Just put everything new in. Conflict resolution will be later

8 files changed, 512 insertions, 72 deletions

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 336ede2d..5785b21a 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -1,13 +1,11 @@
 #include "stdafx.h"
-#include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
 #include "headtracker-ftnoir.h"
 #include "ftnoir_tracker_ht.h"
 #include "ftnoir_tracker_ht_dll.h"
 #include "ui_trackercontrols.h"
-#include "../facetracknoir/global-settings.h"
-
-#define WIDGET_WIDTH 250
-#define WIDGET_HEIGHT 188
+#include "facetracknoir/global-settings.h"
+#include <cmath>
 
 #if defined(_WIN32) || defined(__WIN32)
 #include <dshow.h>
@@ -98,31 +96,48 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
 	QSettings iniFile( currentFile, QSettings::IniFormat );
 
 	iniFile.beginGroup( "HT-Tracker" );
-	config->classification_delay = 4000;
-	config->field_of_view = iniFile.value("fov", 69).toFloat();
+    config->classification_delay = 500;
+    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 = 250;
-	config->keypoint_quality = 12;
-	config->keypoint_distance = 2.3f;
-	config->keypoint_3distance = 6;
-	//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 = 6.5f;
-    config->ransac_max_inlier_error = 6.5f;
-    config->ransac_max_mean_error = 4.0f;
-    config->ransac_abs_max_mean_error = 7.0f;
-	config->debug = 0;
-	config->ransac_min_features = 0.75f;
+    config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
+    config->max_keypoints = 300;
+    config->keypoint_quality = 2;
+    config->keypoint_distance = 2.5;
+    config->keypoint_3distance = 6;
+    //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 = 3.63637;
+    config->ransac_max_inlier_error = 3;
+    config->ransac_max_mean_error = 3.5;
+    config->ransac_abs_max_mean_error = 7;
+    config->debug = 1;
+    config->ransac_min_features = 0.80;
     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->force_height = r.height;
+    config->user_landmarks = iniFile.value("use-bashed-coords").toBool();
+    if (config->user_landmarks)
+    {
+        config->user_landmark_locations[0][0] = iniFile.value("b1").toDouble();
+        config->user_landmark_locations[1][0] = iniFile.value("b2").toDouble();
+        config->user_landmark_locations[2][0] = iniFile.value("b3").toDouble();
+        config->user_landmark_locations[0][1] = iniFile.value("b4").toDouble();
+        config->user_landmark_locations[1][1] = iniFile.value("b5").toDouble();
+        config->user_landmark_locations[2][1] = iniFile.value("b6").toDouble();
+        config->user_landmark_locations[0][2] = iniFile.value("b7").toDouble();
+        config->user_landmark_locations[1][2] = iniFile.value("b8").toDouble();
+        config->user_landmark_locations[2][2] = iniFile.value("b9").toDouble();
+        config->user_landmark_locations[0][3] = iniFile.value("b10").toDouble();
+        config->user_landmark_locations[1][3] = iniFile.value("b11").toDouble();
+        config->user_landmark_locations[2][3] = iniFile.value("b12").toDouble();
+    }
+    qDebug() << "width" << r.width << "height" << r.height;
 	if (tracker)
 	{
 		tracker->enableRX = iniFile.value("enable-rx", true).toBool();
@@ -159,7 +174,6 @@ Tracker::~Tracker()
 
 void Tracker::StartTracker(QFrame* videoframe)
 {
-    videoframe->setAttribute(Qt::WA_NativeWindow);
     videoframe->show();
     videoWidget = new VideoWidget(videoframe);
     QHBoxLayout* layout = new QHBoxLayout();
@@ -168,7 +182,6 @@ void Tracker::StartTracker(QFrame* videoframe)
     if (videoframe->layout())
         delete videoframe->layout();
     videoframe->setLayout(layout);
-    videoWidget->resize(WIDGET_WIDTH, WIDGET_HEIGHT);
     videoWidget->show();
     this->layout = layout;
     load_settings(&shm->config, this);
@@ -181,8 +194,8 @@ void Tracker::StartTracker(QFrame* videoframe)
 #else
     subprocess.start(QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir");
 #endif
-    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
-    timer.start(15);
+    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()), Qt::QueuedConnection);
+    timer.start(40);
 }
 
