Merge branch 'master' of https://github.com/opentrack/opentrack into dev/ewma2

Resolved conflicts manually in files:
	ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
	ftnoir_filter_ewma2/ftnoir_filter_ewma2.h

9 files changed, 377 insertions, 765 deletions

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index b755010c..76a6ba71 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -7,7 +7,7 @@
 #include "facetracknoir/global-settings.h"
 #include <cmath>
 
-#if defined(_WIN32) || defined(__WIN32)
+#if defined(_WIN32)
 #include <dshow.h>
 #else
 #include <unistd.h>
@@ -16,7 +16,7 @@
 // delicious copypasta
 static QList<QString> get_camera_names(void) {
     QList<QString> ret;
-#if defined(_WIN32) || defined(__WIN32)
+#if defined(_WIN32)
 	// Create the System Device Enumerator.
 	HRESULT hr;
 	ICreateDevEnum *pSysDevEnum = NULL;
@@ -62,14 +62,14 @@ static QList<QString> get_camera_names(void) {
 		pEnumCat->Release();
 	}
 	pSysDevEnum->Release();
-#else
+#elif !defined(__APPLE__)
     for (int i = 0; i < 16; i++) {
         char buf[128];
         sprintf(buf, "/dev/video%d", i);
         if (access(buf, R_OK | W_OK) == 0) {
             ret.append(buf);
         } else {
-            break;
+            continue;
         }
     }
 #endif
@@ -88,67 +88,71 @@ static resolution_tuple resolution_choices[] = {
 	{ 0, 0 }
 };
 
-static void load_settings(ht_config_t* config, Tracker* tracker)
+void Tracker::load_settings(ht_config_t* config)
 {
-	QSettings settings("opentrack");
-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-	QSettings iniFile( currentFile, QSettings::IniFormat );
+    int nframes = 0;
+    switch (static_cast<int>(s.fps))
+    {
+    default:
+    case 0:
+        nframes = 0;
+        break;
+    case 1:
+        nframes = 30;
+        break;
+    case 2:
+        nframes = 60;
+        break;
+    case 3:
+        nframes = 120;
+        break;
+    case 4:
+        nframes = 180;
+        break;
+    }
 
-	iniFile.beginGroup( "HT-Tracker" );
     config->classification_delay = 500;
-    config->field_of_view = iniFile.value("fov", 52).toFloat();
-	config->pyrlk_pyramids = 3;
+    config->field_of_view = s.fov;
+    config->pyrlk_pyramids = 0;
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
-    config->max_keypoints = 200;
-    config->keypoint_distance = 4.5;
-    //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->max_keypoints = 150;
+    config->keypoint_distance = 6;
+    config->force_fps = nframes;
+    config->camera_index = s.camera_idx - 1;
     config->ransac_num_iters = 100;
-    config->ransac_max_reprojection_error = 6.5;
-    config->ransac_max_inlier_error = 6.5;
-    config->ransac_abs_max_mean_error = 15;
-    config->ransac_max_mean_error = 4.5;
+    config->ransac_max_reprojection_error = 10;
+    config->ransac_max_inlier_error = 10;
+    config->ransac_abs_max_mean_error = 14;
+    config->ransac_max_mean_error = 8;
     config->debug = 0;
-    config->ransac_min_features = 0.8;
-    int res = iniFile.value("resolution", 0).toInt();
+    config->ransac_min_features = 0.86;
+    int res = s.resolution;
     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 = 200;
-    qDebug() << "width" << r.width << "height" << r.height;
-	if (tracker)
-	{
-		tracker->enableRX = iniFile.value("enable-rx", true).toBool();
-		tracker->enableRY = iniFile.value("enable-ry", true).toBool();
-		tracker->enableRZ = iniFile.value("enable-rz", true).toBool();
-		tracker->enableTX = iniFile.value("enable-tx", true).toBool();
-		tracker->enableTY = iniFile.value("enable-ty", true).toBool();
-		tracker->enableTZ = iniFile.value("enable-tz", true).toBool();
-	}
-    
+    config->flandmark_delay = 500;
     for (int i = 0; i < 5; i++)
-        config->dist_coeffs[i] = iniFile.value(QString("dc%1").arg(i), 0).toDouble();
-                
-	iniFile.endGroup();
+        config->dist_coeffs[i] = 0;
 }
 
