flush

It crashes after drawing a frame for now.

7 files changed, 628 insertions, 186 deletions

diff --git a/facetracknoir/options-dialog.cpp b/facetracknoir/options-dialog.cpp
index 9afeba7c..08c92ee8 100644
--- a/facetracknoir/options-dialog.cpp
+++ b/facetracknoir/options-dialog.cpp
@@ -1,6 +1,7 @@
 #include "options-dialog.hpp"
+#include "ftnoir_tracker_pt/camera.h"
 
-OptionsDialog::OptionsDialog()
+OptionsDialog::OptionsDialog(State& state) : state(state), trans_calib_running(false)
 {
     ui.setupUi( this );
 
@@ -67,6 +68,16 @@ OptionsDialog::OptionsDialog()
     tie_setting(pt.fov, ui.camera_fov);
     
     tie_setting(pt.is_cap, ui.model_cap);
+    
+    tie_setting(acc.rot_threshold, ui.rotation_slider);
+    tie_setting(acc.trans_threshold, ui.translation_slider);
+    tie_setting(acc.ewma, ui.ewma_slider);
+    tie_setting(acc.rot_deadzone, ui.rot_dz_slider);
+    tie_setting(acc.trans_deadzone, ui.trans_dz_slider);
+    
+    connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+    connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
+    timer.start(100);
 }
 
 void OptionsDialog::doOK() {
@@ -85,3 +96,113 @@ void OptionsDialog::doCancel() {
     ui.game_detector->revert();
     close();
 }
+
+void OptionsDialog::startstop_trans_calib(bool start)
+{
+    auto tracker = get_pt();
+    if (!tracker)
+    {
+        ui.tcalib_button->setChecked(false);
+        return;
+    }
+        
+    if (start)
+    {
+        qDebug()<<"TrackerDialog:: Starting translation calibration";
+        trans_calib.reset();
+        trans_calib_running = true;
+        pt.t_MH_x = 0;
+        pt.t_MH_y = 0;
+        pt.t_MH_z = 0;
+    }
+    else
+    {
+        qDebug()<<"TrackerDialog:: Stopping translation calibration";
+        trans_calib_running = false;
+        {
+            auto tmp = trans_calib.get_estimate();
+            pt.t_MH_x = tmp[0];
+            pt.t_MH_y = tmp[1];
+            pt.t_MH_z = tmp[2];
+        }
+    }
+}
+
+void OptionsDialog::poll_tracker_info()
+{
+    auto tracker = get_pt();
+    if (tracker)
+    {
+        QString to_print;
+
+        // display caminfo
+        CamInfo info;
+        tracker->get_cam_info(&info);
+        to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
+        ui.caminfo_label->setText(to_print);
+
+        // display pointinfo
+        int n_points = tracker->get_n_points();
+        to_print = QString::number(n_points);
+        if (n_points == 3)
+            to_print += " OK!";
+        else
+            to_print += " BAD!";
+        ui.pointinfo_label->setText(to_print);
+
+        // update calibration
+        if (trans_calib_running) trans_calib_step();
+    }
+    else
+    {
+        QString to_print = "Tracker offline";
+        ui.caminfo_label->setText(to_print);
+        ui.pointinfo_label->setText(to_print);
+    }
+}
+
+void OptionsDialog::trans_calib_step()
+{
+    auto tracker = get_pt();
+    if (tracker)
+    {
+        Affine X_CM = tracker->pose();
+        trans_calib.update(X_CM.R, X_CM.t);
+    }
+}
+
+Tracker_PT* OptionsDialog::get_pt()
+{
+    auto work = state.work.get();
+    if (!work)
+        return nullptr;
+    auto ptr = work->libs.pTracker;
+    if (ptr)
+        return static_cast<Tracker_PT*>(ptr.get());
+    return nullptr;
+}
+
+void OptionsDialog::update_rot_display(int value)
+{
+    ui.rot_gain->setText(QString::number((value + 1) * 10 / 100.) + "°");
+}
+
+void OptionsDialog::update_trans_display(int value)
+{
+    ui.trans_gain->setText(QString::number((value + 1) * 5 / 100.) + "mm");
+}
+
+void OptionsDialog::update_ewma_display(int value)
+{
+    ui.ewma_label->setText(QString::number(value * 2) + "ms");
+}
+
+void OptionsDialog::update_rot_dz_display(int value)
+{
+    ui.rot_dz->setText(QString::number(value * 2 / 100.) + "°");
+}
+
+void OptionsDialog::update_trans_dz_display(int value)
+{
+    ui.trans_dz->setText(QString::number(value * 1 / 100.) + "mm");
+}
diff --git a/facetracknoir/options-dialog.hpp b/facetracknoir/options-dialog.hpp
index 33ae1810..6f752a08 100644
--- a/facetracknoir/options-dialog.hpp
+++ b/facetracknoir/options-dialog.hpp
@@ -2,9 +2,14 @@
 
