pt: use new settings framework, cleanup

8 files changed, 338 insertions, 759 deletions

diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
index 9ad4f83c..6cd17e8d 100644
--- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
+++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui
@@ -9,7 +9,7 @@
    <rect>

     <x>0</x>

     <y>0</y>

-    <width>458</width>

+    <width>459</width>

     <height>590</height>

    </rect>

   </property>

@@ -69,12 +69,40 @@
          <layout class="QVBoxLayout" name="verticalLayout_6">

           <item>

            <layout class="QGridLayout" name="gridLayout">

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

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

+             <layout class="QHBoxLayout" name="horizontalLayout_12">

+              <item>

+               <widget class="QSpinBox" name="reset_spin">

+                <property name="toolTip">

+                 <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>

+                </property>

+                <property name="maximum">

+                 <number>9999</number>

+                </property>

+               </widget>

+              </item>

+              <item>

+               <widget class="QLabel" name="label_42">

+                <property name="text">

+                 <string>ms</string>

+                </property>

+               </widget>

+              </item>

+             </layout>

+            </item>

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

              <widget class="QCheckBox" name="dynpose_check">

               <property name="toolTip">

                <string/>

               </property>

               <property name="text">

+               <string/>

+              </property>

+             </widget>

+            </item>

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

+             <widget class="QLabel" name="label_17">

+              <property name="text">

                <string>Dynamic Pose Resolution</string>

               </property>

              </widget>

@@ -89,30 +117,6 @@
               </property>

              </widget>

             </item>

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

-             <layout class="QHBoxLayout" name="horizontalLayout_11">

-              <item>

-               <widget class="QSpinBox" name="sleep_spin">

-                <property name="toolTip">

-                 <string>Time the tracker thread sleeps after each processed frame</string>

-                </property>

-                <property name="suffix">

-                 <string/>

-                </property>

-                <property name="maximum">

-                 <number>9999</number>

-                </property>

-               </widget>

-              </item>

-              <item>

-               <widget class="QLabel" name="label_40">

-                <property name="text">

-                 <string>ms</string>

-                </property>

-               </widget>

-              </item>

-             </layout>

-            </item>

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

              <widget class="QLabel" name="label_43">

               <property name="text">

@@ -123,12 +127,15 @@
               </property>

              </widget>

             </item>

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

-             <layout class="QHBoxLayout" name="horizontalLayout_12">

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

+             <layout class="QHBoxLayout" name="horizontalLayout_11">

               <item>

-               <widget class="QSpinBox" name="reset_spin">

+               <widget class="QSpinBox" name="sleep_spin">

                 <property name="toolTip">

-                 <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>

+                 <string>Time the tracker thread sleeps after each processed frame</string>

+                </property>

+                <property name="suffix">

+                 <string/>

                 </property>

                 <property name="maximum">

                  <number>9999</number>

@@ -136,7 +143,7 @@
                </widget>

               </item>

               <item>

-               <widget class="QLabel" name="label_42">

+               <widget class="QLabel" name="label_40">

                 <property name="text">

                  <string>ms</string>

                 </property>

@@ -144,43 +151,7 @@
               </item>

              </layout>

             </item>

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

-             <widget class="QCheckBox" name="videowidget_check">

-              <property name="toolTip">

-               <string>Whether to update the content of the VideoWidget</string>