-Tracker::Tracker() : lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)), fresh(false)
+Tracker::Tracker() :
+    lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)),
+    shm(reinterpret_cast<ht_shm_t*>(lck_shm.mem)),
+    videoWidget(nullptr),
+    layout(nullptr)
 {
-	videoWidget = NULL;
-	layout = NULL;
-	enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true;
-    shm = (ht_shm_t*) lck_shm.mem;
     shm->terminate = 0;
-	load_settings(&shm->config, this);
     shm->result.filled = false;
 }
 
 Tracker::~Tracker()
 {
+    if (shm) {
+        shm->terminate = true;
+        subprocess.waitForFinished(5000);
+    }
     subprocess.kill();
     if (shm)
         shm->terminate = true;
@@ -161,7 +165,7 @@ Tracker::~Tracker()
 void Tracker::StartTracker(QFrame* videoframe)
 {
     videoframe->show();
-    videoWidget = new VideoWidget(videoframe);
+    videoWidget = new HTVideoWidget(videoframe);
     QHBoxLayout* layout = new QHBoxLayout();
     layout->setContentsMargins(0, 0, 0, 0);
     layout->addWidget(videoWidget);
@@ -170,60 +174,51 @@ void Tracker::StartTracker(QFrame* videoframe)
     videoframe->setLayout(layout);
     videoWidget->show();
     this->layout = layout;
-    load_settings(&shm->config, this);
+    load_settings(&shm->config);
     shm->frame.channels = shm->frame.width = shm->frame.height = 0;
     shm->pause = shm->terminate = shm->running = false;
     shm->timer = 0;
     subprocess.setWorkingDirectory(QCoreApplication::applicationDirPath() + "/tracker-ht");
-#if defined(_WIN32) || defined(__WIN32)
+#if defined(_WIN32)
     subprocess.start("\"" + QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir" + "\"");
 #else
     subprocess.start(QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir");
 #endif
-    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
-    timer.start(40);
 }
 
-void Tracker::paint_widget() {
-    if (fresh) {
-        fresh = false;
-        videoWidget->update();
-    }
-}
-
-bool Tracker::GiveHeadPoseData(double *data)
+void Tracker::GetHeadPoseData(double *data)
 {
-	bool ret = false;
-
     lck_shm.lock();
     shm->timer = 0;
     if (shm->frame.width > 0)
     {
         videoWidget->update_image(shm->frame.frame, shm->frame.width, shm->frame.height);
         //memcpy(foo, shm->frame.frame, shm->frame.width * shm->frame.height * 3);
-        fresh = true;
         shm->frame.width = 0;
     }
     if (shm->result.filled) {
-        if (enableRX)
+        if (s.enableRX)
             data[Yaw] = shm->result.rotx;
-        if (enableRY) {
+        if (s.enableRY) {
             data[Pitch] = shm->result.roty;
 		}
-        if (enableRZ) {
+        if (s.enableRZ) {
             data[Roll] = shm->result.rotz;
         }
-        if (enableTX)
+        if (s.enableTX)
             data[TX] = shm->result.tx;
-        if (enableTY)
+        if (s.enableTY)
             data[TY] = shm->result.ty;
-        if (enableTZ)
+        if (s.enableTZ)
             data[TZ] = shm->result.tz;
-        ret = true;
+        if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40)
+        {
+            shm->pause = true;
+        }
+    } else {
+        shm->pause = false;
     }
     lck_shm.unlock();
-
-	return ret;
 }
 
 //-----------------------------------------------------------------------------
@@ -247,31 +242,16 @@ void TrackerDll::getIcon(QIcon *icon)
     *icon = QIcon(":/images/ht.png");
 }
 
-
-//-----------------------------------------------------------------------------
-//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
-
 extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
 {
 	return new TrackerDll;
 }
 
-//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-
 extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
 {
     return new Tracker;
 }
 