 #include <QObject>
 #include <QWidget>
+#include <QTimer>
 #include "ui_settings.h"
+#include "opentrack/state.hpp"
 #include "opentrack/shortcuts.h"
 #include "ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h"
+#include "facetracknoir/trans_calib.h"
+#include "ftnoir_tracker_pt/ftnoir_tracker_pt.h"
+#include "ftnoir_filter_accela/ftnoir_filter_accela.h"
 
 class OptionsDialog: public QWidget
 {
@@ -12,12 +17,28 @@ class OptionsDialog: public QWidget
 signals:
     void reload();
 public:
-    OptionsDialog();
+    OptionsDialog(State &state);
 private:
     Ui::UI_Settings ui;
     Shortcuts::settings s;
     settings_pt pt;
+    settings_accela acc;
+    QTimer timer;
+    State& state;
+	TranslationCalibrator trans_calib;
+	bool trans_calib_running;
+
+    Tracker_PT* get_pt();
+    
+    void update_ewma_display(int value);
+    void update_rot_display(int value);
+    void update_trans_display(int value);
+    void update_rot_dz_display(int value);
+    void update_trans_dz_display(int value);
 private slots:
     void doOK();
     void doCancel();
+    void startstop_trans_calib(bool start);
+    void poll_tracker_info();
+    void trans_calib_step();
 };
diff --git a/facetracknoir/settings.ui b/facetracknoir/settings.ui
index 240ed522..5c6c7f32 100644
--- a/facetracknoir/settings.ui
+++ b/facetracknoir/settings.ui
@@ -296,8 +296,135 @@
       <attribute name="title">
        <string>Camera</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
+      <layout class="QGridLayout" name="gridLayout_9">
+       <item row="4" column="0">
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item row="2" column="0">
+        <widget class="QGroupBox" name="groupBox_6">
+         <property name="title">
+          <string>Point extraction</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <item>
+           <widget class="QFrame" name="frame_2">
+            <property name="frameShape">
+             <enum>QFrame::StyledPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
+            <layout class="QGridLayout" name="gridLayout_10">
+             <item row="0" column="0">
+              <widget class="QLabel" name="label">
+               <property name="text">
+                <string>Threshold</string>
+               </property>
+               <property name="buddy">
+                <cstring>threshold_slider</cstring>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QSlider" name="threshold_slider">
+               <property name="toolTip">
+                <string>Intensity threshold for point extraction</string>
+               </property>
+               <property name="maximum">
+                <number>255</number>
+               </property>
+               <property name="pageStep">
+                <number>1</number>
+               </property>
+               <property name="value">
+                <number>127</number>
+               </property>
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="tickPosition">
+                <enum>QSlider::TicksBothSides</enum>
+               </property>
+               <property name="tickInterval">
+                <number>25</number>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </widget>
+          </item>
+          <item>
+           <widget class="QFrame" name="frame">
+            <property name="frameShape">
+             <enum>QFrame::NoFrame</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
+            <layout class="QGridLayout" name="gridLayout_3">
+             <item row="0" column="0">
+              <widget class="QLabel" name="label_29">
+               <property name="text">
+                <string>Min size</string>
+               </property>
+               <property name="buddy">
+                <cstring>mindiam_spin</cstring>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QSpinBox" name="mindiam_spin">
+               <property name="toolTip">
+                <string>Minimum point diameter</string>
+               </property>
+               <property name="suffix">
+                <string> px</string>
+               </property>
+               <property name="maximum">
+                <number>1024</number>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="2">
+              <widget class="QLabel" name="label_22">
+               <property name="text">
+                <string>Max size</string>
+               </property>
+               <property name="buddy">
+                <cstring>maxdiam_spin</cstring>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="3">
+              <widget class="QSpinBox" name="maxdiam_spin">