-              </property>

-              <property name="text">

-               <string>Show VideoWidget</string>

-              </property>

-             </widget>

-            </item>

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

-             <spacer name="horizontalSpacer_7">

-              <property name="orientation">

-               <enum>Qt::Horizontal</enum>

-              </property>

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

-               <size>

-                <width>30</width>

-                <height>20</height>

-               </size>

-              </property>

-             </spacer>

-            </item>

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

-             <spacer name="horizontalSpacer_11">

-              <property name="orientation">

-               <enum>Qt::Horizontal</enum>

-              </property>

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

-               <size>

-                <width>30</width>

-                <height>20</height>

-               </size>

-              </property>

-             </spacer>

-            </item>

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

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

              <widget class="QPushButton" name="reset_button">

               <property name="enabled">

                <bool>false</bool>

@@ -635,40 +606,7 @@
            </layout>

           </item>

           <item>

-           <layout class="QHBoxLayout" name="horizontalLayout_7">

-            <item>

-             <widget class="QPushButton" name="videowidget_button">

-              <property name="enabled">

-               <bool>false</bool>

-              </property>

-              <property name="minimumSize">

-               <size>

-                <width>130</width>

-                <height>0</height>

-               </size>

-              </property>

-              <property name="locale">

-               <locale language="English" country="UnitedStates"/>

-              </property>

-              <property name="text">

-               <string>VideoWidget</string>

-              </property>

-             </widget>

-            </item>

-            <item>

-             <spacer name="horizontalSpacer_12">

-              <property name="orientation">

-               <enum>Qt::Horizontal</enum>

-              </property>

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

-               <size>

-                <width>0</width>

-                <height>20</height>

-               </size>

-              </property>

-             </spacer>

-            </item>

-           </layout>

+           <layout class="QHBoxLayout" name="horizontalLayout_7"/>

           </item>

          </layout>

         </widget>

@@ -848,38 +786,36 @@
             </item>

            </layout>

           </item>

-

-           <item>

-             <layout class="QHBoxLayout" name="horizontalLayout_secondary">

-               <item>

-                 <widget class="QLabel" name="label_secondary">

-                   <property name="text">

-                     <string>Hysteresis</string>

-                   </property>

-                   <property name="buddy">

-                     <cstring>threshold_secondary_slider</cstring>

-                   </property>

-                 </widget>

-               </item>

-               <item>

-                 <widget class="QSlider" name="threshold_secondary_slider">

-                   <property name="toolTip">

-                     <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>

-                   </property>

-                   <property name="maximum">

-                     <number>255</number>

-                   </property>

-                   <property name="value">

-                     <number>100</number>

-                   </property> 

-                   <property name="orientation">

-                     <enum>Qt::Horizontal</enum>

-                   </property>

-                 </widget>

-               </item>

-             </layout>

-           </item>           

-           

+          <item>

+           <layout class="QHBoxLayout" name="horizontalLayout_secondary">

+            <item>

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

+              <property name="text">

+               <string>Hysteresis</string>

+              </property>

+              <property name="buddy">

+               <cstring>threshold_secondary_slider</cstring>

+              </property>

+             </widget>

+            </item>

+            <item>

+             <widget class="QSlider" name="threshold_secondary_slider">

+              <property name="toolTip">

+               <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>

+              </property>

+              <property name="maximum">

+               <number>255</number>

+              </property>

+              <property name="value">

+               <number>100</number>

+              </property>

+              <property name="orientation">

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

+              </property>

+             </widget>

+            </item>

+           </layout>

+          </item>

           <item>

            <layout class="QHBoxLayout" name="horizontalLayout_2">

             <item>

@@ -1778,6 +1714,13 @@
    <item>

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

      <item>

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

+       <property name="text">

+        <string>Apply</string>

+       </property>

+      </widget>

+     </item>

+     <item>

       <spacer name="horizontalSpacer_6">

        <property name="orientation">

         <enum>Qt::Horizontal</enum>

@@ -1816,11 +1759,8 @@
  </widget>

  <tabstops>

   <tabstop>tabWidget</tabstop>

-  <tabstop>videowidget_check</tabstop>

   <tabstop>sleep_spin</tabstop>

-  <tabstop>dynpose_check</tabstop>

   <tabstop>reset_spin</tabstop>

-  <tabstop>reset_button</tabstop>

   <tabstop>chkEnableRoll</tabstop>

   <tabstop>chkEnablePitch</tabstop>

   <tabstop>chkEnableYaw</tabstop>

diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h
index 78fe8dfb..ea68c387 100644
--- a/FTNoIR_Tracker_PT/camera.h
+++ b/FTNoIR_Tracker_PT/camera.h
@@ -69,13 +69,13 @@ protected:
         virtual void _set_fps() = 0;

         virtual void _set_res() = 0;

 

-        bool active;

+        float dt_valid;

+        float dt_mean;

         int desired_index;

         int active_index;

+        bool active;

         CamInfo cam_info;

         CamInfo cam_desired;

-        float dt_valid;

-        float dt_mean;

 };

 

 

@@ -128,9 +128,9 @@ protected:
 

 enum RotationType

 {

-    CLOCKWISE = -1,

-    ZERO = 0,

-    COUNTER_CLOCKWISE = 1

+    CLOCKWISE = 0,

+    ZERO = 1,

+    COUNTER_CLOCKWISE = 2

 };

 

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

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index e3af446f..25a19ee7 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -23,8 +23,7 @@ const float deg2rad = 1.0/rad2deg;
 

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

 Tracker::Tracker()

-	: frame_count(0),

-	  commands(0), 

+    : commands(0),

 	  video_widget(NULL), 

 	  video_frame(NULL),

 	  tracking_valid(false)

@@ -38,9 +37,10 @@ Tracker::~Tracker()
 	// terminate tracker thread

 	set_command(ABORT);

 	wait();

-	// destroy video widget

-	show_video_widget = false;

-	update_show_video_widget();

+    s.video_widget = false;

+    delete video_widget;

+    video_widget = NULL;

+    if (video_frame->layout()) delete video_frame->layout();

 }

 

 void Tracker::set_command(Command command)

@@ -86,10 +86,7 @@ void Tracker::run()
 				frame = frame_rotation.rotate_frame(frame);

 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, has_observers());

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

-				frame_count++;

-#ifdef OPENTRACK_API

                 video_widget->update_image(frame.clone());

-#endif

 			}

 #ifdef PT_PERF_LOG

 			log_stream<<"dt: "<<dt;

@@ -97,45 +94,39 @@ void Tracker::run()
 			log_stream<<"\n";

 #endif

 		}

-		msleep(sleep_time);

+        msleep(s.sleep_time);

 	}

 

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

 }

 

-void Tracker::apply(const TrackerSettings& settings)

+void Tracker::apply(settings& s)

 {

 	qDebug()<<"Tracker:: Applying settings";

 	QMutexLocker lock(&mutex);

-	camera.set_device_index(settings.cam_index);

-	camera.set_res(settings.cam_res_x, settings.cam_res_y);	

-	camera.set_fps(settings.cam_fps);

-	camera.set_f(settings.cam_f);

-    frame_rotation.rotation = static_cast<RotationType>(settings.cam_roll);

-	point_extractor.threshold_val = settings.threshold;

-	point_extractor.threshold_secondary_val = settings.threshold_secondary;

-	point_extractor.min_size = settings.min_point_size;

-    point_extractor.max_size = settings.max_point_size;

-    point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

-    point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;

-	sleep_time = settings.sleep_time;

-	point_tracker.dt_reset = settings.reset_time / 1000.0;

-	show_video_widget = settings.video_widget;

-	update_show_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;

-	R_GC =  Matx33f( cos(deg2rad*settings.cam_yaw), 0, sin(deg2rad*settings.cam_yaw),

+    camera.set_device_index(s.cam_index);

+    camera.set_res(s.cam_res_x, s.cam_res_y);

+    camera.set_fps(s.cam_fps);

+    camera.set_f(s.cam_f);

+    frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));

+    point_extractor.threshold_val = s.threshold;

+    point_extractor.threshold_secondary_val = s.threshold_secondary;

+    point_extractor.min_size = s.min_point_size;

+    point_extractor.max_size = s.max_point_size;

+    {

+        cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z);

+        cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z);

+        point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(M01, M02));

+    }

+    point_tracker.dynamic_pose_resolution = s.dyn_pose_res;

+    point_tracker.dt_reset = s.reset_time / 1000.0;

+    t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);

+    R_GC =  Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),

 		                                         0, 1,                             0,

-		            -sin(deg2rad*settings.cam_yaw), 0, cos(deg2rad*settings.cam_yaw));

+                    -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));

 	R_GC = R_GC * Matx33f( 1,                                0,                               0,

-		                   0,  cos(deg2rad*settings.cam_pitch), sin(deg2rad*settings.cam_pitch),

-		                   0, -sin(deg2rad*settings.cam_pitch), cos(deg2rad*settings.cam_pitch));

+                           0,  cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),

+                           0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));

 

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

 	X_GH_0 = R_GC * X_MH;

@@ -169,58 +160,27 @@ bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::
 	return true;

 }

 

-void Tracker::update_show_video_widget()

-{

-	if (!show_video_widget && video_widget) {

-		delete video_widget;

-		video_widget = NULL;

-		if (video_frame->layout()) delete video_frame->layout();

