Merge branch 'unstable' into trackhat-ui

27 files changed, 193 insertions, 108 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6719f3b0..b19cdd1c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,11 +61,13 @@ if(CMAKE_COMPILER_IS_GNUCXX AND NOT APPLE)
 endif()
 
 if(APPLE)
+    set(CMAKE_MACOSX_RPATH OFF)
     set(apple-frameworks "-stdlib=libc++ -framework Cocoa -framework CoreFoundation -lobjc -lz -framework Carbon")
     set(CMAKE_SHARED_LINKER_FLAGS " ${apple-frameworks} ${CMAKE_SHARED_LINKER_FLAGS}")
-    set(CMAKE_STATIC_LINKER_FLAGS " ${apple-frameworks} ${CMAKE_STATIC_LINKER_FLAGS}")
+    #set(CMAKE_STATIC_LINKER_FLAGS " ${apple-frameworks} ${CMAKE_STATIC_LINKER_FLAGS}")
     set(CMAKE_EXE_LINKER_FLAGS " ${apple-frameworks} ${CMAKE_EXE_LINKER_FLAGS}")
     set(CMAKE_MODULE_LINKER_FLAGS " ${apple-frameworks} ${CMAKE_MODULE_LINKER_FLAGS}")
+    set(CMAKE_CXX_FLAGS " -stdlib=libc++ ${CMAKE_CXX_FLAGS}")
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR APPLE)
@@ -113,15 +115,15 @@ macro(opentrack_library n dir)
         set(link-mode STATIC)
     endif()
     add_library(${n} ${link-mode} ${${n}-all})
-    target_link_libraries(${n} ${MY_QT_LIBS})
+    target_link_libraries(${n} opentrack-api ${MY_QT_LIBS})
     if(CMAKE_COMPILER_IS_GNUCXX AND NOT APPLE)
         set(visibility "-fvisibility=hidden -fvisibility-inlines-hidden")
         if (foolib_STATIC)
             set(visibility)
         endif()
         SET_TARGET_PROPERTIES(${n} PROPERTIES
-            LINK_FLAGS "${foolib_LINK} ${foolib_GNU-LINK} -Wl,--version-script=\"${CMAKE_SOURCE_DIR}/opentrack/${version-script}-version-script.txt\""
-            COMPILE_FLAGS "${foolib_COMPILE} ${foolib_GNU-COMPILE} ${visibility}"
+            LINK_FLAGS "${foolib_LINK} ${foolib_GNU-LINK} -Wl,--as-needed -Wl,--version-script=\"${CMAKE_SOURCE_DIR}/opentrack/${version-script}-version-script.txt\""
+            COMPILE_FLAGS "${foolib_COMPILE} ${foolib_GNU-COMPILE} -fvisibility=hidden -fvisibility-inlines-hidden"
         )
     else()
         set(link-flags)
@@ -350,11 +352,9 @@ if(SDK_WINE_PREFIX AND FALSE)
         add_custom_command(
           OUTPUT opentrack-wrapper-wine.exe.so
           DEPENDS ${wine-deps}
-          COMMAND ${SDK_WINE_PREFIX}/bin/wineg++ -g -O2 -m32 -std=c++11 -o
+          COMMAND ${SDK_WINE_PREFIX}/bin/wineg++ -g -DNOMINMAX -O2 -m32 -std=c++11 -o
                   opentrack-wrapper-wine.exe -I "${CMAKE_SOURCE_DIR}"
-                  ${CMAKE_SOURCE_DIR}/ftnoir_protocol_wine/opentrack-wrapper-wine-main.cxx
-                  ${CMAKE_SOURCE_DIR}/ftnoir_protocol_wine/opentrack-wrapper-wine-posix.cxx
-                  ${CMAKE_SOURCE_DIR}/ftnoir_protocol_wine/opentrack-wrapper-wine-windows.cxx
+                  ${wine-deps}
                   ${my-rt})
         add_custom_target(wine-wrapper ALL DEPENDS opentrack-wrapper-wine.exe.so)
         add_dependencies(opentrack-proto-wine wine-wrapper)
@@ -387,6 +387,7 @@ if(OpenCV_FOUND)
 #target_link_libraries(opentrack-tracker-ht ${OpenCV_LIBS})
 #target_include_directories(opentrack-tracker-ht SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
 #endif()
+
 endif()
 
