.rows;
     const double diag_fov = settings.fov * M_PI / 180.;
     const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
     const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
@@ -902,6 +989,8 @@ class GuardedThreadCountSwitch
 
 void neuralnet_tracker::run()
 {
+    preview_.init(*videoWidget);
+
     GuardedThreadCountSwitch switch_num_threads_to(num_threads);
 
     if (!open_camera())
@@ -914,7 +1003,7 @@ void neuralnet_tracker::run()
 
     while (!isInterruptionRequested())
     {
-        last_inference_time = 0;
+        is_visible_ = check_is_visible();
         auto t = clk.now();
         {
             QMutexLocker l(&camera_mtx);
@@ -928,18 +1017,24 @@ void neuralnet_tracker::run()
                 continue;
             }
 
+            {
+                QMutexLocker lck{&stats_mtx_};
+                resolution_ = { img.width, img.height };
+            }
+
             auto color = prepare_input_image(img);
 
-            color.copyTo(frame);
+            if (is_visible_)
+                preview_.copy_video_frame(color);
 
             switch (img.channels)
             {
             case 1:
-                grayscale.create(img.height, img.width, CV_8UC1);
-                color.copyTo(grayscale);
+                grayscale_.create(img.height, img.width, CV_8UC1);
+                color.copyTo(grayscale_);
                 break;
             case 3:
-                cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
+                cv::cvtColor(color, grayscale_, cv::COLOR_BGR2GRAY);
                 break;
             default:
                 qDebug() << "Can't handle" << img.channels << "color channels";
@@ -951,8 +1046,8 @@ void neuralnet_tracker::run()
 
         detect();
 
-        if (frame.rows > 0)
-            videoWidget->update_image(frame);
+        if (is_visible_)
+            preview_.copy_to_widget(*videoWidget);
         
         update_fps(
             std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -991,9 +1086,9 @@ cv::Mat neuralnet_tracker::prepare_input_image(const video::frame& frame)
 void neuralnet_tracker::update_fps(double dt)
 {
     const double alpha = dt/(dt + RC);
-
     if (dt > 1e-6)
     {
+        QMutexLocker lck{&stats_mtx_};
         fps *= 1 - alpha;
         fps += alpha * 1./dt;
     }
@@ -1035,6 +1130,11 @@ Affine neuralnet_tracker::pose()
     return pose_;
 }
 
+std::tuple<cv::Size,double, double> neuralnet_tracker::stats() const
+{
+    QMutexLocker lck(&stats_mtx_);
+    return { resolution_, fps, inference_time_ };
+}
 
 void neuralnet_dialog::make_fps_combobox()
 {
@@ -1094,6 +1194,10 @@ neuralnet_dialog::neuralnet_dialog() :
     connect(&calib_timer, &QTimer::timeout, this, &neuralnet_dialog::trans_calib_step);
     calib_timer.setInterval(35);
     connect(ui.tcalib_button,SIGNAL(toggled(bool)), this, SLOT(startstop_trans_calib(bool)));
+
+    connect(&tracker_status_poll_timer, &QTimer::timeout, this, &neuralnet_dialog::status_poll);
+    tracker_status_poll_timer.setInterval(250);
+    tracker_status_poll_timer.start();
 }
 
 
@@ -1143,6 +1247,22 @@ void neuralnet_dialog::unregister_tracker()
 }
 
 
+void neuralnet_dialog::status_poll()
+{
+    QString status;
+    if (!tracker)
+    {
+        status = tr("Tracker Offline");
+    }
+    else
+    {
+        auto [ res, fps, inference_time ] = tracker->stats();
+        status = tr("%1x%2 @ %3 FPS / Inference: %4 ms").arg(res.width).arg(res.height).arg(int(fps)).arg(int(inference_time));
+    }
+    ui.resolution_display->setText(status);
+}
+
+
 void neuralnet_dialog::trans_calib_step()
 {
     if (tracker)
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.h b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
index ace16528..00b5f220 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.h
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
@@ -159,6 +159,32 @@ class PoseEstimator
 };
 