-	}

-	else if (video_frame && show_video_widget && !video_widget)

-	{

-        const int VIDEO_FRAME_WIDTH  = 320;

-        const int VIDEO_FRAME_HEIGHT = 240;

-        video_widget = new PTVideoWidget(video_frame, this);

-		QHBoxLayout* video_layout = new QHBoxLayout();

-		video_layout->setContentsMargins(0, 0, 0, 0);

-		video_layout->addWidget(video_widget);

-		video_frame->setLayout(video_layout);

-		video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);

-	}

-}

-

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

-// ITracker interface

-void Tracker::Initialize(QFrame *video_frame)

-{

-	qDebug("Tracker::Initialize");

-	// setup video frame	

-	this->video_frame = video_frame;

-	video_frame->setAttribute(Qt::WA_NativeWindow);

-	video_frame->show();

-	update_show_video_widget();

-	TrackerSettings settings;

-	settings.load_ini();

-    camera.start();

-    apply(settings);

-	start();

-}

-

 void Tracker::refreshVideo()

 {	

 	if (video_widget) video_widget->update_frame_and_points();

 }

 

-#ifdef OPENTRACK_API

 void Tracker::StartTracker(QFrame *parent_window)

-#else

-void Tracker::StartTracker(HWND parent_window)

-#endif

 {

-#ifdef OPENTRACK_API

-    Initialize(parent_window);

-#endif

-	reset_command(PAUSE);

+    this->video_frame = parent_window;

+    video_frame->setAttribute(Qt::WA_NativeWindow);

+    video_frame->show();

+    apply(s);

+    video_widget = new PTVideoWidget(video_frame, this);

+    QHBoxLayout* video_layout = new QHBoxLayout(parent_window);

+    video_layout->setContentsMargins(0, 0, 0, 0);

+    video_layout->addWidget(video_widget);

+    video_frame->setLayout(video_layout);

+    video_widget->resize(video_frame->width(), video_frame->height());

+    start();

+    camera.start();

+    start();

+    reset_command(PAUSE);

 }

 

 #ifndef OPENTRACK_API

@@ -247,18 +207,12 @@ void Tracker::GetHeadPoseData(THeadPoseData *data)
         Matx33f R = X_GH.R * X_GH_0.R.t();

 		Vec3f   t = X_GH.t - X_GH_0.t;		

 

-#ifndef OPENTRACK_API

-		// get translation(s)

-		if (bEnableX) data->x = t[0] / 10.0;	// convert to cm

-		if (bEnableY) data->y = t[1] / 10.0;

-		if (bEnableZ) data->z = t[2] / 10.0;

-#else

         // get translation(s)

-        if (bEnableX) data[TX] = t[0] / 10.0;	// convert to cm

-        if (bEnableY) data[TY] = t[1] / 10.0;

-        if (bEnableZ) data[TZ] = t[2] / 10.0;

-#endif

-		// translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame

+        if (s.bEnableX) data[TX] = t[0] / 10.0;	// convert to cm

+        if (s.bEnableY) data[TY] = t[1] / 10.0;

+        if (s.bEnableZ) data[TZ] = t[2] / 10.0;

+

+        // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame

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

 		Matx33f R_EG( 0, 0,-1,

 		             -1, 0, 0,

@@ -271,19 +225,10 @@ void Tracker::GetHeadPoseData(THeadPoseData *data)
 		alpha = atan2( R(1,0), R(0,0));

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

 

-#ifndef OPENTRACK_API

-		if (bEnableYaw)   data->yaw   =   rad2deg * alpha;

-		if (bEnablePitch) data->pitch = - rad2deg * beta;	// FTNoIR expects a minus here

-		if (bEnableRoll)  data->roll  =   rad2deg * gamma;

-#else

-        if (bEnableYaw)   data[Yaw]  =   rad2deg * alpha;

-        if (bEnablePitch) data[Pitch] = - rad2deg * beta;	// FTNoIR expects a minus here

-        if (bEnableRoll)  data[Roll]  =   rad2deg * gamma;

-#endif

+        if (s.bEnableYaw)   data[Yaw]  =   rad2deg * alpha;

+        if (s.bEnablePitch) data[Pitch] = - rad2deg * beta;	// FTNoIR expects a minus here

+        if (s.bEnableRoll)  data[Roll]  =   rad2deg * gamma;

 	}

-#ifndef OPENTRACK_API

-    return true;

-#endif

 }

 

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

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
index 54edafb2..c7f1dc02 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
@@ -39,20 +39,11 @@ class Tracker : public ITracker, QThread, public FrameProvider
 public:

 	Tracker();

     virtual ~Tracker();

-

-	// --- ITracker interface ---

-	virtual void Initialize(QFrame *videoframe);

-#ifdef OPENTRACK_API

     virtual void StartTracker(QFrame* parent_window);

     virtual void GetHeadPoseData(double* data);

-#else

-	virtual void StartTracker(HWND parent_window);

-    virtual void StopTracker(bool exit);

-    virtual bool GetHeadPoseData(THeadPoseData *data);

-#endif

     virtual void refreshVideo();

 

-	void apply(const TrackerSettings& settings);

+    void apply(settings& s);

 	void center();

 	void reset();	// reset the trackers internal state variables

 	void run();

@@ -74,20 +65,12 @@ protected:
 	};

 	void set_command(Command command);

 	void reset_command(Command command);

-	int commands;	

-

-	int sleep_time;	

+    int commands;

 

-	// --- tracking chain ---

-#ifdef OPENTRACK_API

     CVCamera       camera;

-#else

-	VICamera       camera;

-#endif

 	FrameRotation  frame_rotation;

 	PointExtractor point_extractor;

 	PointTracker   point_tracker;

-	bool           tracking_valid;

 

 	FrameTrafo X_GH_0; // for centering

 	cv::Vec3f   t_MH; // translation from model frame to head frame

@@ -96,22 +79,11 @@ protected:
 	// --- ui ---

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

 

-	void update_show_video_widget();

-	bool show_video_widget;

-#ifdef OPENTRACK_API

     PTVideoWidget* video_widget;

-#endif

 	QFrame*      video_frame;

+    bool           tracking_valid;

 

-	// --- misc ---

-	bool bEnableRoll;

-	bool bEnablePitch;

-	bool bEnableYaw;

-	bool bEnableX;

-	bool bEnableY;

-	bool bEnableZ;

