corrected vc9 project file debug settings

Tracker_PT: implemented centering
Tracker_PT: implemented new point extraction
Tracker_PT: various bugfixes

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@148 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

25 files changed, 170 insertions, 53 deletions

diff --git a/FTNoIR_Filter_Accela/FTNoIR_Filter_accela_vc9.vcproj b/FTNoIR_Filter_Accela/FTNoIR_Filter_accela_vc9.vcproj
index 0e08c9f1..3999ca41 100644
--- a/FTNoIR_Filter_Accela/FTNoIR_Filter_accela_vc9.vcproj
+++ b/FTNoIR_Filter_Accela/FTNoIR_Filter_accela_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

@@ -127,9 +127,9 @@
 			/>

 			<Tool

 				Name="VCLinkerTool"

-				AdditionalDependencies="qtmaind.lib QtCore4d.lib QtGuid4.lib QtNetworkd4.lib QFunctionConfigurator.lib"

+				AdditionalDependencies="qtmaind.lib QtCored4.lib QtGuid4.lib QtNetworkd4.lib QFunctionConfigurator.lib"

 				OutputFile="$(OutDir)\$(ProjectName).dll"

-				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(SolutionDir)\QFunctionConfigurator\release&quot;"

+				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(SolutionDir)\QFunctionConfigurator\debug&quot;"

 				GenerateDebugInformation="true"

 				SubSystem="2"

 				RandomizedBaseAddress="1"

diff --git a/FTNoIR_Filter_EWMA2/FTNoIR_Filter_EWMA2_vc9.vcproj b/FTNoIR_Filter_EWMA2/FTNoIR_Filter_EWMA2_vc9.vcproj
index 2ab128f0..d1f0fb8c 100644
--- a/FTNoIR_Filter_EWMA2/FTNoIR_Filter_EWMA2_vc9.vcproj
+++ b/FTNoIR_Filter_EWMA2/FTNoIR_Filter_EWMA2_vc9.vcproj
@@ -87,7 +87,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_FG/FTNoIR_Protocol_FG_vc9.vcproj b/FTNoIR_Protocol_FG/FTNoIR_Protocol_FG_vc9.vcproj
index ba982efb..d6863402 100644
--- a/FTNoIR_Protocol_FG/FTNoIR_Protocol_FG_vc9.vcproj
+++ b/FTNoIR_Protocol_FG/FTNoIR_Protocol_FG_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_FSUIPC/FTNoIR_Protocol_FSUIPC_vc9.vcproj b/FTNoIR_Protocol_FSUIPC/FTNoIR_Protocol_FSUIPC_vc9.vcproj
index 8e233686..8c534c27 100644
--- a/FTNoIR_Protocol_FSUIPC/FTNoIR_Protocol_FSUIPC_vc9.vcproj
+++ b/FTNoIR_Protocol_FSUIPC/FTNoIR_Protocol_FSUIPC_vc9.vcproj
@@ -89,7 +89,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_FT/FTNoIR_Protocol_FT_vc9.vcproj b/FTNoIR_Protocol_FT/FTNoIR_Protocol_FT_vc9.vcproj
index 1dd6de7f..7c709f5e 100644
--- a/FTNoIR_Protocol_FT/FTNoIR_Protocol_FT_vc9.vcproj
+++ b/FTNoIR_Protocol_FT/FTNoIR_Protocol_FT_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_FTIR/FTNoIR_Protocol_FTIR_vc9.vcproj b/FTNoIR_Protocol_FTIR/FTNoIR_Protocol_FTIR_vc9.vcproj
index 6e63fc36..644625b2 100644
--- a/FTNoIR_Protocol_FTIR/FTNoIR_Protocol_FTIR_vc9.vcproj
+++ b/FTNoIR_Protocol_FTIR/FTNoIR_Protocol_FTIR_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_FTN/FTNoIR_Protocol_FTN_vc9.vcproj b/FTNoIR_Protocol_FTN/FTNoIR_Protocol_FTN_vc9.vcproj
index 2ce0b7c4..9d7e0d5d 100644
--- a/FTNoIR_Protocol_FTN/FTNoIR_Protocol_FTN_vc9.vcproj
+++ b/FTNoIR_Protocol_FTN/FTNoIR_Protocol_FTN_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_MOUSE/FTNoIR_Protocol_MOUSE_vc9.vcproj b/FTNoIR_Protocol_MOUSE/FTNoIR_Protocol_MOUSE_vc9.vcproj
index 70d0915f..bf2edea9 100644
--- a/FTNoIR_Protocol_MOUSE/FTNoIR_Protocol_MOUSE_vc9.vcproj
+++ b/FTNoIR_Protocol_MOUSE/FTNoIR_Protocol_MOUSE_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_PPJOY/FTNoIR_Protocol_PPJOY_vc9.vcproj b/FTNoIR_Protocol_PPJOY/FTNoIR_Protocol_PPJOY_vc9.vcproj
index 90881ae9..f6af5545 100644
--- a/FTNoIR_Protocol_PPJOY/FTNoIR_Protocol_PPJOY_vc9.vcproj
+++ b/FTNoIR_Protocol_PPJOY/FTNoIR_Protocol_PPJOY_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Protocol_SC/FTNoIR_Protocol_SC_vc9.vcproj b/FTNoIR_Protocol_SC/FTNoIR_Protocol_SC_vc9.vcproj
index 8bae9dac..3ebca1a9 100644
--- a/FTNoIR_Protocol_SC/FTNoIR_Protocol_SC_vc9.vcproj
+++ b/FTNoIR_Protocol_SC/FTNoIR_Protocol_SC_vc9.vcproj
@@ -89,7 +89,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Tracker_FD/FTNoIR_Tracker_FD_vc9.vcproj b/FTNoIR_Tracker_FD/FTNoIR_Tracker_FD_vc9.vcproj
index 784999c1..a37729e1 100644
--- a/FTNoIR_Tracker_FD/FTNoIR_Tracker_FD_vc9.vcproj
+++ b/FTNoIR_Tracker_FD/FTNoIR_Tracker_FD_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