 void Tracker::paint_widget() {
@@ -209,8 +222,12 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
             data->yaw = shm->result.rotx;
         if (enableRY)
             data->pitch = shm->result.roty;
-        if (enableRZ)
+        if (enableRZ) {
             data->roll = shm->result.rotz;
+            double sign = data->roll >= 0 ? 1 : -1;
+            if (fabs(fabs(data->roll) - 180) < fabs(data->roll))
+                data->roll = fabs(fabs(data->roll) - 180) * sign;
+        }
         if (enableTX)
             data->x = shm->result.tx;
         if (enableTY)
@@ -227,7 +244,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
 //-----------------------------------------------------------------------------
 void TrackerDll::getFullName(QString *strToBeFilled)
 {
-	*strToBeFilled = "HT 0.7";
+    *strToBeFilled = "HT 0.8";
 }
 
 void TrackerDll::getShortName(QString *strToBeFilled)
@@ -278,7 +295,6 @@ extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetDialog( )
 TrackerControls::TrackerControls()
 {
 	ui.setupUi(this);
-	loadSettings();
 	connect(ui.cameraName, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
 	connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
 	connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
@@ -290,6 +306,7 @@ TrackerControls::TrackerControls()
 	connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
 	connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
 	connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK()));
+    loadSettings();
 	settingsDirty = false;
 }
 
@@ -303,6 +320,7 @@ void TrackerControls::showEvent(QShowEvent *event)
 
 void TrackerControls::Initialize(QWidget* parent)
 {
+    loadSettings();
 	show();
 }
 
@@ -343,6 +361,19 @@ 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());
+    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());
 	iniFile.endGroup();
 	settingsDirty = false;
 }
@@ -381,6 +412,19 @@ 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());
+    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());
 	iniFile.endGroup();
 	settingsDirty = false;
 }
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
index 1a449dca..f5d0c271 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2013 Stanislaw Halik <sthalik@misaki.pl>
+/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
  *
  * Permission to use, copy, modify, and/or distribute this software for any
  * purpose with or without fee is hereby granted, provided that the above
@@ -9,11 +9,11 @@
 #define FTNOIR_TRACKER_HT_H
 
 #include "stdafx.h"
-#include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
 #include "headtracker-ftnoir.h"
 #include "ui_trackercontrols.h"
 #include "video_widget.h"
-#include "../compat/compat.h"
+#include "compat/compat.h"
 #include <QObject>
 #include <QTimer>
 
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
index f3bfd381..1e53f802 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
@@ -5,8 +5,8 @@
  * copyright notice and this permission notice appear in all copies.
  */
 
-#include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
-#include "../facetracknoir/global-settings.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "facetracknoir/global-settings.h"
 
 //-----------------------------------------------------------------------------
 class TrackerDll : public Metadata
diff --git a/ftnoir_tracker_ht/ht-api.h b/ftnoir_tracker_ht/ht-api.h
index ac8d45cf..81caf16f 100644
--- a/ftnoir_tracker_ht/ht-api.h
+++ b/ftnoir_tracker_ht/ht-api.h
@@ -1,9 +1,9 @@
 #pragma once
 #ifndef HT_API
 #ifndef __cplusplus
-# define HT_EXTERN 
+# define HT_EXTERN
 #else
-# define HT_EXTERN extern "C" 
+# define HT_EXTERN extern "C"
 #endif
 #   if defined(_WIN32) && !defined(MINGW)
 #     define HT_API(t) HT_EXTERN __declspec(dllexport) t __stdcall
@@ -19,56 +19,58 @@ struct ht_context;
 typedef struct ht_context headtracker_t;
 
 typedef struct ht_config {
-	float field_of_view;
-	float classification_delay;
-	int   pyrlk_pyramids;
-	int   pyrlk_win_size_w;
-	int   pyrlk_win_size_h;
+    float field_of_view;
+    float classification_delay;
+    int   pyrlk_pyramids;
+    int   pyrlk_win_size_w;
+    int   pyrlk_win_size_h;
     float ransac_max_inlier_error;
     float ransac_max_reprojection_error;
-	int   max_keypoints;
+    int   max_keypoints;
     int   keypoint_quality;
-	float keypoint_distance;
+    float keypoint_distance;
     float keypoint_3distance;
     int   force_width;
-	int   force_height;
-	int   force_fps;
-	int   camera_index;
-	bool  debug;
+    int   force_height;
+    int   force_fps;
+    int   camera_index;
+    bool  debug;
     int   ransac_num_iters;
     float ransac_min_features;
     float ransac_max_mean_error;
     float ransac_abs_max_mean_error;
+    bool  user_landmarks;
+    float user_landmark_locations[3][4];
 } ht_config_t;
 