 #opentrack_library(opentrack-tracker-ht ftnoir_tracker_ht)
@@ -563,6 +564,10 @@ install(DIRECTORY "${CMAKE_SOURCE_DIR}/bin/camera" DESTINATION .)
 
 if(APPLE)
     install(CODE "
-        execute_process(COMMAND /bin/sh \"${CMAKE_SOURCE_DIR}/install-fail-tool\" \"${CMAKE_INSTALL_PREFIX}\")
+    execute_process(COMMAND /bin/sh \"${CMAKE_SOURCE_DIR}/macosx/make-app-bundle.sh\"
+                                    \"${CMAKE_SOURCE_DIR}/macosx\"
+                                    \"${CMAKE_INSTALL_PREFIX}\"
+                                    \"${CMAKE_BINARY_DIR}\"
+                                    \"${OPENTRACK__COMMIT}\")
     ")
 endif()
diff --git a/facetracknoir/images/facetracknoir.png b/facetracknoir/images/facetracknoir.png
index 41b54524..85c06df6 100644
--- a/facetracknoir/images/facetracknoir.png
+++ b/facetracknoir/images/facetracknoir.png
diff --git a/facetracknoir/ui.cpp b/facetracknoir/ui.cpp
index 4d74aa07..1d9f3702 100644
--- a/facetracknoir/ui.cpp
+++ b/facetracknoir/ui.cpp
@@ -101,8 +101,8 @@ void MainWindow::open() {
                 dir_path,
                 tr("Settings file (*.ini);;All Files (*)"));
     set_working_directory();
-    
-    if (! fileName.isEmpty() ) {
+
+    if (!fileName.isEmpty()) {
         {
             QSettings settings(OPENTRACK_ORG);
             settings.setValue(OPENTRACK_CONFIG_FILENAME_KEY, remove_app_path(fileName));
@@ -176,10 +176,10 @@ void MainWindow::fill_profile_combobox()
 {
      QStringList ini_list = group::ini_list();
      set_title();
+     QString current = QFileInfo(group::ini_pathname()).fileName();
      ui.iconcomboProfile->clear();
      for (auto x : ini_list)
          ui.iconcomboProfile->addItem(QIcon(":/images/settings16.png"), x);
-     QString current = QFileInfo(group::ini_pathname()).fileName();
      ui.iconcomboProfile->setCurrentText(current);
 }
 
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 9e1b2415..31534ad3 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -37,6 +37,12 @@ static constexpr double trans_gains[][2] = {
     { -1, 0 }
 };
 
+constexpr double settings_accela::mult_rot;
+constexpr double settings_accela::mult_trans;
+constexpr double settings_accela::mult_rot_dz;
+constexpr double settings_accela::mult_trans_dz;
+constexpr double settings_accela::mult_ewma;
+
 FTNoIR_Filter::FTNoIR_Filter() : first_run(true)
 {
     rot.setMaxInput(rot_gains[0][0]);
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 0116faea..d962d82f 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -11,11 +11,11 @@ using namespace options;
 
 struct settings_accela : opts {
     value<int> rot_threshold, trans_threshold, ewma, rot_deadzone, trans_deadzone;
-    static constexpr double mult_rot = 10. / 100.;
-    static constexpr double mult_trans = 5. / 100.;
+    static constexpr double mult_rot = 4. / 100.;
+    static constexpr double mult_trans = 4. / 100.;
     static constexpr double mult_rot_dz = 2. / 100.;
-    static constexpr double mult_trans_dz = 1. / 100.;
-    static constexpr double mult_ewma = 2.;
+    static constexpr double mult_trans_dz = 2. / 100.;
+    static constexpr double mult_ewma = 1.25;
     settings_accela() :
         opts("Accela"),
         rot_threshold(b, "rotation-threshold", 30),
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp
index f0b9e261..39a08703 100644
--- a/ftnoir_filter_kalman/kalman.cpp
+++ b/ftnoir_filter_kalman/kalman.cpp
@@ -9,6 +9,8 @@
 #include <QDebug>
 #include <cmath>
 
