Merge branch 'unstable' into trackhat-ui

7 files changed, 144 insertions, 199 deletions

diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc
index 655baa9d..020ffe97 100644
--- a/facetracknoir/facetracknoir.rc
+++ b/facetracknoir/facetracknoir.rc
@@ -1,2 +1,2 @@
-#include <windows.h>

-IDI_ICON1               ICON                    "facetracknoir.ico"

+#include <windows.h>
+IDI_ICON1               ICON                    "facetracknoir.ico"
diff --git a/facetracknoir/keyboard.h b/facetracknoir/keyboard.h
new file mode 100644
index 00000000..a7673f8f
--- /dev/null
+++ b/facetracknoir/keyboard.h
@@ -0,0 +1,37 @@
+#pragma once
+#include "ui_keyboard_listener.h"
+#include <QLabel>
+#include <QKeyEvent>
+#include <QDebug>
+
+class KeyboardListener : public QLabel
+{
+    Q_OBJECT
+    Ui_keyboard_listener ui;
+public:
+    KeyboardListener(QWidget* parent = nullptr) : QLabel(parent)
+    {
+        ui.setupUi(this);
+        setFocusPolicy(Qt::StrongFocus);
+    }
+    void keyPressEvent(QKeyEvent* event) override
+    {
+        //qDebug() << "k" << (event->key() | event->modifiers());
+        switch (event->key() | event->modifiers())
+        {
+        case 83886113: // ctrl
+        case 50331680: // shift
+        case 150994979: // alt
+        case 218103841: // ctrl+alt
+        case 117440545: // ctrl+shift
+        case 184549408: // alt+shift
+        case 251658272: // ctrl+alt+shift
+            break;
+        default:
+            emit key_pressed(QKeySequence(event->key() | event->modifiers()));
+            break;
+        }
+    }
+signals:
+    void key_pressed(QKeySequence k);
+};
diff --git a/facetracknoir/keyboard_listener.ui b/facetracknoir/keyboard_listener.ui
new file mode 100644
index 00000000..b6977df0
--- /dev/null
+++ b/facetracknoir/keyboard_listener.ui
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>keyboard_listener</class>
+ <widget class="QLabel" name="keyboard_listener">
+  <property name="windowModality">
+   <enum>Qt::ApplicationModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>224</width>
+    <height>33</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Bind a shortcut</string>
+  </property>
+  <property name="text">
+   <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Press a key or close this window to remove the keybinding.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+  </property>
+  <property name="textFormat">
+   <enum>Qt::RichText</enum>
+  </property>
+  <property name="margin">
+   <number>10</number>
+  </property>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/facetracknoir/options-dialog.cpp b/facetracknoir/options-dialog.cpp
index f77c7cc1..207c1afb 100644
--- a/facetracknoir/options-dialog.cpp
+++ b/facetracknoir/options-dialog.cpp
@@ -8,6 +8,9 @@
 
 #include "options-dialog.hpp"
 #include "ftnoir_tracker_pt/camera.h"
+#include "keyboard.h"
+#include <QPushButton>
+#include <QLayout>
 
 OptionsDialog::OptionsDialog(State& state) : state(state), trans_calib_running(false)
 {
@@ -16,27 +19,6 @@ OptionsDialog::OptionsDialog(State& state) : state(state), trans_calib_running(f
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
 
-    for ( int i = 0; i < global_key_sequences.size(); i++) {
-        ui.cbxCenterKey->addItem(global_key_sequences.at(i));
-        ui.cbxToggleKey->addItem(global_key_sequences.at(i));
-        ui.cbxZeroKey->addItem(global_key_sequences.at(i));
-    }
-
-    tie_setting(s.center.key_index, ui.cbxCenterKey);
-    tie_setting(s.center.alt, ui.chkCenterAlt);
-    tie_setting(s.center.shift, ui.chkCenterShift);
-    tie_setting(s.center.ctrl, ui.chkCenterCtrl);
-
-    tie_setting(s.toggle.key_index, ui.cbxToggleKey);
-    tie_setting(s.toggle.alt, ui.chkToggleAlt);
-    tie_setting(s.toggle.shift, ui.chkToggleShift);
-    tie_setting(s.toggle.ctrl, ui.chkToggleCtrl);
-
-    tie_setting(s.zero.key_index, ui.cbxZeroKey);
-    tie_setting(s.zero.alt, ui.chkZeroAlt);
-    tie_setting(s.zero.shift, ui.chkZeroShift);
-    tie_setting(s.zero.ctrl, ui.chkZeroCtrl);
-
     tie_setting(s.s_main.tray_enabled, ui.trayp);
     
     tie_setting(s.s_main.center_at_startup, ui.center_at_startup);
@@ -102,6 +84,32 @@ OptionsDialog::OptionsDialog(State& state) : state(state), trans_calib_running(f
     connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
     