 
+class Preview
+{
+public:
+    void init(const cv_video_widget& widget);
+    void copy_video_frame(const cv::Mat& frame);
+    void draw_gizmos(
+        const std::optional<PoseEstimator::Face> &face,
+        const Affine& pose,
+        const std::optional<cv::Rect2f>& last_roi,
+        const std::optional<cv::Rect2f>& last_localizer_roi,
+        const cv::Point2f& neckjoint_position);
+    void overlay_netinput(const cv::Mat& netinput);
+    void draw_fps(double fps, double last_inference_time);
+    void copy_to_widget(cv_video_widget& widget);
+private:
+    // Transform from camera frame to preview
+    cv::Rect2f transform(const cv::Rect2f& r) const;
+    cv::Point2f transform(const cv::Point2f& p) const;
+    float transform(float s) const;
+
+    cv::Mat preview_image_;
+    cv::Size preview_size_ = { 0, 0 };
+    float scale_ = 1.f;  
+    cv::Point2f offset_ = { 0.f, 0.f};
+};
+
 
 class neuralnet_tracker : protected virtual QThread, public ITracker
 {
@@ -170,6 +196,7 @@ public:
     void data(double *data) override;
     void run() override;
     Affine pose();
+    std::tuple<cv::Size, double, double> stats() const;
 
     QMutex camera_mtx;
     std::unique_ptr<video::impl::camera> camera;
@@ -181,11 +208,9 @@ private:
     cv::Mat prepare_input_image(const video::frame& frame);
     bool load_and_initialize_model();
     void draw_gizmos(
-        cv::Mat frame,  
         const std::optional<PoseEstimator::Face> &face,
-        const Affine& pose) const;
+        const Affine& pose);
     void update_fps(double dt);
-
     Affine compute_pose(const PoseEstimator::Face &face) const;
 
     Settings settings;
@@ -195,20 +220,25 @@ private:
     Ort::MemoryInfo allocator_info{nullptr};
 
     CamIntrinsics intrinsics{};
-    cv::Mat frame, grayscale;
+    cv::Mat grayscale_;
     std::array<cv::Mat,2> downsized_original_images_ = {}; // Image pyramid
     std::optional<cv::Rect2f> last_localizer_roi;
     std::optional<cv::Rect2f> last_roi;
     static constexpr float head_size_mm = 200.f;
 
+    mutable QMutex stats_mtx_;
     double fps = 0;
-    double last_inference_time = 0;
+    double inference_time_ = 0;
+    cv::Size resolution_ = {};
+    
     static constexpr double RC = .25;
     int num_threads = 1;
+    bool is_visible_ = true;
 
     QMutex mtx; // Protects the pose
     Affine pose_;
 
+    Preview preview_;
     std::unique_ptr<cv_video_widget> videoWidget;
     std::unique_ptr<QHBoxLayout> layout;
 };
@@ -232,8 +262,9 @@ private:
     QTimer calib_timer;
     TranslationCalibrator trans_calib;
     QMutex calibrator_mutex;
-
+    QTimer tracker_status_poll_timer;
     neuralnet_tracker* tracker = nullptr;
+    
 
 private Q_SLOTS:
     void doOK();
@@ -242,6 +273,7 @@ private Q_SLOTS:
     void update_camera_settings_state(const QString& name);
     void startstop_trans_calib(bool start);
     void trans_calib_step();
+    void status_poll();
 };
 
