Added 'enable axis' parameters to the Trackers. Added 'none' to filter-listbox.

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@203 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

9 files changed, 275 insertions, 20 deletions

diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
index 9c70b397..20e16985 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
+++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
@@ -9,8 +9,8 @@
    <rect>

     <x>0</x>

     <y>0</y>

-    <width>401</width>

-    <height>497</height>

+    <width>393</width>

+    <height>585</height>

    </rect>

   </property>

   <property name="sizePolicy">

@@ -433,6 +433,188 @@
         </widget>

        </item>

        <item>

+        <widget class="QGroupBox" name="groupBox_3">

+         <property name="minimumSize">

+          <size>

+           <width>0</width>

+           <height>85</height>

+          </size>

+         </property>

+         <property name="title">

+          <string>Enable Axis</string>

+         </property>

+         <widget class="QWidget" name="layoutWidget">

+          <property name="geometry">

+           <rect>

+            <x>10</x>

+            <y>20</y>

+            <width>143</width>

+            <height>60</height>

+           </rect>

+          </property>

+          <layout class="QGridLayout" name="gridLayout_2">

+           <item row="0" column="0">

+            <widget class="QLabel" name="label_6">

+             <property name="text">

+              <string>Roll:</string>

+             </property>

+            </widget>

+           </item>

+           <item row="1" column="0">

+            <widget class="QLabel" name="label_9">

+             <property name="text">

+              <string>Pitch:</string>

+             </property>

+            </widget>

+           </item>

+           <item row="2" column="0">

+            <widget class="QLabel" name="label_11">

+             <property name="text">

+              <string>Yaw:</string>

+             </property>

+            </widget>

+           </item>

+           <item row="0" column="1">

+            <widget class="QCheckBox" name="chkEnableRoll">

+             <property name="maximumSize">

+              <size>

+               <width>20</width>

+               <height>16777215</height>

+              </size>

+             </property>

+             <property name="layoutDirection">

+              <enum>Qt::LeftToRight</enum>

+             </property>

+             <property name="styleSheet">

+              <string notr="true"/>

+             </property>

+             <property name="text">

+              <string/>

+             </property>

+            </widget>

+           </item>

+           <item row="1" column="1">

+            <widget class="QCheckBox" name="chkEnablePitch">

+             <property name="maximumSize">

+              <size>

+               <width>20</width>

+               <height>16777215</height>

+              </size>

+             </property>

+             <property name="layoutDirection">

+              <enum>Qt::LeftToRight</enum>

+             </property>

+             <property name="text">

+              <string/>

+             </property>

+            </widget>

+           </item>

+           <item row="2" column="1">

+            <widget class="QCheckBox" name="chkEnableYaw">

+             <property name="maximumSize">

+              <size>

+               <width>20</width>

+               <height>16777215</height>

+              </size>

+             </property>

+             <property name="layoutDirection">

+              <enum>Qt::LeftToRight</enum>

+             </property>

+             <property name="text">

+              <string/>

+             </property>

+            </widget>

+           </item>

+           <item row="0" column="3">

+            <widget class="QLabel" name="label_14">

+             <property name="text">

+              <string>X:</string>

+             </property>

+            </widget>

+           </item>

+           <item row="0" column="4">

+            <widget class="QCheckBox" name="chkEnableX">

+             <property name="maximumSize">

+              <size>

+               <width>20</width>

+               <height>16777215</height>

+              </size>

+             </property>

+             <property name="layoutDirection">

+              <enum>Qt::LeftToRight</enum>

+             </property>

+             <property name="text">

+              <string/>

+             </property>

+            </widget>

+           </item>

+           <item row="1" column="3">

+            <widget class="QLabel" name="label_15">

+             <property name="text">

+              <string>Y:</string>

+             </property>

+            </widget>

+           </item>

+           <item row="1" column="4">

+            <widget class="QCheckBox" name="chkEnableY">

+             <property name="maximumSize">

+              <size>

+               <width>20</width>

+               <height>16777215</height>

+              </size>

+             </property>

