HT bump

3 files changed, 187 insertions, 45 deletions

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 6abf8058..d3b90c67 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -108,26 +108,26 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
     config->field_of_view = iniFile.value("fov", 52).toFloat();
 	config->pyrlk_pyramids = 3;
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
-    config->max_keypoints = 150;
-    config->keypoint_distance = 3.6;
+    config->max_keypoints = 200;
+    config->keypoint_distance = 3.2;
     //config->force_width = 640;
     //config->force_height = 480;
     config->force_fps = iniFile.value("fps", 0).toInt();
     config->camera_index = iniFile.value("camera-index", -1).toInt();
     config->ransac_num_iters = 100;
-    config->ransac_max_reprojection_error = 3.35;
-    config->ransac_max_inlier_error = 3.4;
-    config->ransac_abs_max_mean_error = 5;
-    config->ransac_max_mean_error = 3.1;
+    config->ransac_max_reprojection_error = 3.8;
+    config->ransac_max_inlier_error = 3.8;
+    config->ransac_abs_max_mean_error = 8;
+    config->ransac_max_mean_error = 3.4;
     config->debug = 0;
-    config->ransac_min_features = 0.85;
+    config->ransac_min_features = 0.9;
     int res = iniFile.value("resolution", 0).toInt();
     if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
 		res = 0;
 	resolution_tuple r = resolution_choices[res];
 	config->force_width = r.width;
     config->force_height = r.height;
-    config->flandmark_delay = 250;
+    config->flandmark_delay = 200;
     qDebug() << "width" << r.width << "height" << r.height;
 	if (tracker)
 	{
@@ -138,6 +138,10 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
 		tracker->enableTY = iniFile.value("enable-ty", true).toBool();
 		tracker->enableTZ = iniFile.value("enable-tz", true).toBool();
 	}
+    
+    for (int i = 0; i < 5; i++)
+        config->dist_coeffs[i] = iniFile.value(QString("dc%1").arg(i), 0).toDouble();
+                
 	iniFile.endGroup();
 }
 
@@ -363,21 +367,13 @@ void TrackerControls::loadSettings()
 	ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::Checked : Qt::Unchecked);
 	ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::Checked : Qt::Unchecked);
     ui.resolution->setCurrentIndex(iniFile.value("resolution", 0).toInt());
-#if 0
-    ui.groupBox_2->setChecked(iniFile.value("use-bashed-coords").toBool());
-    ui.doubleSpinBox_1->setValue(iniFile.value("b1", 0).toDouble());
-    ui.doubleSpinBox_2->setValue(iniFile.value("b2", 0).toDouble());
-    ui.doubleSpinBox_3->setValue(iniFile.value("b3", 0).toDouble());
-    ui.doubleSpinBox_4->setValue(iniFile.value("b4", 0).toDouble());
-    ui.doubleSpinBox_5->setValue(iniFile.value("b5", 0).toDouble());
-    ui.doubleSpinBox_6->setValue(iniFile.value("b6", 0).toDouble());
-    ui.doubleSpinBox_7->setValue(iniFile.value("b7", 0).toDouble());
-    ui.doubleSpinBox_8->setValue(iniFile.value("b8", 0).toDouble());
-    ui.doubleSpinBox_9->setValue(iniFile.value("b9", 0).toDouble());
-    ui.doubleSpinBox_10->setValue(iniFile.value("b10", 0).toDouble());
-    ui.doubleSpinBox_11->setValue(iniFile.value("b11", 0).toDouble());
-    ui.doubleSpinBox_12->setValue(iniFile.value("b12", 0).toDouble());
-#endif
+    
+    ui.doubleSpinBox->setValue(iniFile.value("dc0").toDouble());
+    ui.doubleSpinBox_2->setValue(iniFile.value("dc1").toDouble());
+    ui.doubleSpinBox_3->setValue(iniFile.value("dc2").toDouble());
+    ui.doubleSpinBox_4->setValue(iniFile.value("dc3").toDouble());
+    ui.doubleSpinBox_5->setValue(iniFile.value("dc4").toDouble());
+    
 	iniFile.endGroup();
 	settingsDirty = false;
 }
@@ -416,21 +412,13 @@ void TrackerControls::save()
 	iniFile.setValue("enable-ty", ui.ty->checkState() != Qt::Unchecked ? true : false);
 	iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false);
 	iniFile.setValue("resolution", ui.resolution->currentIndex());
-#if 0
-    iniFile.setValue("b1", ui.doubleSpinBox_1->value());
-    iniFile.setValue("b2", ui.doubleSpinBox_2->value());
-    iniFile.setValue("b3", ui.doubleSpinBox_3->value());
-    iniFile.setValue("b4", ui.doubleSpinBox_4->value());
-    iniFile.setValue("b5", ui.doubleSpinBox_5->value());
-    iniFile.setValue("b6", ui.doubleSpinBox_6->value());
-    iniFile.setValue("b7", ui.doubleSpinBox_7->value());
-    iniFile.setValue("b8", ui.doubleSpinBox_8->value());
-    iniFile.setValue("b9", ui.doubleSpinBox_9->value());
-    iniFile.setValue("b10", ui.doubleSpinBox_10->value());
-    iniFile.setValue("b11", ui.doubleSpinBox_11->value());
-    iniFile.setValue("b12", ui.doubleSpinBox_12->value());
-    iniFile.setValue("use-bashed-coords", ui.groupBox_2->isChecked());
-#endif
+    
+    iniFile.setValue("dc0", ui.doubleSpinBox->value());
+    iniFile.setValue("dc1", ui.doubleSpinBox_2->value());
+    iniFile.setValue("dc2", ui.doubleSpinBox_3->value());
+    iniFile.setValue("dc3", ui.doubleSpinBox_4->value());
+    iniFile.setValue("dc4", ui.doubleSpinBox_5->value());
+    
 	iniFile.endGroup();
 	settingsDirty = false;
 }
diff --git a/ftnoir_tracker_ht/ht-api.h b/ftnoir_tracker_ht/ht-api.h
index 572a60c6..e6960206 100644
--- a/ftnoir_tracker_ht/ht-api.h
+++ b/ftnoir_tracker_ht/ht-api.h
@@ -38,6 +38,7 @@ typedef struct ht_config {
     float ransac_max_mean_error;
     float ransac_abs_max_mean_error;
     float flandmark_delay;
+    double dist_coeffs[5];
 } ht_config_t;
 