 
diff --git a/tracker-neuralnet/lang/nl_NL.ts b/tracker-neuralnet/lang/nl_NL.ts
index cb6d1da0..92ad65f1 100644
--- a/tracker-neuralnet/lang/nl_NL.ts
+++ b/tracker-neuralnet/lang/nl_NL.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
         <source>Start calibration</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracker Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-neuralnet/lang/ru_RU.ts b/tracker-neuralnet/lang/ru_RU.ts
index ed69e9a7..dfa7d042 100644
--- a/tracker-neuralnet/lang/ru_RU.ts
+++ b/tracker-neuralnet/lang/ru_RU.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
         <source>Start calibration</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracker Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-neuralnet/lang/stub.ts b/tracker-neuralnet/lang/stub.ts
index db45f47a..a74d272f 100644
--- a/tracker-neuralnet/lang/stub.ts
+++ b/tracker-neuralnet/lang/stub.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
         <source>Start calibration</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracker Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-neuralnet/lang/zh_CN.ts b/tracker-neuralnet/lang/zh_CN.ts
index d13219f0..9c936e5c 100644
--- a/tracker-neuralnet/lang/zh_CN.ts
+++ b/tracker-neuralnet/lang/zh_CN.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
         <source>Start calibration</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracker Offline</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-neuralnet/neuralnet-trackercontrols.ui b/tracker-neuralnet/neuralnet-trackercontrols.ui
index 43b316e9..750e6ef3 100644
--- a/tracker-neuralnet/neuralnet-trackercontrols.ui
+++ b/tracker-neuralnet/neuralnet-trackercontrols.ui
@@ -9,387 +9,223 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>647</width>
-    <height>305</height>
+    <width>671</width>
+    <height>357</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Tracker settings</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
-   <item row="9" column="0">
-    <widget class="QDialogButtonBox" name="buttonBox">
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+   <item row="2" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
      </property>
-    </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QFrame" name="frame_3">
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
+     <property name="autoFillBackground">
+      <bool>true</bool>
      </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
+     <property name="title">
+      <string>Camera Configuration</string>
+     </property>
+     <property name="flat">
+      <bool>false</bool>
+     </property>
+     <property name="checkable">
+      <bool>false</bool>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout">
       <property name="spacing">
-       <number>0</number>
-      </property>
-      <property name="leftMargin">
-       <number>0</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="rightMargin">
-       <number>0</number>
+       <number>10</number>
       </property>
       <property name="bottomMargin">
-       <number>0</number>
+       <number>8</number>
       </property>
       <item>
-       <widget class="QGroupBox" name="groupBox">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+       <layout class="QGridLayout" name="gridLayout_3">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetDefaultConstraint</enum>
         </property>
-        <property name="title">
-         <string>Camera Configuration</string>
+        <property name="leftMargin">
+         <number>0</number>
         </property>
-        <layout class="QGridLayout" name="gridLayout_4">
-         <item row="4" column="0">
-          <widget class="QLabel" name="resolution_label">
-           <property name="text">
-            <string>Resolution</string>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="1">
-          <widget class="QSpinBox" name="cameraFOV">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="toolTip">
-            <string>Field of view. Needed to transform the pose to world coordinates.</string>
-           </property>
-           <property name="locale">
-            <locale language="English" country="UnitedStates"/>
-           </property>
-           <property name="minimum">
-            <number>35</number>
-           </property>
-           <property name="maximum">
-            <number>90</number>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="0">
-          <widget class="QLabel" name="label_12">
-           <property name="text">
-            <string>Frames per second</string>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="0">
-          <widget class="QLabel" name="label_9">
-           <property name="text">
-            <string>Diagonal FOV</string>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="1">
-          <widget class="QComboBox" name="cameraFPS">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="toolTip">
-            <string>Requested video frame rate. Actual setting may not be supported by the camera.</string>
-           </property>
-          </widget>
-         </item>
-         <item row="7" column="1">
-          <widget class="QPushButton" name="camera_settings">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="text">
-            <string>Camera settings</string>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="1">
-          <widget class="QComboBox" name="resolution">
-           <property name="toolTip">
-            <string>The requested resolution for cases where the camera delivers maximum frame rate only for a particular resolution. The image may still be downscaled to the internal resolution.</string>
-           </property>
-          </widget>
-         </item>
-         <item row="6" column="1">
-          <widget class="QComboBox" name="cameraName">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-          </widget>
-         </item>
-         <item row="6" column="0">
-          <widget class="QLabel" name="label_10">