+               <property name="toolTip">
+                <string>Maximum point diameter</string>
+               </property>
+               <property name="suffix">
+                <string> px</string>
+               </property>
+               <property name="maximum">
+                <number>1024</number>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="0" column="0">
         <widget class="QGroupBox" name="groupBox_5">
          <property name="title">
           <string>Camera offset</string>
@@ -403,7 +530,7 @@
          </layout>
         </widget>
        </item>
-       <item>
+       <item row="1" column="0">
         <widget class="QGroupBox" name="groupBox_9">
          <property name="title">
           <string>Device</string>
@@ -464,133 +591,29 @@
          </layout>
         </widget>
        </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_6">
+       <item row="3" column="0">
+        <widget class="QGroupBox" name="groupBox_11">
          <property name="title">
-          <string>Point extraction</string>
+          <string>Status</string>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout_3">
+         <layout class="QHBoxLayout" name="horizontalLayout">
           <item>
-           <widget class="QFrame" name="frame_2">
-            <property name="frameShape">
-             <enum>QFrame::StyledPanel</enum>
-            </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
+           <widget class="QLabel" name="caminfo_label">
+            <property name="text">
+             <string>Not running</string>
             </property>
-            <layout class="QGridLayout" name="gridLayout_10">
-             <item row="0" column="0">
-              <widget class="QLabel" name="label">
-               <property name="text">
-                <string>Threshold</string>
-               </property>
-               <property name="buddy">
-                <cstring>threshold_slider</cstring>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="1">
-              <widget class="QSlider" name="threshold_slider">
-               <property name="toolTip">
-                <string>Intensity threshold for point extraction</string>
-               </property>
-               <property name="maximum">
-                <number>255</number>
-               </property>
-               <property name="pageStep">
-                <number>1</number>
-               </property>
-               <property name="value">
-                <number>127</number>
-               </property>
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="tickPosition">
-                <enum>QSlider::TicksBothSides</enum>
-               </property>
-               <property name="tickInterval">
-                <number>25</number>
-               </property>
-              </widget>
-             </item>
-            </layout>
            </widget>
           </item>
           <item>
-           <widget class="QFrame" name="frame">
-            <property name="frameShape">
-             <enum>QFrame::NoFrame</enum>
-            </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
+           <widget class="QLabel" name="pointinfo_label">
+            <property name="text">
+             <string/>
             </property>
-            <layout class="QGridLayout" name="gridLayout_3">
-             <item row="0" column="0">
-              <widget class="QLabel" name="label_29">
-               <property name="text">
-                <string>Min size</string>
-               </property>
-               <property name="buddy">
-                <cstring>mindiam_spin</cstring>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="1">
-              <widget class="QSpinBox" name="mindiam_spin">
-               <property name="toolTip">
-                <string>Minimum point diameter</string>
-               </property>
-               <property name="suffix">
-                <string> px</string>
-               </property>
-               <property name="maximum">
-                <number>1024</number>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="2">
-              <widget class="QLabel" name="label_22">
-               <property name="text">
-                <string>Max size</string>
-               </property>
-               <property name="buddy">
-                <cstring>maxdiam_spin</cstring>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="3">
-              <widget class="QSpinBox" name="maxdiam_spin">
-               <property name="toolTip">
-                <string>Maximum point diameter</string>
-               </property>