+constexpr double settings::mult_noise_stddev;
+
 FTNoIR_Filter::FTNoIR_Filter() {
     reset();
     prev_slider_pos = s.noise_stddev_slider;
diff --git a/ftnoir_protocol_wine/opentrack-wrapper-wine-main.cxx b/ftnoir_protocol_wine/opentrack-wrapper-wine-main.cxx
index b5906675..026135f0 100644
--- a/ftnoir_protocol_wine/opentrack-wrapper-wine-main.cxx
+++ b/ftnoir_protocol_wine/opentrack-wrapper-wine-main.cxx
@@ -1,4 +1,8 @@
 #include <cerrno>
+// OSX sdk 10.8 build error otherwise
+#ifdef _LIBCPP_MSVCRT
+#   undef _LIBCPP_MSVCRT
+#endif
 #include <cstdio>
 #include "freetrackclient/fttypes.h"
 #include "ftnoir_protocol_wine/wine-shm.h"
@@ -8,7 +12,6 @@ enum Axis {
     TX = 0, TY, TZ, Yaw, Pitch, Roll
 };
 
-#define OPENTRACK_COMPAT_BUNDLED
 #include "compat/compat.h"
 
 void create_registry_key(void);
diff --git a/ftnoir_protocol_wine/opentrack-wrapper-wine-posix.cxx b/ftnoir_protocol_wine/opentrack-wrapper-wine-posix.cxx
index 010c4440..6f43f899 100644
--- a/ftnoir_protocol_wine/opentrack-wrapper-wine-posix.cxx
+++ b/ftnoir_protocol_wine/opentrack-wrapper-wine-posix.cxx
@@ -1,4 +1,3 @@
-#define OPENTRACK_COMPAT_BUNDLED
 #ifdef _WIN32
 #   undef _WIN32
 #endif
diff --git a/ftnoir_protocol_wine/opentrack-wrapper-wine-windows.cxx b/ftnoir_protocol_wine/opentrack-wrapper-wine-windows.cxx
index 5d19608a..6592fbe6 100644
--- a/ftnoir_protocol_wine/opentrack-wrapper-wine-windows.cxx
+++ b/ftnoir_protocol_wine/opentrack-wrapper-wine-windows.cxx
@@ -2,7 +2,6 @@
 #   error "bad cross"
 #endif
 
-#define OPENTRACK_COMPAT_BUNDLED
 #define PortableLockedShm ShmWine
 #include "compat/compat.h"
 #include "compat/compat.cpp"
diff --git a/ftnoir_protocol_wine/wine-shm.h b/ftnoir_protocol_wine/wine-shm.h
index c0f29cd3..c7e29abb 100644
--- a/ftnoir_protocol_wine/wine-shm.h
+++ b/ftnoir_protocol_wine/wine-shm.h
@@ -3,6 +3,11 @@
 #define WINE_SHM_NAME "facetracknoir-wine-shm"
 #define WINE_MTX_NAME "facetracknoir-wine-mtx"
 
+// OSX sdk 10.8 build error otherwise
+#ifdef _LIBCPP_MSVCRT
+#   undef _LIBCPP_MSVCRT
+#endif
+
 #include <memory>
 
 template<typename t> using ptr = std::shared_ptr<t>;
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index f7e283f3..c0ce1f22 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -17,7 +17,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/videoio.hpp>
 #include "opentrack/camera-names.hpp"
-#include "opentrack/thread.hpp"
 #include "opentrack/opencv-calibration.hpp"
 
 typedef struct {
@@ -76,8 +75,6 @@ void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
 
 void Tracker::run()
 {
-    Affinity thr;
-    
     int rint = s.resolution;
     if (rint < 0 || rint >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
         rint = 0;
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
index e3c5a26b..2472428b 100644
--- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
@@ -127,7 +127,7 @@ private:
 class TrackerDll : public Metadata
 {
     QString name() { return QString("Hatire Arduino"); }
-    QIcon icon() { return QIcon(":/images/hatire.png"); }
+    QIcon icon() { return QIcon(":/images/hat.png"); }
 };
 #else
 class TrackerDll :
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index a77d206a..474123d0 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -11,7 +11,6 @@
 #include <QDebug>
 #include <QFile>
 #include <QCoreApplication>
-#include "opentrack/thread.hpp"
 #include "opentrack/camera-names.hpp"
 
 using namespace std;
@@ -83,8 +82,6 @@ void Tracker_PT::run()
 	QTextStream log_stream(&log_file);
 #endif
     