-	

-	long frame_count;

+    settings s;

 	Timer time;

 };

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
index f8afa790..a88e3a07 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp
@@ -21,8 +21,7 @@ using namespace std;
 

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

 TrackerDialog::TrackerDialog()

-	: settings_dirty(false), 

-	  tracker(NULL), 

+    : tracker(NULL),

 	  video_widget_dialog(NULL),

 	  timer(this), 

 	  trans_calib_running(false)

@@ -32,191 +31,112 @@ TrackerDialog::TrackerDialog()
 

 	ui.setupUi( this );

 

-	settings.load_ini();

-	dialog_settings.load_ini();

-

-	// initialize ui values

-	ui.videowidget_check->setChecked(settings.video_widget);

-	ui.dynpose_check->setChecked(settings.dyn_pose_res);

-	ui.sleep_spin->setValue(settings.sleep_time);

-	ui.reset_spin->setValue(settings.reset_time);

-

-	vector<string> device_names;

+    vector<string> device_names;

 	get_camera_device_names(device_names);

     for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter)

 	{

 		ui.camdevice_combo->addItem(iter->c_str());

 	}

-	ui.camdevice_combo->setCurrentIndex(settings.cam_index);

-

-	ui.f_dspin->setValue(settings.cam_f);

-	ui.res_x_spin->setValue(settings.cam_res_x);

-	ui.res_y_spin->setValue(settings.cam_res_y);

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

-

-	ui.camroll_combo->addItem("-90", -1);

-	ui.camroll_combo->addItem("0"  ,  0);

-	ui.camroll_combo->addItem("90" ,  1);

-	int i = ui.camroll_combo->findData(settings.cam_roll);

-	ui.camroll_combo->setCurrentIndex(i>=0 ? i : 0);	

-

-	ui.campitch_spin->setValue(settings.cam_pitch);

-	ui.camyaw_spin->setValue(settings.cam_yaw);

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

-	ui.threshold_secondary_slider->setValue(settings.threshold_secondary);

-

-	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);

-	ui.clip_bheight_spin->setValue(dialog_settings.clip_by);

-	ui.clip_blength_spin->setValue(dialog_settings.clip_bz);

-	ui.clip_theight_spin->setValue(dialog_settings.clip_ty);

-	ui.clip_tlength_spin->setValue(dialog_settings.clip_tz);

-	ui.cap_width_spin->setValue(dialog_settings.cap_x);

-	ui.cap_height_spin->setValue(dialog_settings.cap_y);

-	ui.cap_length_spin->setValue(dialog_settings.cap_z);

-	ui.m1x_spin->setValue(dialog_settings.M01x);

-	ui.m1y_spin->setValue(dialog_settings.M01y);

-	ui.m1z_spin->setValue(dialog_settings.M01z);

-	ui.m2x_spin->setValue(dialog_settings.M02x);

-	ui.m2y_spin->setValue(dialog_settings.M02y);

-	ui.m2z_spin->setValue(dialog_settings.M02z);

-	ui.tx_spin->setValue(settings.t_MH[0]);

-	ui.ty_spin->setValue(settings.t_MH[1]);

-	ui.tz_spin->setValue(settings.t_MH[2]);

-

-	// connect Qt signals and slots

-	connect( ui.videowidget_check,SIGNAL(toggled(bool)),          this,SLOT(set_video_widget(bool)) );

-	connect( ui.dynpose_check,SIGNAL(toggled(bool)),              this,SLOT(set_dyn_pose_res(bool)) );

-	connect( ui.sleep_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_sleep_time(int)) );

-	connect( ui.reset_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_reset_time(int)) );

-	connect( ui.camdevice_combo,SIGNAL(currentIndexChanged(int)), this,SLOT(set_cam_index(int)) );	

-	connect( ui.f_dspin,SIGNAL(valueChanged(double)),             this,SLOT(set_cam_f(double)) );

-	connect( ui.res_x_spin,SIGNAL(valueChanged(int)),             this,SLOT(set_cam_res_x(int)) );

-	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.camroll_combo,SIGNAL(currentIndexChanged(int)),   this,SLOT(set_cam_roll(int)) );

-	connect( ui.campitch_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_cam_pitch(int)) );

-	connect( ui.camyaw_spin,SIGNAL(valueChanged(int)),            this,SLOT(set_cam_yaw(int)) );

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

-	connect( ui.threshold_secondary_slider,SIGNAL(sliderMoved(int)),        this,SLOT(set_threshold_secondary(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)) );

-	connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_t_height(int)) );

-	connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_t_length(int)) );

-	connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_b_height(int)) );

-	connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_clip_b_length(int)) );

-	connect( ui.cap_width_spin,SIGNAL(valueChanged(int)),         this,SLOT(set_cap_width(int)) );

-	connect( ui.cap_height_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cap_height(int)) );	

-	connect( ui.cap_length_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cap_length(int)) );

-	connect( ui.m1x_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m1x(int)) );

-	connect( ui.m1y_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m1y(int)) );

-	connect( ui.m1z_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m1z(int)) );

-	connect( ui.m2x_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m2x(int)) );

-	connect( ui.m2y_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m2y(int)) );

-	connect( ui.m2z_spin,SIGNAL(valueChanged(int)),               this,SLOT(set_m2z(int)) );

-	connect( ui.tx_spin,SIGNAL(valueChanged(int)),                this,SLOT(set_tx(int)) );

-	connect( ui.ty_spin,SIGNAL(valueChanged(int)),                this,SLOT(set_ty(int)) );

-	connect( ui.tz_spin,SIGNAL(valueChanged(int)),                this,SLOT(set_tz(int)) );

-																  

-	connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );

-

-	connect( ui.videowidget_button,SIGNAL(clicked()), this,SLOT(create_video_widget()) );

-

-	connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));

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

-

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

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

-

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

-	timer.start(100);

-}

 

-TrackerDialog::~TrackerDialog()

-{

-	qDebug()<<"TrackerDialog::~TrackerDialog";

-}

+    ui.camroll_combo->addItem("-90");

+    ui.camroll_combo->addItem("0");

+    ui.camroll_combo->addItem("90");

 

-void TrackerDialog::set_cam_roll(int idx)

-{

-	settings.cam_roll = ui.camroll_combo->itemData(idx).toInt();

-	settings_changed(); 