 typedef struct {
     double rotx, roty, rotz;
     double tx, ty, tz;
-	bool filled;
+    bool filled;
 } ht_result_t;
 
 typedef enum {
-	cfg_type_float = 0,
-	cfg_type_int   = 1,
-	cfg_type_bool  = 2,
+    cfg_type_float = 0,
+    cfg_type_int   = 1,
+    cfg_type_bool  = 2,
     cfg_type_double = 3
 } ht_cfg_type_t;
 
 typedef union
 {
-	double d;
-	float f;
-	int i;
+    double d;
+    float f;
+    int i;
 } ht_cfg_value_t;
 
 typedef struct {
-	const char* name;
-	int offset;
-	ht_cfg_type_t type;
-	ht_cfg_value_t default_value;
-	ht_cfg_value_t min;
-	ht_cfg_value_t max;
-	const char* docstring;
+    const char* name;
+    int offset;
+    ht_cfg_type_t type;
+    ht_cfg_value_t default_value;
+    ht_cfg_value_t min;
+    ht_cfg_value_t max;
+    const char* docstring;
 } ht_reflection_t;
 
 typedef struct {
diff --git a/ftnoir_tracker_ht/images/ht.ico b/ftnoir_tracker_ht/images/ht.ico
new file mode 100644
index 00000000..7555ce25
--- /dev/null
+++ b/ftnoir_tracker_ht/images/ht.ico
diff --git a/ftnoir_tracker_ht/trackercontrols.ui b/ftnoir_tracker_ht/trackercontrols.ui
index 0a1bc3ae..2f4b1915 100644
--- a/ftnoir_tracker_ht/trackercontrols.ui
+++ b/ftnoir_tracker_ht/trackercontrols.ui
@@ -9,19 +9,19 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>500</width>
+    <width>724</width>
     <height>160</height>
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
   </property>
   <property name="maximumSize">
    <size>
-    <width>500</width>
+    <width>750</width>
     <height>160</height>
    </size>
   </property>
@@ -38,7 +38,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>Horizontal field of view</string>
+    <string>Horizontal FOV</string>
    </property>
   </widget>
   <widget class="QDoubleSpinBox" name="cameraFOV">
@@ -68,7 +68,7 @@
     <rect>
      <x>10</x>
      <y>40</y>
-     <width>101</width>
+     <width>137</width>
      <height>16</height>
     </rect>
    </property>
@@ -111,7 +111,7 @@
     <rect>
      <x>10</x>
      <y>70</y>
-     <width>71</width>
+     <width>133</width>
      <height>16</height>
     </rect>
    </property>
@@ -122,7 +122,7 @@
   <widget class="QPushButton" name="buttonOK">
    <property name="geometry">
     <rect>
-     <x>340</x>
+     <x>220</x>
      <y>130</y>
      <width>75</width>
      <height>23</height>
@@ -135,7 +135,7 @@
   <widget class="QPushButton" name="buttonCancel">
    <property name="geometry">
     <rect>
-     <x>420</x>
+     <x>300</x>
      <y>130</y>
      <width>75</width>
      <height>23</height>
@@ -251,7 +251,7 @@
     <rect>
      <x>10</x>
      <y>100</y>
-     <width>61</width>
+     <width>128</width>
      <height>16</height>
     </rect>
    </property>
@@ -289,6 +289,289 @@
     </property>
    </item>
   </widget>
+  <widget class="QGroupBox" name="groupBox_2">
+   <property name="geometry">
+    <rect>
+     <x>500</x>
+     <y>10</y>
+     <width>221</width>
+     <height>141</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Bashed coordinates</string>
+   </property>
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_1">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>20</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_2">
+    <property name="geometry">
+     <rect>
+      <x>80</x>
+      <y>20</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_3">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>20</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_6">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>50</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_4">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>50</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_5">
+    <property name="geometry">
+     <rect>
+      <x>80</x>