+             <property name="layoutDirection">

+              <enum>Qt::LeftToRight</enum>

+             </property>

+             <property name="text">

+              <string/>

+             </property>

+            </widget>

+           </item>

+           <item row="2" column="3">

+            <widget class="QLabel" name="label_16">

+             <property name="text">

+              <string>Z:</string>

+             </property>

+            </widget>

+           </item>

+           <item row="2" column="4">

+            <widget class="QCheckBox" name="chkEnableZ">

+             <property name="maximumSize">

+              <size>

+               <width>20</width>

+               <height>16777215</height>

+              </size>

+             </property>

+             <property name="layoutDirection">

+              <enum>Qt::LeftToRight</enum>

+             </property>

+             <property name="text">

+              <string/>

+             </property>

+            </widget>

+           </item>

+           <item row="0" column="2">

+            <spacer name="horizontalSpacer_3">

+             <property name="orientation">

+              <enum>Qt::Horizontal</enum>

+             </property>

+             <property name="sizeType">

+              <enum>QSizePolicy::Minimum</enum>

+             </property>

+             <property name="sizeHint" stdset="0">

+              <size>

+               <width>40</width>

+               <height>20</height>

+              </size>

+             </property>

+            </spacer>

+           </item>

+          </layout>

+         </widget>

+        </widget>

+       </item>

+       <item>

         <spacer name="verticalSpacer">

          <property name="orientation">

           <enum>Qt::Vertical</enum>

diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc8.vcproj b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc8.vcproj
index 7d698af7..5b70b459 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc8.vcproj
+++ b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc8.vcproj
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>

 <VisualStudioProject

 	ProjectType="Visual C++"

-	Version="8,00"

+	Version="8.00"

 	Name="FTNoIR_Tracker_PT"

 	ProjectGUID="{7A2A2560-9253-4CC8-A9D5-4B9D9C224D9D}"

 	Keyword="Qt4VSv1.0"

@@ -56,7 +56,7 @@
 				Name="VCLinkerTool"

 				AdditionalDependencies="qtmain.lib QtCore4.lib QtGui4.lib QtOpenGL4.lib opengl32.lib glu32.lib opencv_core242.lib opencv_highgui242.lib opencv_imgproc242.lib"

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

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

+				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(OPENCV_DIR)\x86\vc8\lib\release&quot;"

 				GenerateDebugInformation="false"

 				SubSystem="2"

 				OptimizeReferences="1"

@@ -130,7 +130,7 @@
 				Name="VCLinkerTool"

 				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;"

+				AdditionalLibraryDirectories="&quot;$(QTDIR)\lib&quot;;&quot;$(OPENCV_DIR)\x86\vc8\lib\debug&quot;"

 				GenerateDebugInformation="true"

 				SubSystem="2"

 			/>

@@ -268,7 +268,7 @@
 					<Tool

 						Name="VCCustomBuildTool"

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

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

+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;   -DUNICODE -DWIN32 -DQT_LARGEFILE_SUPPORT -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL  -I&quot;.\.&quot; -I&quot;.\GeneratedFiles\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;$(QTDIR)\include\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\QtGui\.&quot; -I&quot;$(OPENCV_DIR)\include\.&quot; -I&quot;$(BOOST_DIR)\.&quot; -I&quot;$(QTDIR)\include\QtOpenGL\.&quot; &quot;.\ftnoir_tracker_pt_dialog.h&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;&#x0D;&#x0A;"

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

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

 					/>

@@ -314,7 +314,7 @@
 					<Tool

 						Name="VCCustomBuildTool"

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

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

+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;   -DUNICODE -DWIN32 -DQT_LARGEFILE_SUPPORT -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL  -I&quot;.\.&quot; -I&quot;.\GeneratedFiles\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;$(QTDIR)\include\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\QtGui\.&quot; -I&quot;$(OPENCV_DIR)\include\.&quot; -I&quot;$(BOOST_DIR)\.&quot; -I&quot;$(QTDIR)\include\QtOpenGL\.&quot; &quot;.\video_widget.h&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;&#x0D;&#x0A;"

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

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

 					/>

@@ -545,7 +545,7 @@
 		/>

 		<Global

 			Name="QtVersion Win32"

-			Value="4.6.2"

+			Value="$(DefaultQtVersion)"

 		/>

 		<Global

 			Name="RccDir"

diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj
index 3c895e51..95f5ac62 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj
+++ b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc9.vcproj
@@ -510,7 +510,7 @@
 		/>