-////////////////////////////////////////////////////////////////////////////////
-// Factory function that creates instances if the Tracker-settings dialog object.
-
-// Export both decorated and undecorated names.
-//   GetTrackerDialog     - Undecorated name, which can be easily used with GetProcAddress
-//                          Win32 API function.
-//   _GetTrackerDialog@0  - Common name decoration for __stdcall functions in C language.
-//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
-
 extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
 {
     return new TrackerControls;
@@ -280,162 +260,32 @@ extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDial
 TrackerControls::TrackerControls()
 {
 	ui.setupUi(this);
-    setAttribute(Qt::WA_NativeWindow, true);
-	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)));
-	connect(ui.rx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
-	connect(ui.ry, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
-	connect(ui.rz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
-	connect(ui.tx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
-	connect(ui.ty, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
-	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()));
-    //connect(ui.buttonSettings, SIGNAL(clicked()), this, SLOT(cameraSettings()));
-    loadSettings();
-	settingsDirty = false;
-}
-
-TrackerControls::~TrackerControls()
-{
-}
-
-void TrackerControls::showEvent(QShowEvent *event)
-{
-}
-
-void TrackerControls::Initialize(QWidget* parent)
-{
-    loadSettings();
-	show();
-}
-
-void TrackerControls::loadSettings()
-{
-	ui.cameraName->clear();
-	QList<QString> names = get_camera_names();
-	names.prepend("Any available");
-	ui.cameraName->addItems(names);
-	QSettings settings("opentrack");
-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-	QSettings iniFile( currentFile, QSettings::IniFormat );
-	iniFile.beginGroup( "HT-Tracker" );
-	ui.cameraName->setCurrentIndex(iniFile.value("camera-index", -1).toInt() + 1);
-    ui.cameraFOV->setValue(iniFile.value("fov", 52).toFloat());
-	int fps;
-	switch (iniFile.value("fps", 0).toInt())
-	{
-	default:
-	case 0:
-		fps = 0;
-		break;
-	case 30:
-		fps = 1;
-		break;
-	case 60:
-		fps = 2;
-		break;
-	case 120:
-		fps = 3;
-		break;
-	}
-	ui.cameraFPS->setCurrentIndex(fps);
-	ui.rx->setCheckState(iniFile.value("enable-rx", true).toBool() ? Qt::Checked : Qt::Unchecked);
-	ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::Checked : Qt::Unchecked);
-	ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::Checked : Qt::Unchecked);
-	ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::Checked : Qt::Unchecked);
-	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.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;
-}
-
-void TrackerControls::save()
-{
-	QSettings settings("opentrack");
-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-	QSettings iniFile( currentFile, QSettings::IniFormat );
-
-	iniFile.beginGroup( "HT-Tracker" );
-	iniFile.setValue("fov", ui.cameraFOV->value());
-	int fps;
-	switch (ui.cameraFPS->currentIndex())
-	{
-	case 0:
-	default:
-		fps = 0;
-		break;
-	case 1:
-		fps = 30;
-		break;
-	case 2:
-		fps = 60;
-		break;
-	case 3:
-		fps = 120;
-		break;
-	}
-	iniFile.setValue("fps", fps);
-	iniFile.setValue("camera-index", ui.cameraName->currentIndex() - 1);
-	iniFile.setValue("enable-rx", ui.rx->checkState() != Qt::Unchecked ? true : false);
-	iniFile.setValue("enable-ry", ui.ry->checkState() != Qt::Unchecked ? true : false);
-	iniFile.setValue("enable-rz", ui.rz->checkState() != Qt::Unchecked ? true : false);
-	iniFile.setValue("enable-tx", ui.tx->checkState() != Qt::Unchecked ? true : false);
-	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("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;
+    ui.cameraName->clear();
+    QList<QString> names = get_camera_names();
+    names.prepend("Any available");
+    ui.cameraName->addItems(names);
+    tie_setting(s.camera_idx, ui.cameraName);
+    tie_setting(s.fps, ui.cameraFPS);
+    tie_setting(s.fov, ui.cameraFOV);
+    tie_setting(s.enableTX, ui.tx);
+    tie_setting(s.enableTY, ui.ty);
+    tie_setting(s.enableTZ, ui.tz);
+    tie_setting(s.enableRX, ui.rx);
+    tie_setting(s.enableRY, ui.ry);
+    tie_setting(s.enableRZ, ui.rz);
+    tie_setting(s.resolution, ui.resolution);
+    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
 }
 