     timer.start(100);
+
+    connect(ui.bind_center, &QPushButton::pressed, [&]() -> void { bind_key(s.center.keycode, ui.center_text); });
+    connect(ui.bind_zero, &QPushButton::pressed, [&]() -> void { bind_key(s.zero.keycode, ui.zero_text); });
+    connect(ui.bind_toggle, &QPushButton::pressed, [&]() -> void { bind_key(s.toggle.keycode, ui.toggle_text); });
+
+    ui.center_text->setText(s.center.keycode == "" ? "None" : static_cast<QString>(s.center.keycode));
+    ui.toggle_text->setText(s.toggle.keycode == "" ? "None" : static_cast<QString>(s.toggle.keycode));
+    ui.zero_text->setText(s.zero.keycode == "" ? "None" : static_cast<QString>(s.zero.keycode));
+}
+
+void OptionsDialog::bind_key(value<QString>& ret, QLabel* label)
+{
+    ret = "";
+    QDialog d;
+    auto l = new QHBoxLayout;
+    l->setMargin(0);
+    auto k = new KeyboardListener;
+    l->addWidget(k);
+    d.setLayout(l);
+    d.setFixedSize(QSize(500, 300));
+    d.setWindowFlags(Qt::Dialog);
+    connect(k, &KeyboardListener::key_pressed, [&] (QKeySequence s) -> void { ret = s.toString(QKeySequence::PortableText); d.close(); });
+    d.exec();
+    label->setText(ret == "" ? "None" : static_cast<QString>(ret));
+    delete k;
+    delete l;
 }
 
 void OptionsDialog::doOK() {
diff --git a/facetracknoir/options-dialog.hpp b/facetracknoir/options-dialog.hpp
index a2dec093..af3e185c 100644
--- a/facetracknoir/options-dialog.hpp
+++ b/facetracknoir/options-dialog.hpp
@@ -25,8 +25,8 @@ private:
     settings_accela acc;
     QTimer timer;
     State& state;
-	TranslationCalibrator trans_calib;
-	bool trans_calib_running;
+    TranslationCalibrator trans_calib;
+    bool trans_calib_running;
 