+    tie_setting(s.dyn_pose_res, ui.dynpose_check);

+    tie_setting(s.sleep_time, ui.sleep_spin);

+    tie_setting(s.reset_time, ui.reset_spin);

+

+    tie_setting(s.cam_index, ui.camdevice_combo);

+    tie_setting(s.cam_f, ui.f_dspin);

+    tie_setting(s.cam_res_x, ui.res_x_spin);

+    tie_setting(s.cam_res_y, ui.res_y_spin);

+    tie_setting(s.cam_fps, ui.fps_spin);

+    tie_setting(s.cam_roll, ui.camroll_combo);

+    tie_setting(s.cam_pitch, ui.campitch_spin);

+    tie_setting(s.cam_yaw, ui.camyaw_spin);

+

+    tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);

+    tie_setting(s.threshold, ui.threshold_slider);

+

+    tie_setting(s.bEnableYaw, ui.chkEnableYaw);

+    tie_setting(s.bEnablePitch, ui.chkEnablePitch);

+    tie_setting(s.bEnableRoll, ui.chkEnableRoll);

+    tie_setting(s.bEnableX, ui.chkEnableX);

+    tie_setting(s.bEnableY, ui.chkEnableY);

+    tie_setting(s.bEnableZ, ui.chkEnableZ);

+

+    tie_setting(s.min_point_size, ui.mindiam_spin);

+    tie_setting(s.max_point_size, ui.maxdiam_spin);

+

+    tie_setting(s.clip_by, ui.clip_bheight_spin);

+    tie_setting(s.clip_bz, ui.clip_blength_spin);

+    tie_setting(s.clip_ty, ui.clip_theight_spin);

+    tie_setting(s.clip_tz, ui.clip_tlength_spin);

+

+    tie_setting(s.cap_x, ui.cap_width_spin);

+    tie_setting(s.cap_y, ui.cap_height_spin);

+    tie_setting(s.cap_z, ui.cap_length_spin);

+

+    tie_setting(s.m01_x, ui.m1x_spin);

+    tie_setting(s.m01_y, ui.m1y_spin);

+    tie_setting(s.m01_z, ui.m1z_spin);

+

+    tie_setting(s.m02_x, ui.m2x_spin);

+    tie_setting(s.m02_y, ui.m2y_spin);

+    tie_setting(s.m02_z, ui.m2z_spin);

+

+    tie_setting(s.t_MH_x, ui.tx_spin);

+    tie_setting(s.t_MH_y, ui.ty_spin);

+    tie_setting(s.t_MH_z, ui.tz_spin);

+

+    connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );

+    connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));

+

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

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

+    connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply()));

+

+    ui.model_tabs->setCurrentIndex(s.active_model_panel);

+

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

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

+	timer.start(100);

+

+    connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving()));

 }

 

 void TrackerDialog::set_model_clip()

 {

-	settings.M01[0] =  0;

-	settings.M01[1] =  dialog_settings.clip_ty;

-	settings.M01[2] = -dialog_settings.clip_tz;

-	settings.M02[0] =  0;

-	settings.M02[1] = -dialog_settings.clip_by;

-	settings.M02[2] = -dialog_settings.clip_bz;

+    s.m01_x =  0;

+    s.m01_y =  static_cast<double>(s.clip_ty);

+    s.m01_z = -static_cast<double>(s.clip_tz);

+    s.m02_x =  0;

+    s.m02_y = -static_cast<double>(s.clip_by);

+    s.m02_z = -static_cast<double>(s.clip_bz);

 

 	settings_changed();

 }

 

 void TrackerDialog::set_model_cap()

 {

-	settings.M01[0] = -dialog_settings.cap_x;

-	settings.M01[1] = -dialog_settings.cap_y;

-	settings.M01[2] = -dialog_settings.cap_z;

-	settings.M02[0] =  dialog_settings.cap_x;

-	settings.M02[1] = -dialog_settings.cap_y;

-	settings.M02[2] = -dialog_settings.cap_z;

+    s.m01_x = -static_cast<double>(s.cap_x);

+    s.m01_y = -static_cast<double>(s.cap_y);

+    s.m01_z = -static_cast<double>(s.cap_z);

+    s.m02_x =  static_cast<double>(s.cap_x);

+    s.m02_y = -static_cast<double>(s.cap_y);

+    s.m02_z = -static_cast<double>(s.cap_z);

 

 	settings_changed();

 }

 

 void TrackerDialog::set_model_custom()

 {

-	settings.M01[0] = dialog_settings.M01x;

-	settings.M01[1] = dialog_settings.M01y;

-	settings.M01[2] = dialog_settings.M01z;

-	settings.M02[0] = dialog_settings.M02x;

-	settings.M02[1] = dialog_settings.M02y;

-	settings.M02[2] = dialog_settings.M02z;

-

 	settings_changed();

 }

 

 void TrackerDialog::set_model(int val)

 {

-	dialog_settings.active_model_panel = val;

-

-	switch (val) {

-

-	case TrackerDialogSettings::MODEL_CLIP:

-		set_model_clip();

-		break;

-

-	case TrackerDialogSettings::MODEL_CAP:

-		set_model_cap();

-		break;

-

-	case TrackerDialogSettings::MODEL_CUSTOM:

-		set_model_custom();

-		break;

-

-	default:

-		break;

-	}

+    s.active_model_panel = val;

 }

 

 void TrackerDialog::startstop_trans_calib(bool start)

@@ -231,7 +151,12 @@ void TrackerDialog::startstop_trans_calib(bool start)
 	{

 		qDebug()<<"TrackerDialog:: Stoppping translation calibration";

 		trans_calib_running = false;

-		settings.t_MH = trans_calib.get_estimate();

+        {

+            auto tmp = trans_calib.get_estimate();

+            s.t_MH_x = tmp[0];

+            s.t_MH_y = tmp[1];

+            s.t_MH_z = tmp[2];

+        }

 		settings_changed();

 	}

 }

@@ -244,17 +169,15 @@ void TrackerDialog::trans_calib_step()
 		tracker->get_pose(&X_CM);

 		trans_calib.update(X_CM.R, X_CM.t);

 		cv::Vec3f t_MH = trans_calib.get_estimate();

-		//qDebug()<<"TrackerDialog:: Current translation estimate: "<<t_MH[0]<<t_MH[1]<<t_MH[2];