-    Affinity thr;
-
     while((commands & ABORT) == 0)
     {
         const double dt = time.elapsed() * 1e-9;
diff --git a/install-fail-tool b/install-fail-tool
deleted file mode 100755
index 99f8fbdf..00000000
--- a/install-fail-tool
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/bin/sh
-
-test -n "$1" || exit 1
-
-dir="$1"
-
-for i in "$dir"/* "$dir"/*/*; do
-	{ test -x "$i" && test -f "$i"; } || continue
-	echo ---- $i ----
-	install_name_tool -id "@executable_path/$(basename -- "$i")" "$i"
-
-	otool -L "$i" | awk '{ print $1 }' |
-	while read l; do
-		j="$(basename -- "$l")"
-		if test -e "$dir/$j"; then
-			install_name_tool -change "$l" "@executable_path/$j" "$i"
-		fi
-	done
-done
diff --git a/macosx/install-fail-tool b/macosx/install-fail-tool
new file mode 100644
index 00000000..a5464c18
--- /dev/null
+++ b/macosx/install-fail-tool
@@ -0,0 +1,25 @@
+#!/bin/sh
+
+test -n "$1" || exit 1
+
+dir="$1"
+
+for i in "$dir"/* "$dir"/*/* "$dir"/*/*/*; do
+        { test -x "$i" && test -f "$i"; } || continue
+        case "$i" in
+            *.dll|*.exe) continue ;;
+            *) : ;;
+        esac
+        case "$i" in
+            *.dylib|*.bin) strip -x "$i" ;; esac
+        echo ---- $i ----
+        install_name_tool -id "@executable_path/$(echo "$i" | sed -e "s,^$dir/,,")" "$i"
+
+        otool -L "$i" | awk '{ print $1 }' |
+        while read l; do
+                j="$(basename -- "$l")"
+                if test -e "$dir/$j"; then
+                        install_name_tool -change "$l" "@executable_path/$j" "$i"
+                fi
+        done
+done
diff --git a/macosx/make-app-bundle.sh b/macosx/make-app-bundle.sh
new file mode 100644
index 00000000..f851fe77
--- /dev/null
+++ b/macosx/make-app-bundle.sh
@@ -0,0 +1,40 @@
+#!/bin/sh
+
+APPNAME=trackhat-opentrack
+
+dir="$1"
+test -n "$dir" || exit 1
+install="$2"
+test -n "$install" || exit 1
+output_dir="$3"
+test -n "$output_dir" || exit 1
+version="$4"
+test -n "$version" || exit 1
+
+tmp="$(mktemp -d "/tmp/$APPNAME-tmp.XXXXXXX")"
+test $? -eq 0 || exit 1
+
+sh "$dir/install-fail-tool" "$install"
+
+cp -R "$dir/opentrack.app" "$tmp/" || exit 1
+cp -R "$install" "$tmp/$APPNAME.app/Contents/MacOS" || exit 1
+sed -i '' -e "s#@OPENTRACK-VERSION@#$version#g" "$tmp/$APPNAME.app/Contents/Info.plist" || exit 1
+
+mkdir "$tmp/$APPNAME.iconset" || exit 1
+mkdir "$tmp/$APPNAME.app/Contents/Resources" || exit 1
+cp "$dir"/opentrack.sh "$tmp/$APPNAME.app/Contents/MacOS" || exit 1
+