 void TrackerControls::doOK()
 {
-	save();
+    s.b->save();
 	this->close();
 }
 
 void TrackerControls::doCancel()
 {
-	if (settingsDirty) {
-		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:
-				save();
-				this->close();
-				break;
-			case QMessageBox::Discard:
-				this->close();
-				break;
-			case QMessageBox::Cancel:
-				// Cancel was clicked
-				break;
-			default:
-				// should never be reached
-			break;
-		}
-	}
-	else {
-		this->close();
-	}
+    s.b->revert();
+    this->close();
 }
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
index fcdea140..583249dc 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
@@ -12,40 +12,48 @@
 #include "ftnoir_tracker_base/ftnoir_tracker_base.h"
 #include "headtracker-ftnoir.h"
 #include "ui_ht-trackercontrols.h"
-#include "video_widget.h"
+#include "ht_video_widget.h"
 #include "compat/compat.h"
 #include <QObject>
-#include <QTimer>
+#include "facetracknoir/options.h"
+using namespace options;
+
+struct settings {
+    pbundle b;
+    value<bool> enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
+    value<double> fov;
+    value<int> fps, camera_idx, resolution;
+    settings() :
+        b(bundle("HT-Tracker")),
+        enableTX(b, "enable-tx", true),
+        enableTY(b, "enable-ty", true),
+        enableTZ(b, "enable-tz", true),
+        enableRX(b, "enable-rx", true),
+        enableRY(b, "enable-ry", true),
+        enableRZ(b, "enable-rz", true),
+        fov(b, "fov", 56),
+        fps(b, "fps", 0),
+        camera_idx(b, "camera-index", 0),
+        resolution(b, "resolution", 0)
+    {}
+};
 
 class Tracker : public QObject, public ITracker
 {
     Q_OBJECT
 public:
 	Tracker();
-	~Tracker();
+    virtual ~Tracker();
     void StartTracker(QFrame* frame);
-    bool GiveHeadPoseData(double *data);
-	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
-	ht_shm_t* shm;
-    bool NeedsTimeToFinish() {
-        return true;
-    }
-    void WaitForExit() {
-        if (shm) {
-            shm->terminate = true;
-            subprocess.waitForFinished(5000);
-        }
-        subprocess.kill();
-    }
+    void GetHeadPoseData(double *data);
+    void load_settings(ht_config_t* config);
 private:
-    QTimer timer;
+    settings s;
     PortableLockedShm lck_shm;
+    ht_shm_t* shm;
 	QProcess subprocess;
-	VideoWidget* videoWidget;
+    HTVideoWidget* videoWidget;
 	QHBoxLayout* layout;
-    volatile bool fresh;
-private slots:
-    void paint_widget();
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.
@@ -53,27 +61,17 @@ class TrackerControls : public QWidget, public ITrackerDialog
 {
     Q_OBJECT
 public:
-
 	explicit TrackerControls();
-    virtual ~TrackerControls();
-	void showEvent ( QShowEvent * event );
-
-    void Initialize(QWidget *parent);
-    void registerTracker(ITracker *tracker) {}
+    void registerTracker(ITracker *) {}
     void unRegisterTracker() {}
 
 private:
 	Ui::Form ui;
-	void loadSettings();
-	void save();
-	bool settingsDirty;
+    settings s;
 
 private slots:
 	void doOK();
 	void doCancel();
-    void settingChanged() { settingsDirty = true; }
-    void settingChanged(int) { settingsDirty = true; }
-    void settingChanged(double) { settingsDirty = true; }
 };
 