-		ui.tx_spin->setValue(t_MH[0]);

-		ui.ty_spin->setValue(t_MH[1]);

-		ui.tz_spin->setValue(t_MH[2]);

+        s.t_MH_x = t_MH[0];

+        s.t_MH_y = t_MH[1];

+        s.t_MH_z = t_MH[2];

 	}

 }

 

 void TrackerDialog::settings_changed()

 {

-	settings_dirty = true;

-	if (tracker) tracker->apply(settings);

+    if (tracker) tracker->apply(s);

 }

 

 void TrackerDialog::doCenter()

@@ -267,25 +190,52 @@ void TrackerDialog::doReset()
 	if (tracker) tracker->reset();

 }

 

+void TrackerDialog::save()

+{

+    do_apply_without_saving();

+    s.b->save();

+}

+

 void TrackerDialog::doOK()

 {

-	settings.save_ini();

-	dialog_settings.save_ini();

+    save();

 	close();

 }

 

+void TrackerDialog::do_apply_without_saving()

+{

+    switch (s.active_model_panel) {

+    default:

+    case 0:

+        set_model_clip();

+        break;

+    case 1:

+        set_model_cap();

+        break;

+    case 2:

+        set_model_custom();

+        break;

+    }

+    if (tracker) tracker->apply(s);

+}

+

+void TrackerDialog::doApply()

+{

+    save();

+}

+

 void TrackerDialog::doCancel()

 {

-	if (settings_dirty) {

+    if (s.b->modifiedp()) {

 		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", 

 										  QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );

 		switch (ret) {

 			case QMessageBox::Save:

-				settings.save_ini();

-				dialog_settings.save_ini();

+                save();

 				close();

 				break;

 			case QMessageBox::Discard:

+                s.b->revert();

 				close();

 				break;

 			case QMessageBox::Cancel:

@@ -319,8 +269,6 @@ void TrackerDialog::create_video_widget()
 	video_widget_dialog->setAttribute( Qt::WA_DeleteOnClose );

 	connect( video_widget_dialog, SIGNAL(destroyed(QObject*)),  this, SLOT(widget_destroyed(QObject*)) );

 	video_widget_dialog->show();

-

-	ui.videowidget_button->setEnabled(false);

 }

 

 void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/)

@@ -329,7 +277,6 @@ void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/)
 		if (do_delete) delete video_widget_dialog;

 		video_widget_dialog = NULL;

 	}

-	if (tracker) ui.videowidget_button->setEnabled(true);

 }

 

 void TrackerDialog::poll_tracker_info()

@@ -369,24 +316,12 @@ void TrackerDialog::poll_tracker_info()
 	}

 }

 

-

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

-// ITrackerDialog interface

-void TrackerDialog::Initialize(QWidget *parent)

-{

-	QPoint offsetpos(200, 200);

-	if (parent) {

-		this->move(parent->pos() + offsetpos);

-	}

-	show();

-}

-

 void TrackerDialog::registerTracker(ITracker *t)

 {

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

 	tracker = static_cast<Tracker*>(t);

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

-	ui.videowidget_button->setEnabled(true);

+    if (isVisible() & s.b->modifiedp())

+        tracker->apply(s);

 	ui.tcalib_button->setEnabled(true);

 	//ui.center_button->setEnabled(true);

 	ui.reset_button->setEnabled(true);

@@ -397,19 +332,12 @@ void TrackerDialog::unRegisterTracker()
 	qDebug()<<"TrackerDialog:: Tracker un-registered";

 	tracker = NULL;

 	destroy_video_widget();

-	ui.videowidget_button->setEnabled(false);

 	ui.tcalib_button->setEnabled(false); 

 	//ui.center_button->setEnabled(false);

 	ui.reset_button->setEnabled(false);

 }

 

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

-#ifdef OPENTRACK_API

 extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )

-#else

-#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")

-FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )

-#endif

 {

 	return new TrackerDialog;

 }

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
index de743ad8..0325160d 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h
@@ -28,71 +28,24 @@ class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDi
 	Q_OBJECT

 public:

 	TrackerDialog();

-	~TrackerDialog();

-

-	// ITrackerDialog interface

-	void Initialize(QWidget *parent);

 	void registerTracker(ITracker *tracker);

 	void unRegisterTracker();

-	

+    void save();

 	void trans_calib_step();

 

-protected slots:

-	// ugly qt stuff

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

-	void set_dyn_pose_res(bool val)  { settings.dyn_pose_res = val;   settings_changed(); }

-	void set_sleep_time(int val)     { settings.sleep_time = val;     settings_changed(); }

-	void set_reset_time(int val)     { settings.reset_time = val;     settings_changed(); }

-	void set_cam_index(int idx)		 { settings.cam_index = idx;      settings_changed(); }

-	void set_cam_f(double val)       { settings.cam_f = val;          settings_changed(); }

-	void set_cam_res_x(int val)      { settings.cam_res_x = val;      settings_changed(); }

-	void set_cam_res_y(int val)      { settings.cam_res_y = val;      settings_changed(); }

-	void set_cam_fps(int val)        { settings.cam_fps = val;        settings_changed(); }

-	void set_cam_roll(int idx);

-	void set_cam_pitch(int val)      { settings.cam_pitch = val;      settings_changed(); }

-	void set_cam_yaw(int val)        { settings.cam_yaw = val;        settings_changed(); }

-	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_threshold_secondary(int val)      { settings.threshold_secondary = 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_model_clip(); }

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

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

-	void set_clip_b_length(int val)  { dialog_settings.clip_bz = val; set_model_clip(); }

-	void set_cap_width(int val)      { dialog_settings.cap_x = val;   set_model_cap(); }

-	void set_cap_height(int val)     { dialog_settings.cap_y = val;   set_model_cap(); }

-	void set_cap_length(int val)     { dialog_settings.cap_z = val;   set_model_cap(); }

-	void set_m1x(int val)            { dialog_settings.M01x = val;	  set_model_custom(); }

-	void set_m1y(int val)            { dialog_settings.M01y = val;    set_model_custom(); }

-	void set_m1z(int val)            { dialog_settings.M01z = val;    set_model_custom(); }

-	void set_m2x(int val)            { dialog_settings.M02x = val;    set_model_custom(); }

-	void set_m2y(int val)            { dialog_settings.M02y = val;    set_model_custom(); }