 		<Global

 			Name="QtVersion Win32"

-			Value="4.8.2"

+			Value="$(DefaultQtVersion)"

 		/>

 		<Global

 			Name="RccDir"

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 13522863..412d35d4 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -109,7 +109,16 @@ void Tracker::apply(const TrackerSettings& settings)
 	sleep_time = settings.sleep_time;

 	point_tracker.dt_reset = settings.reset_time / 1000.0;

 	draw_frame = settings.video_widget;

+

+	bEnableRoll = settings.bEnableRoll;

+	bEnablePitch = settings.bEnablePitch;

+	bEnableYaw = settings.bEnableYaw;

+	bEnableX = settings.bEnableX;

+	bEnableY = settings.bEnableY;

+	bEnableZ = settings.bEnableZ;

+

 	t_MH = settings.t_MH;

+	qDebug()<<"Tracker::apply ends";

 }

 

 void Tracker::reset()

@@ -189,12 +198,19 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		Matx33f R = X_CH.R * X_CH_0.R.t(); 

 		Vec3f t   = X_CH.t - X_CH_0.t;

 

-		// get translation

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

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

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

+		// get translation(s)

+		if (bEnableX) {

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

+		}

 

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

+		if (bEnableY) {

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

+		}

+		if (bEnableZ) {

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

+		}

+

+		// translate rotation 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,

@@ -208,9 +224,15 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		alpha = atan2( R(1,0), R(0,0));

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

 

-		data->yaw   =  rad2deg * alpha;

-		data->pitch = -rad2deg * beta;	// this is what ftnoir expects?

-		data->roll  =  rad2deg * gamma;

+		if (bEnableYaw) {

+			data->yaw   =  rad2deg * alpha;

+		}

+		if (bEnablePitch) {

+			data->pitch = -rad2deg * beta;	// this is what ftnoir expects?

+		}

+		if (bEnableRoll) {

+			data->roll  =  rad2deg * gamma;

+		}

 	}

 	return true;

 }

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
index bfc262b3..c381b807 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
@@ -33,6 +33,7 @@ public:
 	void StartTracker(HWND parent_window);

 	void StopTracker(bool exit);

 	bool GiveHeadPoseData(THeadPoseData *data);

+

 	void refreshVideo();

 

 	void apply(const TrackerSettings& settings);

@@ -64,6 +65,12 @@ protected:
 	cv::Vec3f t_MH;

 	bool draw_frame;

 	int sleep_time;

+	bool bEnableRoll;

+	bool bEnablePitch;

+	bool bEnableYaw;

+	bool bEnableX;

+	bool bEnableY;

+	bool bEnableZ;

 	

 	long frame_count;

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
index 357cd67f..f3daae0c 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
@@ -32,6 +32,14 @@ TrackerDialog::TrackerDialog()
 	ui.res_y_spin->setValue(settings.cam_res_y);

 	ui.fps_spin->setValue(settings.cam_fps);

 	ui.threshold_slider->setValue(settings.threshold);

+

+	ui.chkEnableRoll->setChecked(settings.bEnableRoll);

+	ui.chkEnablePitch->setChecked(settings.bEnablePitch);

+	ui.chkEnableYaw->setChecked(settings.bEnableYaw);

+	ui.chkEnableX->setChecked(settings.bEnableX);

+	ui.chkEnableY->setChecked(settings.bEnableY);

+	ui.chkEnableZ->setChecked(settings.bEnableZ);

+

 	ui.mindiam_spin->setValue(settings.min_point_size);

 	ui.maxdiam_spin->setValue(settings.max_point_size);

 	ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel);

@@ -62,6 +70,14 @@ TrackerDialog::TrackerDialog()
 	connect( ui.res_y_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cam_res_y(int)) );

 	connect( ui.fps_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_cam_fps(int)) );

 	connect( ui.threshold_slider,SIGNAL(sliderMoved(int)),   this,SLOT(set_threshold(int)) );

+

+	connect( ui.chkEnableRoll,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_roll(bool)) );

+	connect( ui.chkEnablePitch,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_pitch(bool)) );

+	connect( ui.chkEnableYaw,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_yaw(bool)) );