+sips -z 16 16     "$dir/../facetracknoir/images/facetracknoir.png" --out "$tmp/$APPNAME.iconset/icon_16x16.png" || exit 1
+sips -z 32 32     "$dir/../facetracknoir/images/facetracknoir.png" --out "$tmp/$APPNAME.iconset/icon_16x16@2x.png" || exit 1
+sips -z 32 32     "$dir/../facetracknoir/images/facetracknoir.png" --out "$tmp/$APPNAME.iconset/icon_32x32.png" || exit 1
+sips -z 64 64     "$dir/../facetracknoir/images/facetracknoir.png" --out "$tmp/$APPNAME.iconset/icon_32x32@2x.png" || exit 1
+sips -z 128 128   "$dir/../facetracknoir/images/facetracknoir.png" --out "$tmp/$APPNAME.iconset/icon_128x128.png" || exit 1
+
+iconutil -c icns -o "$tmp/$APPNAME.app/Contents/Resources/$APPNAME.icns" "$tmp/$APPNAME.iconset"
+rm -r "$tmp/$APPNAME.iconset"
+
+cd "$tmp" || exit 1
+rm -f "$output_dir/$APPNAME-$version.zip"
+zip -9r "$output_dir/$APPNAME-$version.zip" "$APPNAME.app" || exit 1
+rm -rf "$tmp"
+ls -lh "$output_dir/$APPNAME-$version.zip"
diff --git a/macosx/opentrack.app/Contents/Info.plist b/macosx/opentrack.app/Contents/Info.plist
new file mode 100644
index 00000000..17e17735
--- /dev/null
+++ b/macosx/opentrack.app/Contents/Info.plist
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+  <key>CFBundleDevelopmentRegion</key>
+  <string>en</string>
+  <key>CFBundleExecutable</key>
+  <string>opentrack.sh</string>
+  <key>CFBundleIdentifier</key>
+  <string>com.github.opentrack.trackhat</string>
+  <key>CFBundleName</key>
+  <string>trackhat-opentrack</string>
+  <key>CFBundleIconFile</key>
+  <string>opentrack.icns</string>
+  <key>CFBundleVersion</key>
+  <string>@OPENTRACK-VERSION@</string>
+  <key>CFBundleInfoDictionaryVersion</key>
+  <string>6.0</string>
+  <key>CFBundlePackageType</key>
+  <string>APPL</string>
+  <key>CFBundleDisplayName</key>
+  <string>trackhat-opentrack</string>
+  <key>CFBundleSignature</key>
+  <string>????</string>
+</dict>
+</plist>
diff --git a/macosx/opentrack.app/Contents/PkgInfo b/macosx/opentrack.app/Contents/PkgInfo
new file mode 100644
index 00000000..b18f8c6c
--- /dev/null
+++ b/macosx/opentrack.app/Contents/PkgInfo
@@ -0,0 +1 @@
+APPLopentrack
diff --git a/macosx/opentrack.sh b/macosx/opentrack.sh
new file mode 100755
index 00000000..62ad01a5
--- /dev/null
+++ b/macosx/opentrack.sh
@@ -0,0 +1,4 @@
+#!/bin/sh
+
+dir="$(dirname -- "$0")"
+exec "$dir"/opentrack.bin -platformpluginpath "$dir" "$@"
diff --git a/opentrack/camera-names.hpp b/opentrack/camera-names.hpp
index 6f82ba34..fd869e6b 100644
--- a/opentrack/camera-names.hpp
+++ b/opentrack/camera-names.hpp
@@ -13,6 +13,13 @@
 #   include <unistd.h>
 #endif
 