@@ -201,7 +201,18 @@
 					<Tool

 						Name="VCCustomBuildTool"

 						Description="Moc&apos;ing FTNoIR_Tracker_FD.h..."

-						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;   -DUNICODE -DWIN32 -DQT_LARGEFILE_SUPPORT -DQT_THREAD_SUPPORT -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_DLL -D_WINDLL  -I&quot;.\GeneratedFiles\.&quot; -I&quot;$(QTDIR)\include\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;$(QTDIR)\include\qtmain\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\QtNetwork\.&quot; -I&quot;$(QTDIR)\include\QtGui\.&quot; -I&quot;.\.&quot; &quot;.\FTNoIR_Tracker_FD.h&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;&#x0D;&#x0A;"

+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;  -DUNICODE -DWIN32 -DQT_LARGEFILE_SUPPORT -DQT_THREAD_SUPPORT -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_DLL -D_WINDLL &quot;-I.\GeneratedFiles&quot; &quot;-I$(QTDIR)\include&quot; &quot;-I.\GeneratedFiles\$(ConfigurationName)\.&quot; &quot;-I$(QTDIR)\include\qtmain&quot; &quot;-I$(QTDIR)\include\QtCore&quot; &quot;-I$(QTDIR)\include\QtNetwork&quot; &quot;-I$(QTDIR)\include\QtGui&quot; &quot;-I.&quot;&#x0D;&#x0A;"

+						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"

+						Outputs="&quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+						Description="Moc&apos;ing FTNoIR_Tracker_FD.h..."