-           <property name="text">
-            <string>Camera name</string>
-           </property>
-          </widget>
-         </item>
-         <item row="5" column="1">
-          <widget class="QCheckBox" name="use_mjpeg">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
-         <item row="5" column="0">
-          <widget class="QLabel" name="label_11">
-           <property name="text">
-            <string>MJPEG</string>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </widget>
+        <property name="topMargin">
+         <number>0</number>
+        </property>
+        <property name="rightMargin">
+         <number>0</number>
+        </property>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <property name="horizontalSpacing">
+         <number>0</number>
+        </property>
+        <property name="verticalSpacing">
+         <number>2</number>
+        </property>
+        <item row="0" column="1">
+         <widget class="QComboBox" name="cameraName">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_9">
+          <property name="text">
+           <string>Diagonal FOV</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_10">
+          <property name="text">
+           <string>Camera name</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="1">
+         <widget class="QSpinBox" name="cameraFOV">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Field of view. Needed to transform the pose to world coordinates.</string>
+          </property>
+          <property name="locale">
+           <locale language="English" country="UnitedStates"/>
+          </property>
+          <property name="minimum">
+           <number>35</number>
+          </property>
+          <property name="maximum">
+           <number>90</number>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QComboBox" name="resolution">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>The requested resolution for cases where the camera delivers maximum frame rate only for a particular resolution. The image may still be downscaled to the internal resolution.</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="resolution_label">
+          <property name="text">
+           <string>Resolution</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
       </item>
       <item>
-       <widget class="QGroupBox" name="groupBox_10">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+       <layout class="QGridLayout" name="gridLayout_6">
+        <property name="leftMargin">
+         <number>0</number>
         </property>
-        <property name="title">
-         <string>Head Center Offset</string>
+        <property name="topMargin">
+         <number>0</number>
         </property>
-        <layout class="QGridLayout" name="gridLayout_5">
-         <item row="0" column="0">
-          <widget class="QFrame" name="frame_4">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="frameShape">
-            <enum>QFrame::NoFrame</enum>
-           </property>
-           <property name="frameShadow">
-            <enum>QFrame::Raised</enum>
-           </property>
-           <layout class="QGridLayout" name="gridLayout_11">
-            <property name="sizeConstraint">
-             <enum>QLayout::SetDefaultConstraint</enum>
-            </property>
-            <property name="verticalSpacing">
-             <number>0</number>
-            </property>
-            <item row="1" column="1">
-             <widget class="QSpinBox" name="ty_spin">
-              <property name="maximumSize">
-               <size>
-                <width>150</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65536</number>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QLabel" name="label_66">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>Right</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QSpinBox" name="tz_spin">
-              <property name="maximumSize">
-               <size>
-                <width>150</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65536</number>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_61">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>Forward</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QSpinBox" name="tx_spin">
-              <property name="maximumSize">
-               <size>
-                <width>150</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65536</number>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_62">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>Up</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-         <item row="0" column="1">
-          <widget class="QFrame" name="frame_5">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>260</width>
-             <height>0</height>
-            </size>
-           </property>
-           <property name="frameShape">
-            <enum>QFrame::NoFrame</enum>
-           </property>
-           <property name="frameShadow">
-            <enum>QFrame::Raised</enum>
-           </property>
-           <layout class="QVBoxLayout" name="verticalLayout_2">
-            <item>
-             <widget class="QLabel" name="label_59">
-              <property name="text">
-               <string>Use only yaw and pitch while calibrating.
-Don't roll or change position.</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-              <property name="openExternalLinks">
-               <bool>false</bool>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QLabel" name="sample_count_display">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string/>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QPushButton" name="tcalib_button">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="text">
-               <string>Start calibration</string>
-              </property>
-              <property name="checkable">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-        </layout>
-       </widget>
+        <property name="rightMargin">
+         <number>0</number>