+	connect( ui.chkEnableX,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_x(bool)) );

+	connect( ui.chkEnableY,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_y(bool)) );

+	connect( ui.chkEnableZ,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_z(bool)) );

+

 	connect( ui.mindiam_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_min_point_size(int)) );

 	connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_max_point_size(int)) );

 	connect( ui.model_tabs,SIGNAL(currentChanged(int)),      this,SLOT(set_model(int)) );

@@ -282,7 +298,7 @@ void TrackerDialog::Initialize(QWidget *parent)
 

 void TrackerDialog::registerTracker(ITracker *t)

 {

-	qDebug()<<"TrackerDialog:: Tracker registerd";

+	qDebug()<<"TrackerDialog:: Tracker registered";

 	tracker = static_cast<Tracker*>(t);

 	if (isVisible() && settings_dirty) tracker->apply(settings);

 	ui.tcalib_button->setEnabled(true);

@@ -292,7 +308,7 @@ void TrackerDialog::registerTracker(ITracker *t)
 

 void TrackerDialog::unRegisterTracker()

 {

-	qDebug()<<"TrackerDialog:: Tracker un-registerd";

+	qDebug()<<"TrackerDialog:: Tracker un-registered";

 	tracker = NULL;

 	ui.tcalib_button->setEnabled(false); 

 	ui.center_button->setEnabled(false);

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
index 68baf87a..19404444 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
@@ -44,6 +44,13 @@ protected slots:
 	void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); }

 	void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); }

 	void set_threshold(int val)      { settings.threshold = val;      settings_changed(); }

+	void set_ena_roll(bool val)		 { settings.bEnableRoll = val;    settings_changed(); }

+	void set_ena_pitch(bool val)	 { settings.bEnablePitch = val;   settings_changed(); }

+	void set_ena_yaw(bool val)		 { settings.bEnableYaw = val;     settings_changed(); }

+	void set_ena_x(bool val)		 { settings.bEnableX = val;       settings_changed(); }

+	void set_ena_y(bool val)		 { settings.bEnableY = val;       settings_changed(); }

+	void set_ena_z(bool val)		 { settings.bEnableZ = val;       settings_changed(); }

+

 	void set_clip_t_height(int val)  { dialog_settings.clip_ty = val; set_clip(); }

 	void set_clip_t_length(int val)  { dialog_settings.clip_tz = val; set_clip(); }

 	void set_clip_b_height(int val)  { dialog_settings.clip_by = val; set_clip(); }

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
index 036b0558..7c356694 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
@@ -40,7 +40,14 @@ void TrackerSettings::load_ini()
 	video_widget = iniFile.value("VideoWidget", true).toBool();

 	sleep_time   = iniFile.value("SleepTime", 10).toInt();

 	reset_time   = iniFile.value("ResetTime", 1000).toInt();

-	

+

+	bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();

+	bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();

+	bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();

+	bEnableX = iniFile.value ( "EnableX", 1 ).toBool();

+	bEnableY = iniFile.value ( "EnableY", 1 ).toBool();

+	bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();

+

 	iniFile.endGroup();

 }

 

@@ -75,6 +82,13 @@ void TrackerSettings::save_ini() const
 	iniFile.setValue("SleepTime", sleep_time);

 	iniFile.setValue("ResetTime", reset_time);

 

+	iniFile.setValue ( "EnableRoll", bEnableRoll );

+	iniFile.setValue ( "EnablePitch", bEnablePitch );

+	iniFile.setValue ( "EnableYaw", bEnableYaw );

+	iniFile.setValue ( "EnableX", bEnableX );

+	iniFile.setValue ( "EnableY", bEnableY );

+	iniFile.setValue ( "EnableZ", bEnableZ );

+

 	iniFile.endGroup();

 }

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
index 23496d91..16ee20f3 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
@@ -31,6 +31,13 @@ struct TrackerSettings
 	cv::Vec3f M01;

 	cv::Vec3f M02;

 

+	bool bEnableRoll;

+	bool bEnablePitch;

+	bool bEnableYaw;

+	bool bEnableX;

+	bool bEnableY;

+	bool bEnableZ;

+

 	// head to model translation

 	cv::Vec3f t_MH;