-	void set_m2z(int val)            { dialog_settings.M02z = val;    set_model_custom(); }

-	void set_tx(int val)             { settings.t_MH[0] = val;        settings_changed(); }

-	void set_ty(int val)             { settings.t_MH[1] = val;        settings_changed(); }

-	void set_tz(int val)             { settings.t_MH[2] = val;        settings_changed(); }

-	void set_model(int model_id);

-

-	void doCenter();

-	void doReset();

-

+public slots:

+    void doCenter();

+    void doReset();

 	void doOK();

+    void doApply();

 	void doCancel();

+    void do_apply_without_saving();

 

 	void startstop_trans_calib(bool start);

-

 	void widget_destroyed(QObject* obj);

-

 	void create_video_widget();

-

 	void poll_tracker_info();

+    void set_model(int idx);

 

 protected:

 	void destroy_video_widget(bool do_delete = true);

@@ -103,15 +56,11 @@ protected:
 

 	void settings_changed();

 

-	TrackerSettings settings;

-	TrackerDialogSettings dialog_settings;

-	bool settings_dirty;

-

+    settings s;

 	Tracker* tracker;

+    VideoWidgetDialog* video_widget_dialog;

 	QTimer timer;

 

-	VideoWidgetDialog* video_widget_dialog;

-

 	TranslationCalibrator trans_calib;

 	bool trans_calib_running;

 

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
deleted file mode 100644
index 50835cb8..00000000
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp
+++ /dev/null
@@ -1,156 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff

- *

- * 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.

- */

-

-#include "ftnoir_tracker_pt.h"

-#include <QCoreApplication>

-#include <QSettings>

-

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

-void TrackerSettings::load_ini()

-{

-	qDebug("TrackerSettings::load_ini()");

-

-    QSettings settings("opentrack");

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup( "PointTracker" );

-

-	cam_index      = iniFile.value("CameraId",     0).toInt();

-	cam_f          = iniFile.value("CameraF",      1).toFloat();

-	cam_res_x      = iniFile.value("CameraResX", 640).toInt();

-	cam_res_y      = iniFile.value("CameraResY", 480).toInt();

-	cam_fps        = iniFile.value("CameraFPS",   30).toInt();

-	cam_roll       = iniFile.value("CameraRoll",   0).toInt();

-	cam_pitch      = iniFile.value("CameraPitch",  0).toInt();

-	cam_yaw        = iniFile.value("CameraYaw",    0).toInt();

-	threshold      = iniFile.value("PointExtractThreshold", 128).toInt();

-	threshold_secondary      = iniFile.value("PointExtractThresholdSecondary", 128).toInt();

-	min_point_size = iniFile.value("PointExtractMinSize", 2).toInt();

-	max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt();

-	M01[0]  = iniFile.value("PointModelM01x",   0).toFloat();

-	M01[1]  = iniFile.value("PointModelM01y",  40).toFloat();

-	M01[2]  = iniFile.value("PointModelM01z", -30).toFloat();

-	M02[0]  = iniFile.value("PointModelM02x",   0).toFloat();

-	M02[1]  = iniFile.value("PointModelM02y", -70).toFloat();

-	M02[2]  = iniFile.value("PointModelM02z", -80).toFloat();

-	t_MH[0] = iniFile.value("tMHx", 0).toFloat();

-	t_MH[1] = iniFile.value("tMHy", 0).toFloat();

-	t_MH[2] = iniFile.value("tMHz", 0).toFloat();

-	dyn_pose_res = iniFile.value("DynamicPoseResolution", true).toBool();

-	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();

-}

-

-void TrackerSettings::save_ini() const

-{

-	qDebug("TrackerSettings::save_ini()");

-

-    QSettings settings("opentrack");

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup ( "PointTracker" );

-

-	iniFile.setValue("CameraId",       cam_index);

-	iniFile.setValue("CameraF",        cam_f);

-	iniFile.setValue("CameraResX",     cam_res_x);

-	iniFile.setValue("CameraResY",     cam_res_y);

-	iniFile.setValue("CameraFPS",      cam_fps);

-	iniFile.setValue("CameraRoll",     cam_roll);

-	iniFile.setValue("CameraPitch",    cam_pitch);

-	iniFile.setValue("CameraYaw",      cam_yaw);

-	iniFile.setValue("PointExtractThreshold", threshold);

-	iniFile.setValue("PointExtractThresholdSecondary", threshold_secondary);

-	iniFile.setValue("PointExtractMinSize", min_point_size);

-	iniFile.setValue("PointExtractMaxSize", max_point_size);

-	iniFile.setValue("PointModelM01x", M01[0]);

-	iniFile.setValue("PointModelM01y", M01[1]);

-	iniFile.setValue("PointModelM01z", M01[2]);

-	iniFile.setValue("PointModelM02x", M02[0]);

-	iniFile.setValue("PointModelM02y", M02[1]);

-	iniFile.setValue("PointModelM02z", M02[2]);

-	iniFile.setValue("tMHx", t_MH[0]);

-	iniFile.setValue("tMHy", t_MH[1]);

-	iniFile.setValue("tMHz", t_MH[2]);

-	iniFile.setValue("DynamicPoseResolution", dyn_pose_res);

-	iniFile.setValue("VideoWidget", video_widget);

-	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();

-}

-

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

-void TrackerDialogSettings::load_ini()

-{

-	qDebug("TrackerDialogSettings::load_ini()");

-

-    QSettings settings("opentrack");

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup( "PointTrackerDialog" );

-

-	active_model_panel = iniFile.value("ActiveModelPanel", MODEL_CLIP).toInt();

-	M01x    = iniFile.value("CustomM01x",   0).toInt();

-	M01y    = iniFile.value("CustomM01y",  40).toInt();

-	M01z    = iniFile.value("CustomM01z", -30).toInt();

-	M02x    = iniFile.value("CustomM02x",   0).toInt();

-	M02y    = iniFile.value("CustomM02y", -70).toInt();

-	M02z    = iniFile.value("CustomM02z", -80).toInt();

-	clip_ty = iniFile.value("ClipTopHeight", 40).toInt();

-	clip_tz = iniFile.value("ClipTopLength", 30).toInt();

-	clip_by = iniFile.value("ClipBottomHeight", 70).toInt();

-	clip_bz = iniFile.value("ClipBottomLength", 80).toInt();

-	cap_x   = iniFile.value("CapHalfWidth", 40).toInt();