+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;  -DUNICODE -DWIN32 -DQT_LARGEFILE_SUPPORT -DQT_THREAD_SUPPORT -DQT_CORE_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_DLL -D_WINDLL &quot;-I.\GeneratedFiles&quot; &quot;-I$(QTDIR)\include&quot; &quot;-I.\GeneratedFiles\$(ConfigurationName)\.&quot; &quot;-I$(QTDIR)\include\qtmain&quot; &quot;-I$(QTDIR)\include\QtCore&quot; &quot;-I$(QTDIR)\include\QtNetwork&quot; &quot;-I$(QTDIR)\include\QtGui&quot; &quot;-I.&quot;&#x0D;&#x0A;"

 						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"

 						Outputs="&quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;"

 					/>

@@ -322,7 +333,7 @@
 				SourceControlFiles="false"

 				>

 				<File

-					RelativePath=".\generatedfiles\debug\moc_FTNoIR_Tracker_FD.cpp"

+					RelativePath=".\GeneratedFiles\Debug\moc_FTNoIR_Tracker_FD.cpp"

 					>

 					<FileConfiguration

 						Name="Release|Win32"

diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
index ca2d9898..38909013 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
+++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
@@ -760,6 +760,13 @@
    <item>

     <layout class="QHBoxLayout" name="horizontalLayout_4">

      <item>

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

+       <property name="text">

+        <string>Center</string>

+       </property>

+      </widget>

+     </item>

+     <item>

       <spacer name="horizontalSpacer_6">

        <property name="orientation">

         <enum>Qt::Horizontal</enum>

diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj
index a7989a5e..b938173d 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj
+++ b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj
@@ -85,7 +85,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)\bin"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(SolutionDir)\$(ConfigurationName)"

 			ConfigurationType="2"

 			>

@@ -124,7 +124,7 @@
 			/>

 			<Tool

 				Name="VCLinkerTool"

-				AdditionalDependencies="qtmain.lib QtCore4.lib QtGui4.lib QtOpenGL4.lib opengl32.lib glu32.lib opencv_core242d.lib opencv_highgui242d.lib opencv_imgproc242d.lib opencv_calib3d242d.lib"

+				AdditionalDependencies="qtmaind.lib QtCored4.lib QtGuid4.lib QtOpenGLd4.lib opengl32.lib glu32.lib opencv_core242d.lib opencv_highgui242d.lib opencv_imgproc242d.lib opencv_calib3d242d.lib"

 				OutputFile="$(OutDir)\$(ProjectName).dll"

 				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(OPENCV_DIR)\x86\vc9\lib&quot;"

 				GenerateDebugInformation="true"

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 2e8430bc..6301ddd0 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -152,29 +152,49 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 	const float rad2deg = 180.0/3.14159265;

 	{

 		QMutexLocker lock(&mutex);

-		FrameTrafo pose = point_tracker.get_pose();

+

+		FrameTrafo X_CM = point_tracker.get_pose();

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

+		FrameTrafo X_CH = X_CM * X_MH;

+

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

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

 

 		// get translation

-		Vec3f p = pose.R * t_MH + pose.t;

-		data->x = p[0] / 10.0;	// convert to cm

-		data->y = p[1] / 10.0;

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

-

-		// extract rotation angles from rotation matrix

-		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;

+		data->x = t[0] / 10.0;	// convert to cm

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

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

+

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

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

+		Matx33f R_RG( 0, 0,-1,

+			         -1, 0, 0,

+					  0, 1, 0);

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

+

+		// extract rotation angles

+		float alpha, beta, gamma;

+		//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );

+		beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );

+		alpha = atan2( R(1,0), R(0,0));

+		gamma = atan2( R(2,1), R(2,2));		

+

+		data->yaw   = rad2deg * alpha;

+		data->pitch = rad2deg * beta;

+		data->roll  = rad2deg * gamma;

 	}

-	refreshVideo();

 	return true;

 }

 

+void Tracker::CenterTracker()

+{

+	QMutexLocker lock(&mutex);

+	FrameTrafo X_CM_0 = point_tracker.get_pose();

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

+	X_CH_0 = X_CM_0 * X_MH;

+

+}

+

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

 #pragma comment(linker, "/export:GetTracker=_GetTracker@0")

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
index a3390cbf..24ecb6f1 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
@@ -27,6 +27,9 @@ public:
 	Tracker();

 	~Tracker();

 

+	void CenterTracker();

+	

+

 	// ITracker interface

 	void Initialize(QFrame *videoframe);

 	void StartTracker(HWND parent_window);