-               <property name="suffix">
-                <string> px</string>
-               </property>
-               <property name="maximum">
-                <number>1024</number>
-               </property>
-              </widget>
-             </item>
-            </layout>
            </widget>
           </item>
          </layout>
         </widget>
        </item>
-       <item>
-        <spacer name="verticalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab_2">
@@ -684,7 +707,7 @@
           </sizepolicy>
          </property>
          <property name="title">
-          <string>Model position</string>
+          <string>Model position calibration</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_11">
           <item row="0" column="0">
@@ -1299,6 +1322,261 @@
        </item>
       </layout>
      </widget>
+     <widget class="QWidget" name="tab_6">
+      <attribute name="title">
+       <string>Filter</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_15">
+       <item row="0" column="0">
+        <widget class="QFrame" name="frame_4">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_14">
+          <item row="1" column="3">
+           <widget class="QSlider" name="rotation_slider">
+            <property name="maximum">
+             <number>99</number>
+            </property>
+            <property name="pageStep">
+             <number>5</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>25</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="lblSensYaw_6">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="styleSheet">
+             <string notr="true">color:#0;
+background:none;</string>
+            </property>
+            <property name="text">
+             <string>Rotation sensitivity</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_6">
+            <property name="text">
+             <string>Smoothing</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="ewma_label">
+            <property name="minimumSize">
+             <size>
+              <width>48</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>0 ms</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLabel" name="rot_gain">
+            <property name="text">
+             <string>0°</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QSlider" name="ewma_slider">
+            <property name="maximum">
+             <number>100</number>
+            </property>
+            <property name="singleStep">
+             <number>10</number>
+            </property>
+            <property name="pageStep">
+             <number>25</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>25</number>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="0">
+           <widget class="QLabel" name="label_27">
+            <property name="text">
+             <string>Translation deadzone</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_28">
+            <property name="text">
+             <string>Rotation deadzone</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="3">
+           <widget class="QSlider" name="rot_dz_slider">
+            <property name="maximum">
+             <number>100</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QLabel" name="rot_dz">
+            <property name="text">
+             <string>0°</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="3">
+           <widget class="QSlider" name="trans_dz_slider">
+            <property name="maximum">
+             <number>100</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="1">
+           <widget class="QLabel" name="trans_dz">
+            <property name="text">
+             <string>0mm</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="0">
+           <widget class="QLabel" name="label_30">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>Translation sensitivity</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <widget class="QLabel" name="trans_gain">
+            <property name="text">
+             <string>0mm</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="3">
+           <widget class="QSlider" name="translation_slider">
+            <property name="maximum">
+             <number>99</number>
+            </property>
+            <property name="pageStep">
+             <number>5</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>25</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QGroupBox" name="groupBox_12">
+         <property name="title">
+          <string>GroupBox</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_13">
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_26">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>7</pointsize>