+        </property>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <property name="horizontalSpacing">
+         <number>0</number>
+        </property>
+        <property name="verticalSpacing">
+         <number>2</number>
+        </property>
+        <item row="4" column="1">
+         <widget class="QComboBox" name="cameraFPS">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="toolTip">
+           <string>Requested video frame rate. Actual setting may not be supported by the camera.</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="0">
+         <widget class="QLabel" name="label_12">
+          <property name="text">
+           <string>Frames per second</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QCheckBox" name="use_mjpeg">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_11">
+          <property name="text">
+           <string>MJPEG</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QPushButton" name="camera_settings">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="text">
+           <string>Camera settings</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
       </item>
      </layout>
     </widget>
    </item>
+   <item row="9" column="0">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
    <item row="5" column="0">
     <widget class="QGroupBox" name="tuningOptionsBox">
      <property name="sizePolicy">
@@ -404,6 +240,9 @@ Don't roll or change position.</string>
        <height>0</height>
       </size>
      </property>
+     <property name="autoFillBackground">
+      <bool>true</bool>
+     </property>
      <property name="title">
       <string>Tuning / Debug</string>
      </property>
@@ -554,6 +393,242 @@ Don't roll or change position.</string>
      </layout>
     </widget>
    </item>
+   <item row="4" column="0">
+    <widget class="QGroupBox" name="groupBox_10">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="autoFillBackground">
+      <bool>true</bool>
+     </property>
+     <property name="title">
+      <string>Head Center Offset</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_5">
+      <item row="0" column="0">
+       <widget class="QFrame" name="frame_4">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="frameShape">
+         <enum>QFrame::NoFrame</enum>
+        </property>
+        <property name="frameShadow">
+         <enum>QFrame::Raised</enum>
+        </property>
+        <layout class="QGridLayout" name="gridLayout_11">
+         <property name="sizeConstraint">
+          <enum>QLayout::SetDefaultConstraint</enum>
+         </property>
+         <property name="verticalSpacing">
+          <number>0</number>
+         </property>
+         <item row="1" column="1">
+          <widget class="QSpinBox" name="ty_spin">
+           <property name="maximumSize">
+            <size>
+             <width>150</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="suffix">
+            <string> mm</string>
+           </property>
+           <property name="minimum">
+            <number>-65535</number>
+           </property>
+           <property name="maximum">
+            <number>65536</number>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_66">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Right</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QSpinBox" name="tz_spin">
+           <property name="maximumSize">
+            <size>
+             <width>150</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="suffix">
+            <string> mm</string>
+           </property>
+           <property name="minimum">
+            <number>-65535</number>
+           </property>
+           <property name="maximum">
+            <number>65536</number>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label_61">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Forward</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QSpinBox" name="tx_spin">
+           <property name="maximumSize">
+            <size>
+             <width>150</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="suffix">
+            <string> mm</string>
+           </property>
+           <property name="minimum">
+            <number>-65535</number>
+           </property>
+           <property name="maximum">
+            <number>65536</number>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_62">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Up</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QFrame" name="frame_5">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>260</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="frameShape">
+         <enum>QFrame::NoFrame</enum>
+        </property>
+        <property name="frameShadow">
+         <enum>QFrame::Raised</enum>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout_2">
+         <item>
+          <widget class="QLabel" name="label_59">
+           <property name="text">
+            <string>Use only yaw and pitch while calibrating.
+Don't roll or change position.</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+           <property name="openExternalLinks">
+            <bool>false</bool>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLabel" name="sample_count_display">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="frameShape">
+            <enum>QFrame::Panel</enum>
+           </property>
+           <property name="frameShadow">
+            <enum>QFrame::Sunken</enum>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="tcalib_button">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Start calibration</string>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="8" column="0">
+    <widget class="QLabel" name="resolution_display">
+     <property name="autoFillBackground">
+      <bool>true</bool>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::Panel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Sunken</enum>
+     </property>
+     <property name="text">
+      <string notr="true"/>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>