 #endif
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
index 1e53f802..ffdc5262 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h
@@ -1,4 +1,4 @@
-/* Copyright (c) 2013 Stanis³aw 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
@@ -12,7 +12,6 @@
 class TrackerDll : public Metadata
 {
 	// ITrackerDll interface
-	void Initialize() {}
 	void getFullName(QString *strToBeFilled);
 	void getShortName(QString *strToBeFilled);
 	void getDescription(QString *strToBeFilled);
diff --git a/ftnoir_tracker_ht/ht-api.h b/ftnoir_tracker_ht/ht-api.h
index e6960206..2ab2e840 100644
--- a/ftnoir_tracker_ht/ht-api.h
+++ b/ftnoir_tracker_ht/ht-api.h
@@ -1,38 +1,33 @@
 #pragma once
 #ifndef HT_API
-#ifndef __cplusplus
-# define HT_EXTERN
-#else
-# define HT_EXTERN extern "C"
-#endif
 #   if defined(_WIN32) && !defined(MINGW)
-#     define HT_API(t) HT_EXTERN __declspec(dllexport) t __stdcall
+#     define HT_API(t) __declspec(dllexport) t __stdcall
 #   else
-#    define HT_API(t) HT_EXTERN t
+#    define HT_API(t) t
 #   endif
 #endif
 #if !defined(_WIN32) && !defined(_isnan)
 #  define _isnan isnan
 #endif
-#include <stdio.h>
+#include <opencv2/core/core.hpp>
 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;
-    float keypoint_distance;
+	int   max_keypoints;
+	float keypoint_distance;
     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;
@@ -44,42 +39,11 @@ typedef struct ht_config {
 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_double = 3
-} ht_cfg_type_t;
-
-typedef union
-{
-    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;
-} ht_reflection_t;
-
-typedef struct {
-    int rows, cols, channels;
-    unsigned char* data;
-} ht_frame_t;
-
 HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
-HT_API(void) ht_load_config(FILE* stream, ht_config_t* cfg);
 HT_API(void) ht_free_context(headtracker_t* ctx);
-HT_API(void) ht_get_bgr_frame(headtracker_t* ctx, ht_frame_t* ret);
-HT_API(void) ht_make_config(ht_config_t* cfg);
+HT_API(const cv::Mat) ht_get_bgr_frame(headtracker_t* ctx);
 HT_API(bool) ht_cycle(headtracker_t* ctx, ht_result_t* euler);
 HT_API(void) ht_reset(headtracker_t* ctx);
diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui
index fbe7a41a..f57022c8 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>593</width>
-    <height>280</height>
+    <width>531</width>
+    <height>166</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -28,420 +28,200 @@
   <property name="windowTitle">
    <string>HT tracker settings</string>
   </property>
-  <widget class="QLabel" name="label">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>10</y>
-     <width>141</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Horizontal FOV</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="cameraFOV">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>10</y>
-     <width>251</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="locale">
-    <locale language="English" country="UnitedStates"/>
-   </property>
-   <property name="minimum">
-    <double>35.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>180.000000000000000</double>
-   </property>
-   <property name="value">
-    <double>52.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>40</y>
-     <width>137</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Frames per second</string>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="cameraFPS">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>40</y>
-     <width>251</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <item>
-    <property name="text">
-     <string notr="true">Default</string>
-    </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="1">
+    <widget class="QDoubleSpinBox" name="cameraFOV">
+     <property name="locale">
+      <locale language="English" country="UnitedStates"/>
+     </property>
+     <property name="minimum">
+      <double>35.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>52.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Horizontal FOV</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2" rowspan="3">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Enable axes</string>
+     </property>
+     <widget class="QCheckBox" name="rx">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>20</y>
+        <width>70</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>RX</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="ry">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>40</y>
+        <width>70</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>RY</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="rz">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>60</y>
+        <width>70</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>RZ</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="tx">
+      <property name="geometry">
+       <rect>
+        <x>60</x>
+        <y>20</y>
+        <width>70</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>TX</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="ty">
+      <property name="geometry">
+       <rect>
+        <x>60</x>
+        <y>40</y>
+        <width>70</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>TY</string>
+      </property>
+     </widget>
+     <widget class="QCheckBox" name="tz">
+      <property name="geometry">
+       <rect>
+        <x>60</x>
+        <y>60</y>
+        <width>70</width>
+        <height>17</height>
+       </rect>
+      </property>
+      <property name="text">
+       <string>TZ</string>
+      </property>
+     </widget>
+    </widget>
    </item>
-   <item>
-    <property name="text">
-     <string>30</string>
-    </property>
+   <item row="1" column="0">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Frames per second</string>
+     </property>
+    </widget>
    </item>
-   <item>
-    <property name="text">
-     <string>60</string>
-    </property>
+   <item row="1" column="1">
+    <widget class="QComboBox" name="cameraFPS">
+     <item>
+      <property name="text">