-	cap_y   = iniFile.value("CapHeight", 60).toInt();

-	cap_z   = iniFile.value("CapLength", 100).toInt();

-}

-

-void TrackerDialogSettings::save_ini() const

-{

-	qDebug("TrackerDialogSettings::save_ini()");

-

-    QSettings settings("opentrack");

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup ( "PointTrackerDialog" );

-

-	iniFile.setValue("ActiveModelPanel", active_model_panel);

-	iniFile.setValue("CustomM01x", M01x);

-	iniFile.setValue("CustomM01y", M01y);

-	iniFile.setValue("CustomM01z", M01z);

-	iniFile.setValue("CustomM02x", M02x);

-	iniFile.setValue("CustomM02y", M02y);

-	iniFile.setValue("CustomM02z", M02z);

-	iniFile.setValue("ClipTopHeight", clip_ty);

-	iniFile.setValue("ClipTopLength", clip_tz);

-	iniFile.setValue("ClipBottomHeight", clip_by);

-	iniFile.setValue("ClipBottomLength", clip_bz);

-	iniFile.setValue("CapHalfWidth", cap_x);

-	iniFile.setValue("CapHeight", cap_y);

-	iniFile.setValue("CapLength", cap_z);

-}

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
index 91a7a8d5..8c590db2 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h
@@ -11,80 +11,81 @@
 #include <opencv2/opencv.hpp>

 #include "point_tracker.h"

 

+#include "facetracknoir/options.hpp"

+using namespace options;

 

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

-// Tracker settings and their ini-IO

-struct TrackerSettings

-{	

-	// camera

-	int cam_index;

-	float cam_f;

-	int cam_res_x;

-	int cam_res_y;

-	int cam_fps;

-	int cam_roll;

-	int cam_pitch;

-	int cam_yaw;

-

-	// point extraction

-	int threshold;

-	int threshold_secondary;

-	

-	int min_point_size;

-	int max_point_size;

-

-	// point tracking

-	cv::Vec3f M01;

-	cv::Vec3f M02;

-	bool dyn_pose_res;

-

-	// head to model translation

-	cv::Vec3f t_MH;

-

-	int sleep_time; // in ms

-	int reset_time; // in ms

-	bool video_widget;

+struct settings

+{

+    pbundle b;

+    value<int> cam_index,

+               cam_res_x,

+               cam_res_y,

+               cam_fps,

+               cam_roll,

+               cam_pitch,

+               cam_yaw,

+               threshold,

+               threshold_secondary,

+               min_point_size,

+               max_point_size;

+    value<double> cam_f;

 

-	bool bEnableRoll;

-	bool bEnablePitch;

-	bool bEnableYaw;

-	bool bEnableX;

-	bool bEnableY;

-	bool bEnableZ;

+    value<int> m01_x, m01_y, m01_z;

+    value<int> m02_x, m02_y, m02_z;

+    value<bool> dyn_pose_res, video_widget;

 

-	void load_ini();

-	void save_ini() const;

-};

+    value<int> t_MH_x, t_MH_y, t_MH_z;

 

+    value<int> sleep_time, reset_time;

 

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

-// Settings specific to the tracker dialog and their ini-IO

-struct TrackerDialogSettings

-{

-	enum

-	{

-		MODEL_CLIP,

-		MODEL_CAP,

-		MODEL_CUSTOM

-	};

-	int active_model_panel;

+    value<bool> bEnableYaw, bEnablePitch, bEnableRoll;

+    value<bool> bEnableX, bEnableY, bEnableZ;

 

-	int M01x;

-	int M01y;

-	int M01z;

-	int M02x;

-	int M02y;

-	int M02z;

-	int clip_ty;

-	int clip_tz;

-	int clip_by;

-	int clip_bz;

-	int cap_x;

-	int cap_y;

-	int cap_z;

+    value<int> clip_ty, clip_tz, clip_by, clip_bz;

+    value<int> active_model_panel, cap_x, cap_y, cap_z;

 

-	void load_ini();

-	void save_ini() const;

+    settings() :

+        b(bundle("tracker-pt")),

+        cam_index(b, "camera-index", 0),

+        cam_res_x(b, "camera-res-width", 640),

+        cam_res_y(b, "camera-res-height", 480),

+        cam_fps(b, "camera-fps", 30),

+        cam_roll(b, "camera-roll", 1),

+        cam_pitch(b, "camera-pitch", 0),

+        cam_yaw(b, "camera-yaw", 0),

+        threshold(b, "threshold-primary", 128),

+        threshold_secondary(b, "threshold-secondary", 128),

+        min_point_size(b, "min-point-size", 10),

+        max_point_size(b, "max-point-size", 50),

+        cam_f(b, "camera-focal-length", 1),

+        m01_x(b, "m_01-x", 0),

+        m01_y(b, "m_01-y", 0),

+        m01_z(b, "m_01-z", 0),

+        m02_x(b, "m_02-x", 0),

+        m02_y(b, "m_02-y", 0),

+        m02_z(b, "m_02-z", 0),

+        dyn_pose_res(b, "dynamic-pose-resolution", false),

+        video_widget(b, "video-widget", true),

+        t_MH_x(b, "model-centroid-x", 0),

+        t_MH_y(b, "model-centroid-y", 0),

+        t_MH_z(b, "model-centroid-z", 0),

+        sleep_time(b, "sleep-time", 0),

+        reset_time(b, "reset-time", 0),

+        bEnableYaw(b, "enable-yaw", true),

+        bEnablePitch(b, "enable-pitch", true),

+        bEnableRoll(b, "enable-roll", true),

+        bEnableX(b, "enable-x", true),

+        bEnableY(b, "enable-y", true),

+        bEnableZ(b, "enable-z", true),

+        clip_ty(b, "clip-ty", 0),

+        clip_tz(b, "clip-tz", 0),

+        clip_by(b, "clip-by", 0),

+        clip_bz(b, "clip-bz", 0),

+        active_model_panel(b, "active-model-panel", 0),

+        cap_x(b, "cap-x", 0),

+        cap_y(b, "cap-y", 0),

+        cap_z(b, "cap-z", 0)

+    {}

 };

 

-#endif //FTNOIR_TRACKER_PT_SETTINGS_H
\ No newline at end of file
+#endif //FTNOIR_TRACKER_PT_SETTINGS_H