+             </font>
+            </property>
+            <property name="frameShape">
+             <enum>QFrame::NoFrame</enum>
+            </property>
+            <property name="text">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;justify&quot;&gt;&lt;br/&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Accela by &lt;/span&gt;&lt;a href=&quot;https://github.com/sthalik&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Stanisław Halik&lt;/span&gt;&lt;/a&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;&lt;br/&gt;Thanks to &lt;/span&gt;&lt;a href=&quot;https://github.com/dbaarda&quot;&gt;&lt;span style=&quot; font-size:10pt; text-decoration: underline; color:#0057ae;&quot;&gt;Donovan Baarda&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;2012-2015&lt;/span&gt;&lt;/p&gt;&lt;p align=&quot;right&quot;&gt;&lt;br/&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="textFormat">
+             <enum>Qt::RichText</enum>
+            </property>
+            <property name="scaledContents">
+             <bool>false</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+            <property name="margin">
+             <number>0</number>
+            </property>
+            <property name="indent">
+             <number>0</number>
+            </property>
+            <property name="openExternalLinks">
+             <bool>true</bool>
+            </property>
+            <property name="textInteractionFlags">
+             <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_5">
+            <property name="text">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Visit &lt;a href=&quot;https://github.com/opentrack/opentrack/wiki/Accela-in-opentrack-2.3&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;our wiki&lt;/span&gt;&lt;/a&gt; for description of the settings.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="openExternalLinks">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
      <widget class="QWidget" name="tab_5">
       <attribute name="title">
        <string>Game detection</string>
diff --git a/facetracknoir/trans_calib.cpp b/facetracknoir/trans_calib.cpp
new file mode 100644
index 00000000..2994eb48
--- /dev/null
+++ b/facetracknoir/trans_calib.cpp
@@ -0,0 +1,44 @@
+/* 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 "trans_calib.h"
+
+using namespace cv;
+
+//-----------------------------------------------------------------------------
+TranslationCalibrator::TranslationCalibrator()
+{
+	reset();
+}
+
+void TranslationCalibrator::reset()
+{
+	P = Matx66f::zeros();
+	y = Vec6f(0,0,0, 0,0,0);
+}
+
+void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+{
+	Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
+	for (int i=0; i<3; ++i) {
+		for (int j=0; j<3; ++j) {
+			H_k_T(i,j) = R_CM_k(j,i);
+		}
+	}
+	for (int i=0; i<3; ++i)
+	{
+		H_k_T(3+i,i) = 1.0;
+	}
+	P += H_k_T * H_k_T.t();
+	y += H_k_T * t_CM_k;
+}
+
+Vec3f TranslationCalibrator::get_estimate()
+{
+	Vec6f x = P.inv() * y;
+	return Vec3f(-x[0], -x[1], -x[2]);
+}
diff --git a/facetracknoir/trans_calib.h b/facetracknoir/trans_calib.h
new file mode 100644
index 00000000..c2c02b38
--- /dev/null
+++ b/facetracknoir/trans_calib.h
@@ -0,0 +1,39 @@
+/* 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.
+ */
+
+#ifndef TRANSCALIB_H
+#define TRANSCALIB_H
+
+#include <opencv2/core/core.hpp>
+
+//-----------------------------------------------------------------------------
+// Calibrates the translation from head to model = t_MH
+// by recursive least squares /
+// kalman filter in information form with identity noise covariance
+// measurement equation when head position = t_CH is fixed:
+// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
+
+class TranslationCalibrator
+{
+public:
+    TranslationCalibrator();
+
+    // reset the calibration process
+    void reset();
+
+    // update the current estimate
+    void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+
+    // get the current estimate for t_MH
+    cv::Vec3f get_estimate();
+
+private:
+    cv::Matx66f P;	// normalized precision matrix = inverse covariance
+    cv::Vec6f y;	// P*(-t_MH, t_CH)
+};
+
+#endif //TRANSCALIB_H
diff --git a/facetracknoir/ui.cpp b/facetracknoir/ui.cpp
index d1d43a24..7e0a78cc 100644
--- a/facetracknoir/ui.cpp
+++ b/facetracknoir/ui.cpp
@@ -24,6 +24,8 @@
 #include "ui.h"
 #include "opentrack/tracker.h"
 #include "opentrack/options.hpp"
+#include "ftnoir_tracker_pt/ftnoir_tracker_pt.h"
+#include "ftnoir_filter_accela/ftnoir_filter_accela.h"
 #include <QFileDialog>
 #include <QFileInfo>
 