 typedef struct {
diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui
index 5f414fc2..fbe7a41a 100644
--- a/ftnoir_tracker_ht/ht-trackercontrols.ui
+++ b/ftnoir_tracker_ht/ht-trackercontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>549</width>
-    <height>131</height>
+    <width>593</width>
+    <height>280</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -22,7 +22,7 @@
   <property name="maximumSize">
    <size>
     <width>750</width>
-    <height>160</height>
+    <height>280</height>
    </size>
   </property>
   <property name="windowTitle">
@@ -122,8 +122,8 @@
   <widget class="QPushButton" name="buttonOK">
    <property name="geometry">
     <rect>
-     <x>390</x>
-     <y>100</y>
+     <x>430</x>
+     <y>250</y>
      <width>75</width>
      <height>23</height>
     </rect>
@@ -135,8 +135,8 @@
   <widget class="QPushButton" name="buttonCancel">
    <property name="geometry">
     <rect>
-     <x>470</x>
-     <y>100</y>
+     <x>510</x>
+     <y>250</y>
      <width>75</width>
      <height>23</height>
     </rect>
@@ -289,6 +289,159 @@
     </property>
    </item>
   </widget>
+  <widget class="QDoubleSpinBox" name="doubleSpinBox">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>130</y>
+     <width>171</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="frame">
+    <bool>true</bool>
+   </property>
+   <property name="buttonSymbols">
+    <enum>QAbstractSpinBox::NoButtons</enum>
+   </property>
+   <property name="decimals">
+    <number>24</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_5">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>130</y>
+     <width>111</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Distortion coefficients</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="doubleSpinBox_2">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>160</y>
+     <width>171</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="frame">
+    <bool>true</bool>
+   </property>
+   <property name="buttonSymbols">
+    <enum>QAbstractSpinBox::NoButtons</enum>
+   </property>
+   <property name="decimals">
+    <number>24</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="doubleSpinBox_3">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>190</y>
+     <width>171</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="frame">
+    <bool>true</bool>
+   </property>
+   <property name="buttonSymbols">
+    <enum>QAbstractSpinBox::NoButtons</enum>
+   </property>
+   <property name="decimals">
+    <number>24</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="doubleSpinBox_4">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>220</y>
+     <width>171</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="frame">
+    <bool>true</bool>
+   </property>
+   <property name="buttonSymbols">
+    <enum>QAbstractSpinBox::NoButtons</enum>
+   </property>
+   <property name="decimals">
+    <number>24</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="doubleSpinBox_5">
+   <property name="geometry">
+    <rect>
+     <x>130</x>
+     <y>250</y>
+     <width>171</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="frame">
+    <bool>true</bool>
+   </property>
+   <property name="buttonSymbols">
+    <enum>QAbstractSpinBox::NoButtons</enum>
+   </property>
+   <property name="decimals">
+    <number>24</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
  </widget>
  <resources/>
  <connections/>