@@ -42,7 +45,9 @@ public:
 	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:

+protected:	

+	FrameTrafo X_CH_0; // for centering

+

 	QMutex mutex;

 	cv::Mat frame;	// the output frame for display

 

@@ -53,14 +58,14 @@ protected:
 	void set_command(Command command);

 	void reset_command(Command command);

 	int commands;

-

+	

 	Camera camera;

 	PointExtractor point_extractor;

 	PointTracker point_tracker;

 	cv::Vec3f t_MH;

 	bool draw_frame;

 	int sleep_time;

-

+	

 	long frame_count;

 

 	VideoWidget* video_widget;

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
index 4b79b892..e13ed94a 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
@@ -62,6 +62,7 @@ TrackerDialog::TrackerDialog()
 

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

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

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

 

     connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));

     timer.start(100);

@@ -114,6 +115,12 @@ void TrackerDialog::settings_changed()
 		tracker->apply_without_camindex(settings);

 }

 

+void TrackerDialog::doCenter()

+{

+	if (tracker)

+		tracker->CenterTracker();

+}

+

 void TrackerDialog::doOK()

 {

 	settings.save_ini();

@@ -196,7 +203,7 @@ void TrackerDialog::unRegisterTracker()
 {

 	qDebug()<<"tracker un-registerd";

 	tracker = NULL;

-	ui.tcalib_button->setEnabled(true); 

+	ui.tcalib_button->setEnabled(false); 

 }

 

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

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
index 95736a8d..09bbb839 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
@@ -33,6 +33,7 @@ public:
 protected slots:

 	void doOK();

 	void doCancel();

+	void doCenter();

 

 	// ugly qt stuff

 	void set_video_widget(bool val)  { settings.video_widget = val;   settings_changed(); }

diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp
index 956a2834..a415f24e 100644
--- a/FTNoIR_Tracker_PT/point_extractor.cpp
+++ b/FTNoIR_Tracker_PT/point_extractor.cpp
@@ -15,14 +15,32 @@ using namespace std;
 // ----------------------------------------------------------------------------

 const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)

 {

+	/*

+	// sensitivity test for tracker

+	static int n = 0;

+	if (points.size() == 3)

+	{

+		for (int i=0; i<3; ++i)

+		{

+			points[i][0] -= 1e-4*sin(n/100.0);

+			points[i][1] -= 1e-4*cos(n/100.0);

+		}

+		++n;

+		return points;

+	}

+	*/

+

 	// convert to grayscale

 	Mat frame_bw;

 	cvtColor(frame, frame_bw, CV_RGB2GRAY);

 

 	// convert to binary

 	threshold(frame_bw, frame_bw, threshold_val, 255, THRESH_BINARY);

-	erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size);

+	//erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size); //destroys information -> bad for subpixel accurarcy

 

+	// find connected components...

+	// Method 1: contours

+	//*

 	// find contours

 	vector< vector<Point> > contours;

 	findContours(frame_bw.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);

@@ -38,14 +56,66 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr
 		 ++iter)

 	{

 		minEnclosingCircle(*iter, dummy, r);

-		if (r > max_size - min_size) break;

+		if (r > max_size) continue;

 		Moments m = moments(*iter);

-		if (m.m00 == 0) break;

+		if (m.m00 < 3.14*min_size*min_size) continue;

 		// convert to centered camera coordinate system with y axis upwards

 		c[0] =  (m.m10/m.m00 - frame.cols/2)/frame.cols;

 		c[1] = -(m.m01/m.m00 - frame.rows/2)/frame.cols;

 		points.push_back(c);