     Tracker_PT* get_pt();
 private slots:
@@ -41,4 +41,5 @@ private slots:
     void startstop_trans_calib(bool start);
     void poll_tracker_info();
     void trans_calib_step();
+    void bind_key(value<QString>& ret, QLabel* label);
 };
diff --git a/facetracknoir/settings.ui b/facetracknoir/settings.ui
index 523829f6..4341d10d 100644
--- a/facetracknoir/settings.ui
+++ b/facetracknoir/settings.ui
@@ -62,82 +62,48 @@
              <string notr="true">QGroupBox { border: 0; }</string>
             </property>
             <layout class="QGridLayout" name="gridLayout_8">
-             <item row="3" column="0">
-              <widget class="QLabel" name="textLabel2_5">
+             <item row="0" column="1">
+              <widget class="QLabel" name="center_text">
                <property name="text">
-                <string>Toggle</string>
-               </property>
-               <property name="wordWrap">
-                <bool>false</bool>
+                <string/>
                </property>
               </widget>
              </item>
-             <item row="2" column="1">
-              <widget class="QCheckBox" name="chkCenterShift">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
+             <item row="0" column="0">
+              <widget class="QLabel" name="textLabel2_3">
                <property name="text">
-                <string>Shift</string>
+                <string>Center</string>
+               </property>
+               <property name="wordWrap">
+                <bool>false</bool>
                </property>
               </widget>
              </item>
-             <item row="2" column="2">
-              <widget class="QCheckBox" name="chkCenterCtrl">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
+             <item row="6" column="1">
+              <widget class="QLabel" name="zero_text">
                <property name="text">
-                <string>Ctrl</string>
+                <string/>
                </property>
               </widget>
              </item>
-             <item row="2" column="4">
-              <widget class="QComboBox" name="cbxCenterKey">
-               <property name="minimumSize">
-                <size>
-                 <width>90</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="toolTip">
-                <string>Select Number</string>
-               </property>
-               <property name="insertPolicy">
-                <enum>QComboBox::InsertAlphabetically</enum>
+             <item row="5" column="1">
+              <widget class="QLabel" name="toggle_text">
+               <property name="text">
+                <string/>
                </property>
               </widget>
              </item>
-             <item row="2" column="0">
-              <widget class="QLabel" name="textLabel2_3">
+             <item row="5" column="0">
+              <widget class="QLabel" name="textLabel2_5">
                <property name="text">
-                <string>Center</string>
+                <string>Toggle</string>
                </property>
                <property name="wordWrap">
                 <bool>false</bool>
                </property>
               </widget>
              </item>
-             <item row="2" column="3">
-              <widget class="QCheckBox" name="chkCenterAlt">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Alt</string>
-               </property>
-              </widget>
-             </item>
-             <item row="4" column="0">
+             <item row="6" column="0">
               <widget class="QLabel" name="textLabel2_6">
                <property name="text">
                 <string>Zero</string>
@@ -147,113 +113,24 @@
                </property>
               </widget>
              </item>
-             <item row="4" column="3">
-              <widget class="QCheckBox" name="chkZeroAlt">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Alt</string>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="2">
-              <widget class="QCheckBox" name="chkToggleCtrl">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Ctrl</string>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="3">
-              <widget class="QCheckBox" name="chkToggleAlt">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Alt</string>
-               </property>
-              </widget>
-             </item>
-             <item row="4" column="2">
-              <widget class="QCheckBox" name="chkZeroCtrl">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
+             <item row="0" column="2">
+              <widget class="QPushButton" name="bind_center">
                <property name="text">
-                <string>Ctrl</string>
+                <string>Bind</string>
                </property>
               </widget>
              </item>
-             <item row="4" column="1">
-              <widget class="QCheckBox" name="chkZeroShift">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
+             <item row="5" column="2">
+              <widget class="QPushButton" name="bind_toggle">
                <property name="text">
-                <string>Shift</string>
+                <string>Bind</string>
                </property>
               </widget>
              </item>
-             <item row="4" column="4">
-              <widget class="QComboBox" name="cbxZeroKey">
-               <property name="minimumSize">
-                <size>
-                 <width>90</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="toolTip">
-                <string>Select Number</string>
-               </property>
-               <property name="insertPolicy">
-                <enum>QComboBox::InsertAlphabetically</enum>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="1">
-              <widget class="QCheckBox" name="chkToggleShift">
-               <property name="maximumSize">
-                <size>
-                 <width>50</width>
-                 <height>16777215</height>
-                </size>
-               </property>
+             <item row="6" column="2">
+              <widget class="QPushButton" name="bind_zero">
                <property name="text">
-                <string>Shift</string>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="4">
-              <widget class="QComboBox" name="cbxToggleKey">
-               <property name="minimumSize">
-                <size>
-                 <width>90</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="toolTip">
-                <string>Select Number</string>
-               </property>
-               <property name="insertPolicy">
-                <enum>QComboBox::InsertAlphabetically</enum>
+                <string>Bind</string>
                </property>
               </widget>
              </item>
@@ -1665,21 +1542,9 @@
   </customwidget>
  </customwidgets>
  <tabstops>
-  <tabstop>chkCenterShift</tabstop>
   <tabstop>tabWidget</tabstop>
-  <tabstop>chkCenterAlt</tabstop>
-  <tabstop>cbxCenterKey</tabstop>
-  <tabstop>chkToggleShift</tabstop>
-  <tabstop>chkToggleCtrl</tabstop>
-  <tabstop>chkToggleAlt</tabstop>
-  <tabstop>cbxToggleKey</tabstop>
-  <tabstop>chkZeroShift</tabstop>
-  <tabstop>chkZeroCtrl</tabstop>
-  <tabstop>chkZeroAlt</tabstop>
-  <tabstop>cbxZeroKey</tabstop>
   <tabstop>center_at_startup</tabstop>
   <tabstop>trayp</tabstop>
-  <tabstop>chkCenterCtrl</tabstop>
   <tabstop>camera_yaw</tabstop>
   <tabstop>camera_pitch</tabstop>
   <tabstop>camera_roll</tabstop>
diff --git a/facetracknoir/trans_calib.cpp b/facetracknoir/trans_calib.cpp
index 2994eb48..a1a4b641 100644
--- a/facetracknoir/trans_calib.cpp
+++ b/facetracknoir/trans_calib.cpp
@@ -7,9 +7,6 @@
 
 #include "trans_calib.h"
 
-using namespace cv;
-
-//-----------------------------------------------------------------------------
 TranslationCalibrator::TranslationCalibrator()
 {
 	reset();
@@ -17,13 +14,13 @@ TranslationCalibrator::TranslationCalibrator()
 
 void TranslationCalibrator::reset()
 {
-	P = Matx66f::zeros();
-	y = Vec6f(0,0,0, 0,0,0);
+    P = cv::Matx66f::zeros();
+    y = cv::Vec6f(0,0,0, 0,0,0);
 }
 
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+void TranslationCalibrator::update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k)
 {
-	Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
+    cv::Matx<float, 6,3> H_k_T = cv::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);
@@ -37,8 +34,8 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
 	y += H_k_T * t_CM_k;
 }
 
-Vec3f TranslationCalibrator::get_estimate()
+cv::Vec3f TranslationCalibrator::get_estimate()
 {
-	Vec6f x = P.inv() * y;
-	return Vec3f(-x[0], -x[1], -x[2]);
+    cv::Vec6f x = P.inv() * y;
+    return cv::Vec3f(-x[0], -x[1], -x[2]);
 }