+#ifdef __linux
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/videodev2.h>
+#include <cerrno>
+#endif
+
 template<typename = void>
 QList<QString> get_camera_names() {
     QList<QString> ret;
@@ -69,14 +76,29 @@ QList<QString> get_camera_names() {
         qDebug() << "failed CLSID_VideoInputDeviceCategory" << hr;
     
     pSysDevEnum->Release();
-#else
+#endif
+#ifdef __linux
     for (int i = 0; i < 16; i++) {
         char buf[128];
         sprintf(buf, "/dev/video%d", i);
-        if (access(buf, R_OK | W_OK) == 0) {
+        if (access(buf, F_OK) == 0)
             ret.append(buf);
-        } else {
+        else
             continue;
+
+        if (access(buf, R_OK | W_OK) == 0) {
+            int fd = open(buf, O_RDONLY);
+            if (fd == -1)
+                continue;
+            struct v4l2_capability video_cap;
+            if(ioctl(fd, VIDIOC_QUERYCAP, &video_cap) == -1)
+            {
+                qDebug() << "VIDIOC_QUERYCAP" << errno;
+                close(fd);
+                continue;
+            }
+            ret[ret.size()-1] = reinterpret_cast<const char*>(video_cap.card);
+            close(fd);
         }
     }
 #endif
diff --git a/opentrack/opencv-camera-dialog.hpp b/opentrack/opencv-camera-dialog.hpp
index 6218f125..cd3d38e7 100644
--- a/opentrack/opencv-camera-dialog.hpp
+++ b/opentrack/opencv-camera-dialog.hpp
@@ -6,9 +6,21 @@
 #include <opencv2/videoio.hpp>
 #include "opentrack/camera-names.hpp"
 
+#ifdef __linux
+#include <QProcess>
+#endif
+
 template<typename tracker>
 class camera_dialog
 {
+#ifdef __linux
+public:
+    void open_camera_settings(cv::VideoCapture *, const QString &camera_name, QMutex *)
+    {
+        int idx = camera_name_to_index(camera_name);
+        QProcess::startDetached("qv4l2", QStringList() << "-d" << ("/dev/video" + QString::number(idx)));
+    }
+#else
     cv::VideoCapture fake_capture;
     QTimer t;
 
@@ -47,5 +59,6 @@ public:
         // HACK: we're not notified when it's safe to close the capture
         t.start();
     }
+#endif
 };
 
diff --git a/opentrack/plugin-api.hpp b/opentrack/plugin-api.hpp
index 714e69d9..021f5017 100644
--- a/opentrack/plugin-api.hpp
+++ b/opentrack/plugin-api.hpp
@@ -2,6 +2,7 @@
 
 #include "export.hpp"
 #include <QString>
+#include <QWidget>
 #include <QFrame>
 #include <QIcon>
 
@@ -9,6 +10,15 @@ enum Axis {
     TX = 0, TY, TZ, Yaw, Pitch, Roll
 };
 
+class BaseDialog : public QWidget
+{
+    Q_OBJECT
+public:
+    void closeEvent(QCloseEvent *) override { emit closing(); }
+signals:
+    void closing();
+};
+
 #define OPENTRACK_DECLARE_PLUGIN_INTERNAL(ctor_class, ctor_ret_class, metadata_class, dialog_class, dialog_ret_class) \
     extern "C" OPENTRACK_EXPORT ctor_ret_class* GetConstructor() \
     { \
@@ -24,9 +34,9 @@ enum Axis {
     }
 
 // implement this in all plugins
+// also you must link against "opentrack-api" in CMakeList.txt to avoid vtable link errors
 struct Metadata
 {
-public:
     // plugin name to be displayed in the interface
     virtual QString name() = 0;
     // plugin icon, you can return an empty QIcon()
@@ -38,7 +48,6 @@ public:
 // implement this in filters
 struct IFilter
 {
-public:
     // optional destructor
     virtual ~IFilter() {}
     // perform filtering step.
@@ -46,7 +55,7 @@ public:
     virtual void filter(const double *input, double *output) = 0;
 };
 
-struct IFilterDialog : public QWidget
+struct IFilterDialog : public BaseDialog
 {
     // optional destructor
     virtual ~IFilterDialog() {}
@@ -63,7 +72,6 @@ struct IFilterDialog : public QWidget
 // implement this in protocols
 struct IProtocol
 {
-public:
     // optional destructor
     virtual ~IProtocol() {}
     // return true if protocol was properly initialized
@@ -75,7 +83,7 @@ public:
     virtual QString game_name() = 0;
 };
 
-struct IProtocolDialog : public QWidget
+struct IProtocolDialog : public BaseDialog
 {
     // optional destructor
     virtual ~IProtocolDialog() {}
@@ -92,7 +100,6 @@ struct IProtocolDialog : public QWidget
 // implement this in trackers
 struct ITracker
 {
-public:
     // optional destructor
     virtual ~ITracker() {}
     // start tracking, and grab a frame to display webcam video in, optionally
@@ -101,7 +108,7 @@ public:
     virtual void data(double *data) = 0;
 };
 