@@ -208,7 +210,8 @@ void MainWindow::startTracker() {
     // tracker dtor needs run first
     work = nullptr;
 
-    libs = SelectedLibraries(ui.video_frame, current_tracker(), current_protocol(), current_filter());
+    libs = SelectedLibraries(ui.video_frame, std::make_shared<Tracker_PT>(), current_protocol(), std::make_shared<FTNoIR_Filter>());
+    
     work = std::make_shared<Work>(s, pose, libs, this, winId());
 
     {
@@ -225,12 +228,6 @@ void MainWindow::startTracker() {
         return;
     }
     
-    if (pTrackerDialog)
-        pTrackerDialog->register_tracker(libs.pTracker.get());
-    
-    if (pFilterDialog)
-        pFilterDialog->register_filter(libs.pFilter.get());
-    
     if (pProtocolDialog)
         pProtocolDialog->register_protocol(libs.pProtocol.get());
     
@@ -248,24 +245,12 @@ void MainWindow::stopTracker( ) {
     pose_update_timer.stop();
     ui.pose_display->rotateBy(0, 0, 0, 0, 0, 0);
 
-    if (pTrackerDialog)
-    {
-        pTrackerDialog->unregister_tracker();
-        pTrackerDialog = nullptr;
-    }
-
     if (pProtocolDialog)
     {
         pProtocolDialog->unregister_protocol();
         pProtocolDialog = nullptr;
     }
 
-    if (pFilterDialog)
-    {
-        pFilterDialog->unregister_filter();
-        pFilterDialog = nullptr;
-    }
-
     work = nullptr;
     libs = SelectedLibraries();
 
@@ -338,24 +323,6 @@ mem<t> mk_dialog(mem<dylib> lib)
     return nullptr;
 }
 
-void MainWindow::showTrackerSettings()
-{
-    if (pTrackerDialog && pTrackerDialog->isVisible())
-    {
-        pTrackerDialog->show();
-        pTrackerDialog->raise();
-    }
-    else
-    {
-        auto dialog = mk_dialog<ITrackerDialog>(current_tracker());
-        pTrackerDialog = dialog;
-        if (libs.pTracker != nullptr)
-            dialog->register_tracker(libs.pTracker.get());
-        dialog->show();
-        dialog->raise();
-    }
-}
-
 void MainWindow::showProtocolSettings() {
     if (pProtocolDialog && pProtocolDialog->isVisible())
     {
@@ -372,22 +339,6 @@ void MainWindow::showProtocolSettings() {
     }
 }
 
-void MainWindow::showFilterSettings() {
-    if (pFilterDialog && pFilterDialog->isVisible())
-    {
-        pFilterDialog->show();
-        pFilterDialog->raise();
-    } else
-    {
-        auto dialog = mk_dialog<IFilterDialog>(current_filter());
-        pFilterDialog = dialog;
-        if (libs.pFilter != nullptr)
-            dialog->register_filter(libs.pFilter.get());
-        dialog->show();
-        dialog->raise();
-    }
-}
-
 void MainWindow::showKeyboardShortcuts() {
     if (shortcuts_widget && shortcuts_widget->isVisible())
     {
@@ -396,7 +347,7 @@ void MainWindow::showKeyboardShortcuts() {
     }
     else
     {
-        shortcuts_widget = std::make_shared<OptionsDialog>();
+        shortcuts_widget = std::make_shared<OptionsDialog>(static_cast<State&>(*this));
         shortcuts_widget->setWindowFlags(Qt::Dialog);
         connect(shortcuts_widget.get(), SIGNAL(reload()), this, SLOT(bindKeyboardShortcuts()));
         shortcuts_widget->show();
diff --git a/facetracknoir/ui.h b/facetracknoir/ui.h
index 10f5c814..1a4ce5cb 100644
--- a/facetracknoir/ui.h
+++ b/facetracknoir/ui.h
@@ -71,23 +71,13 @@ class MainWindow : public QMainWindow, private State
     mem<MapWidget> mapping_widget;
     QShortcut kbd_quit;
     QPixmap no_feed_pixmap;
-    mem<IFilterDialog> pFilterDialog;
     mem<IProtocolDialog> pProtocolDialog;
-    mem<ITrackerDialog> pTrackerDialog;
     process_detector_worker det;
 
-    mem<dylib> current_tracker()
-    {
-        return modules.trackers().value(0, nullptr);
-    }
     mem<dylib> current_protocol()
     {
         return modules.protocols().value(ui.iconcomboProtocol->currentIndex(), nullptr);
     }
-    mem<dylib> current_filter()
-    {
-        return modules.filters().value(0, nullptr);
-    }
 
     void changeEvent(QEvent* e) override;
 
@@ -109,9 +99,7 @@ private slots:
     void exit();
     void profileSelected(int index);
 
-    void showTrackerSettings();
     void showProtocolSettings();
-    void showFilterSettings();
     void showKeyboardShortcuts();
     void showCurveConfiguration();
     void showHeadPose();