 	}

+	//*/

+

+	// Method 2: floodfill
+	/*
+	// extract blobs
+	struct BlobInfo
+	{
+		BlobInfo() : m00(0), m10(0), m01(0) {}
+		long m00;
+		long m10;
+		long m01;
+	};
+	vector<BlobInfo> blobs;
+    int blob_count = 1;
+
+    for (int y=0; y < frame_bw.rows; y++) {
+        for (int x=0; x < frame_bw.cols; x++) {
+			if (frame_bw.at<unsigned char>(y,x) != 255) continue;
+            Rect rect;
+            floodFill(frame_bw, Point(x,y), Scalar(blob_count), &rect, Scalar(0), Scalar(0), 4);
+			BlobInfo blob;
+            for (int i=rect.y; i < (rect.y+rect.height); i++) {
+                for (int j=rect.x; j < (rect.x+rect.width); j++) {
+                    if (frame_bw.at<unsigned char>(i,j) != blob_count) continue;
+                    blob.m00++;
+					blob.m01+=i;
+					blob.m10+=j;
+                }
+            }
+            blobs.push_back(blob);
+            blob_count++;
+			if (blob_count >= 255) break;
+        }
+    }
+
+	// extract points
+	Vec2f c;
+	points.clear();
+	float m00_min = 3.14*min_size*min_size;
+	float m00_max = 3.14*max_size*max_size;
+	for (vector<BlobInfo>::iterator iter = blobs.begin();

+		 iter!= blobs.end();

+		 ++iter)

+	{

+		const BlobInfo& m = *iter;

+		if (m.m00 < m00_min || m.m00 > m00_max) continue;

+		// convert to centered camera coordinate system with y axis upwards

+		c[0] =  (m.m10/float(m.m00) - frame.cols/2)/frame.cols;

+		c[1] = -(m.m01/float(m.m00) - frame.rows/2)/frame.cols;

+		points.push_back(c);

+	}
+	*/
 	

 	// draw output image

 	if (draw_output)

diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
index 8a32326d..90093032 100644
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ b/FTNoIR_Tracker_PT/point_tracker.cpp
@@ -138,7 +138,7 @@ void PointTracker::POSIT(float f)
 	//Matx33f R_expected = X_CM.R;

 

 	const int MAX_ITER = 100;

-	const float EPS_THRESHOLD = 1e-3;

+	const float EPS_THRESHOLD = 1e-4;

 

 	int i=1;

 	for (; i<MAX_ITER; ++i)

diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp
index 260d24b1..9b75a1b6 100644
--- a/FTNoIR_Tracker_PT/trans_calib.cpp
+++ b/FTNoIR_Tracker_PT/trans_calib.cpp
@@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
 Vec3f TranslationCalibrator::get_estimate()

 {

 	Vec6f x = P.inv() * y;

-	return Vec3f(x[0], x[1], x[2]);

+	return Vec3f(-x[0], -x[1], -x[2]);

 }
\ No newline at end of file
diff --git a/FTNoIR_Tracker_PT/trans_calib.h b/FTNoIR_Tracker_PT/trans_calib.h
index 57b9496c..4024d011 100644
--- a/FTNoIR_Tracker_PT/trans_calib.h
+++ b/FTNoIR_Tracker_PT/trans_calib.h
@@ -15,7 +15,7 @@
 // by recursive least squares /

 // kalman filter in information form with identity noise covariance

 // measurement equation when head position = t_CH is fixed:

-// (R_CM_k , Id)*(t_MH, -t_CH) = t_CM_k

+// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k

 

 class TranslationCalibrator

 {

@@ -33,7 +33,7 @@ public:
 

 protected:

 	cv::Matx66f P;	// normalized precision matrix = inverse covariance

-	cv::Vec6f y;	// P*(t_MH, -c)

+	cv::Vec6f y;	// P*(-t_MH, t_CH)

 };

 

 #endif //TRANSCALIB_H
\ No newline at end of file
diff --git a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM_vc9.vcproj b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM_vc9.vcproj
index 6904e8c0..8fbfae89 100644
--- a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM_vc9.vcproj
+++ b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FTNoIR_Tracker_UDP/FTNoIR_Tracker_UDP_vc9.vcproj b/FTNoIR_Tracker_UDP/FTNoIR_Tracker_UDP_vc9.vcproj
index 88a6f16f..fa465ec9 100644
--- a/FTNoIR_Tracker_UDP/FTNoIR_Tracker_UDP_vc9.vcproj
+++ b/FTNoIR_Tracker_UDP/FTNoIR_Tracker_UDP_vc9.vcproj
@@ -88,7 +88,7 @@
 		</Configuration>