-struct ITrackerDialog : public QWidget
+struct ITrackerDialog : public BaseDialog
 {
     // optional destructor
     virtual ~ITrackerDialog() {}
diff --git a/opentrack/simple-mat.hpp b/opentrack/simple-mat.hpp
index e111305a..7432e665 100644
--- a/opentrack/simple-mat.hpp
+++ b/opentrack/simple-mat.hpp
@@ -107,7 +107,7 @@ struct Mat
     {
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
-            for (int i = 0; i < w; i++)
+            for (int i = 0; i < w_; i++)
                 ret(j, i) = this->operator ()(j, i) + other(j, i);
         return ret;
     }
@@ -125,7 +125,7 @@ struct Mat
     {
         Mat<num, h_, w_> ret;
         for (int j = 0; j < h_; j++)
-            for (int i = 0; i < w; i++)
+            for (int i = 0; i < w_; i++)
                 ret(j, i) = this->operator ()(j, i) + other;
         return ret;
     }
diff --git a/opentrack/thread.hpp b/opentrack/thread.hpp
deleted file mode 100644
index 946f2972..00000000
--- a/opentrack/thread.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl>
-
- * Permission to use, copy, modify, and/or distribute this
- * software for any purpose with or without fee is hereby granted,
- * provided that the above copyright notice and this permission
- * notice appear in all copies.
- */
-
-#pragma once
-
-#include <QDebug>
-
-enum {
-    CORE_WORK = 1,
-    CORE_IPC = 0,
-};
-
-#ifdef _WIN32
-#include <windows.h>
-
-class Affinity {
-public:
-    Affinity(int core = CORE_WORK)
-    {
-        DWORD_PTR ret = SetThreadAffinityMask(GetCurrentThread(), 1 << core);
-        if (ret == 0)
-            qDebug() << "SetThreadAffinityMask" << GetLastError();
-        last = ret;
-    }
-    ~Affinity()
-    {
-        if (last)
-            (void) SetThreadAffinityMask(GetCurrentThread(), last);
-    }
-private:
-    DWORD_PTR last;
-};
-
-#else
-class Affinity {
-public:
-    Affinity(int core = CORE_WORK) {}
-    ~Affinity() {}
-};
-#endif
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 502f7a96..ce23afad 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -14,7 +14,6 @@
 
 
 #include "tracker.h"
-#include "opentrack/thread.hpp"
 #include <cmath>
 #include <algorithm>
 
@@ -181,8 +180,6 @@ void Tracker::logic()
 void Tracker::run() {
     const int sleep_ms = 3;
     
-    Affinity thr(CORE_IPC);
-
 #if defined(_WIN32)
     (void) timeBeginPeriod(1);
 #endif
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 66527a57..ed4560af 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -193,10 +193,10 @@ vec2 GLWidget::project(const vec3 &point)
     double z = std::max(.75, 1. + translation.z()/-60.);
     int w = width(), h = height();
     double x = w * translation.x() / 2. / -40.;
-    if (abs(x) > w/2)
+    if (std::abs(x) > w/2)
         x = x > 0 ? w/2 : w/-2;
     double y = h * translation.y() / 2. / -40.;
-    if (abs(y) > h/2)
+    if (std::abs(y) > h/2)
         y = y > 0 ? h/2 : h/-2;
     return vec2 { z * (ret.x() + x), z * (ret.y() + y) };
 }
diff --git a/qfunctionconfigurator/functionconfig.cpp b/qfunctionconfigurator/functionconfig.cpp
index 7edbe0ef..264097ab 100644
--- a/qfunctionconfigurator/functionconfig.cpp
+++ b/qfunctionconfigurator/functionconfig.cpp
@@ -8,6 +8,7 @@
 #include <QSettings>
 #include <QPixmap>
 #include <algorithm>
+#include <cmath>
 
 void Map::setTrackingActive(bool blnActive)
 {
@@ -43,7 +44,7 @@ bool Map::getLastPoint(QPointF& point ) {
 
 float Map::getValueInternal(int x) {
     float sign = x < 0 ? -1 : 1;
-    x = std::abs(x);
+    x = abs(x);
     float ret;
     int sz = cur.data.size();
     if (sz == 0)