+      <y>50</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_9">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>80</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_7">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>80</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_8">
+    <property name="geometry">
+     <rect>
+      <x>80</x>
+      <y>80</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_12">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>110</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_11">
+    <property name="geometry">
+     <rect>
+      <x>80</x>
+      <y>110</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+   <widget class="QDoubleSpinBox" name="doubleSpinBox_10">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>110</y>
+      <width>61</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>5</number>
+    </property>
+    <property name="minimum">
+     <double>-99.000000000000000</double>
+    </property>
+   </widget>
+  </widget>
  </widget>
  <resources/>
  <connections/>
diff --git a/ftnoir_tracker_ht/video_widget.cpp b/ftnoir_tracker_ht/video_widget.cpp
new file mode 100644
index 00000000..51d92967
--- /dev/null
+++ b/ftnoir_tracker_ht/video_widget.cpp
@@ -0,0 +1,69 @@
+/* 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 "video_widget.h"
+
+#include <QDebug>
+
+using namespace std;
+
+// ----------------------------------------------------------------------------
+void VideoWidget::initializeGL()
+{
+	glClearColor(0.0, 0.0, 0.0, 0.0);
+	glMatrixMode(GL_MODELVIEW);
+	glLoadIdentity();
+}
+
+void VideoWidget::resizeGL(int w, int h)
+{
+	// setup 1 to 1 projection
+	glViewport(0, 0, w, h);
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	glOrtho(0, w, 0, h, -1, 1);
+    resize_frame(resized_qframe);
+    glDisable(GL_DEPTH_TEST);
+    glBegin(GL_QUADS);
+    glVertex2f(0,0);
+    glVertex2f(1,0);
+    glVertex2f(1,1);
+    glVertex2f(0,1);
+    glEnd();
+}
+
+void VideoWidget::paintGL()
+{
+    QMutexLocker lck(&mtx);
+    if (resized_qframe.size() == size() || (resized_qframe.width() <= width() && resized_qframe.height() <= height()))
+    {
+        glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGB, GL_UNSIGNED_BYTE, resized_qframe.bits());
+    }
+    else
+        glClear(GL_DEPTH_BUFFER_BIT);
+    glFlush();
+}
+
+void VideoWidget::resize_frame(QImage& qframe)
+{
+    QMutexLocker lck(&mtx);
+    if (qframe.size() == size() || (qframe.width() <= width() && qframe.height() <= height()))
+        resized_qframe = qframe.copy();
+    else
+        resized_qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation).copy();
+}
+
+
+void VideoWidget::updateImage(unsigned char *frame, int width, int height)
+{
+    QImage foo = QImage(frame, width, height, 3 * width, QImage::Format_RGB888).rgbSwapped().mirrored();
+    resize_frame(foo);
+}
+
+void VideoWidget::update() {
+    updateGL();
+}
diff --git a/ftnoir_tracker_ht/video_widget.h b/ftnoir_tracker_ht/video_widget.h
new file mode 100644
index 00000000..adc57335
--- /dev/null
+++ b/ftnoir_tracker_ht/video_widget.h
@@ -0,0 +1,42 @@
+/* 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 VIDEOWIDGET_H
+#define VIDEOWIDGET_H
+
+#include <QGLWidget>
+#include <QTime>
+#include <QFrame>
+#include <QImage>
+#include <QWidget>
+#include <QMutex>
+#include <QMutexLocker>
+// ----------------------------------------------------------------------------
+class VideoWidget : public QGLWidget
+{
+	Q_OBJECT
+
+public:
+    VideoWidget(QWidget *parent) : QGLWidget(parent) {
+#if !defined(_WIN32)
+        setAttribute(Qt::WA_NativeWindow, true);
+#endif
+	}
+
+	void initializeGL();
+	void resizeGL(int w, int h);
+	void paintGL();
+
+    void updateImage(unsigned char* frame, int width, int height);
+    void update();
+private:
+    void resize_frame(QImage& qframe);
+    QImage resized_qframe;
+    QMutex mtx;
+};
+
+#endif // VIDEOWIDGET_H