 		<Configuration

 			Name="Debug|Win32"

-			OutputDirectory="$(SolutionDir)$(ConfigurationName)"

+			OutputDirectory="$(SolutionDir)/bin_dbg"

 			IntermediateDirectory="$(ConfigurationName)"

 			ConfigurationType="2"

 			>

diff --git a/FaceTrackNoIR/FaceTrackNoIR_vc9.vcproj b/FaceTrackNoIR/FaceTrackNoIR_vc9.vcproj
index e7e9ce81..1d27b1e8 100644
--- a/FaceTrackNoIR/FaceTrackNoIR_vc9.vcproj
+++ b/FaceTrackNoIR/FaceTrackNoIR_vc9.vcproj
@@ -150,9 +150,9 @@
 			/>

 			<Tool

 				Name="VCLinkerTool"

-				AdditionalDependencies="opengl32.lib qtmaind.lib QtCored4.lib QtGuid4.lib QtOpenGL4.lib QtNetworkd4.lib Strmiids.lib QFunctionConfigurator.lib"

+				AdditionalDependencies="opengl32.lib qtmaind.lib QtCored4.lib QtGuid4.lib QtOpenGLd4.lib QtNetworkd4.lib Strmiids.lib QFunctionConfigurator.lib"

 				OutputFile="$(OutDir)\$(ProjectName).exe"

-				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(SolutionDir)\QFunctionConfigurator\release&quot;;&quot;$(DXSDK_DIR)\Lib\x86&quot;"

+				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(SolutionDir)\QFunctionConfigurator\debug&quot;;&quot;$(DXSDK_DIR)\Lib\x86&quot;"

 				IgnoreDefaultLibraryNames=""

 				GenerateDebugInformation="true"

 				SubSystem="2"

diff --git a/FaceTrackNoIR_vc9.sln b/FaceTrackNoIR_vc9.sln
index 7a567f6d..140a254f 100644
--- a/FaceTrackNoIR_vc9.sln
+++ b/FaceTrackNoIR_vc9.sln
@@ -1,8 +1,6 @@
 

 Microsoft Visual Studio Solution File, Format Version 10.00

 # Visual Studio 2008

-Project("{54435603-DBB4-11D2-8724-00A0C9A8B90C}") = "SetupFaceTrackNoIR", "SetupFaceTrackNoIR\SetupFaceTrackNoIR.vdproj", "{95D54F4D-F5E2-4DEC-B517-E32F34312C07}"

-EndProject

 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "FTNoIR_Tracker_UDP", "FTNoIR_Tracker_UDP\FTNoIR_Tracker_UDP_vc9.vcproj", "{A42E7DE9-C1C5-48A2-8FEA-86D31CE3DA31}"

 EndProject

 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "FTNoIR_Filter_EWMA2", "FTNoIR_Filter_EWMA2\FTNoIR_Filter_EWMA2_vc9.vcproj", "{7DD9F1AA-B7C0-4056-AC4A-1501840E6438}"

@@ -41,8 +39,6 @@ Global
 		Release|Win32 = Release|Win32

 	EndGlobalSection

 	GlobalSection(ProjectConfigurationPlatforms) = postSolution

-		{95D54F4D-F5E2-4DEC-B517-E32F34312C07}.Debug|Win32.ActiveCfg = Debug

-		{95D54F4D-F5E2-4DEC-B517-E32F34312C07}.Release|Win32.ActiveCfg = Release

 		{A42E7DE9-C1C5-48A2-8FEA-86D31CE3DA31}.Debug|Win32.ActiveCfg = Debug|Win32

 		{A42E7DE9-C1C5-48A2-8FEA-86D31CE3DA31}.Debug|Win32.Build.0 = Debug|Win32

 		{A42E7DE9-C1C5-48A2-8FEA-86D31CE3DA31}.Release|Win32.ActiveCfg = Release|Win32