+       <string notr="true">Default</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>30</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>60</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>120</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>180</string>
+      </property>
+     </item>
+    </widget>
    </item>
-   <item>
-    <property name="text">
-     <string>120</string>
-    </property>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>Camera name</string>
+     </property>
+    </widget>
    </item>
-  </widget>
-  <widget class="QLabel" name="label_3">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>70</y>
-     <width>133</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Camera name</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="buttonOK">
-   <property name="geometry">
-    <rect>
-     <x>430</x>
-     <y>250</y>
-     <width>75</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>OK</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="buttonCancel">
-   <property name="geometry">
-    <rect>
-     <x>510</x>
-     <y>250</y>
-     <width>75</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Cancel</string>
-   </property>
-  </widget>
-  <widget class="QGroupBox" name="groupBox">
-   <property name="geometry">
-    <rect>
-     <x>390</x>
-     <y>10</y>
-     <width>101</width>
-     <height>81</height>
-    </rect>
-   </property>
-   <property name="title">
-    <string>Enable axes</string>
-   </property>
-   <widget class="QCheckBox" name="rx">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>20</y>
-      <width>70</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>RX</string>
-    </property>
-   </widget>
-   <widget class="QCheckBox" name="ry">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>40</y>
-      <width>70</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>RY</string>
-    </property>
-   </widget>
-   <widget class="QCheckBox" name="rz">
-    <property name="geometry">
-     <rect>
-      <x>10</x>
-      <y>60</y>
-      <width>70</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>RZ</string>
-    </property>
-   </widget>
-   <widget class="QCheckBox" name="tx">
-    <property name="geometry">
-     <rect>
-      <x>60</x>
-      <y>20</y>
-      <width>70</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>TX</string>
-    </property>
-   </widget>
-   <widget class="QCheckBox" name="ty">
-    <property name="geometry">
-     <rect>
-      <x>60</x>
-      <y>40</y>
-      <width>70</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>TY</string>
-    </property>
-   </widget>
-   <widget class="QCheckBox" name="tz">
-    <property name="geometry">
-     <rect>
-      <x>60</x>
-      <y>60</y>
-      <width>70</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>TZ</string>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QComboBox" name="cameraName">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>70</y>
-     <width>251</width>
-     <height>22</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_4">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>100</y>
-     <width>128</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Resolution</string>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="resolution">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>100</y>
-     <width>251</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <item>
-    <property name="text">
-     <string>640x480</string>
-    </property>
+   <item row="2" column="1">
+    <widget class="QComboBox" name="cameraName"/>
    </item>
-   <item>
-    <property name="text">
-     <string>320x240</string>
-    </property>
+   <item row="3" column="0">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>Resolution</string>
+     </property>
+    </widget>
    </item>
-   <item>
-    <property name="text">
-     <string>320x200</string>
-    </property>
+   <item row="3" column="1">
+    <widget class="QComboBox" name="resolution">
+     <item>
+      <property name="text">
+       <string>640x480</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>320x240</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>320x200</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Default (not recommended!)</string>
+      </property>
+     </item>
+    </widget>
    </item>
-   <item>
-    <property name="text">
-     <string>Default (not recommended!)</string>
-    </property>
+   <item row="4" column="2">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
    </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>
+  </layout>
  </widget>
  <resources/>
  <connections/>
diff --git a/ftnoir_tracker_ht/ht_video_widget.cpp b/ftnoir_tracker_ht/ht_video_widget.cpp
new file mode 100644
index 00000000..c6d59b34
--- /dev/null
+++ b/ftnoir_tracker_ht/ht_video_widget.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 "ht_video_widget.h"
+
+#include <QDebug>
+
+using namespace std;
+
+void HTVideoWidget::update_image(unsigned char *frame, int width, int height)
+{
+    QMutexLocker foo(&mtx);
+    memcpy(fb, frame, width * height * 3);
+    this->width = width;
+    this->height = height;
+}
+
+void HTVideoWidget::update_and_repaint()
+{
+    QMutexLocker foo(&mtx);
+    if (width*height <= 0)
+        return;
+    QImage qframe = QImage(width, height, QImage::Format_RGB888);
+    uchar* data = qframe.bits();
+    const int pitch = qframe.bytesPerLine();
+    for (int y = 0; y < height; y++)
+    {
+        const int part = y*width;
+        for (int x = 0; x < width; x++)
+        {
+            const int pos = 3 * (part + x);
+            data[y * pitch + x * 3 + 0] = fb[pos + 2];
+            data[y * pitch + x * 3 + 1] = fb[pos + 1];
+            data[y * pitch + x * 3 + 2] = fb[pos + 0];
+        }
+    }
+    auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+    texture = qframe2;
+    update();
+}
diff --git a/ftnoir_tracker_ht/video_widget.h b/ftnoir_tracker_ht/ht_video_widget.h
index 87b6278a..cbfe6ddc 100644
--- a/ftnoir_tracker_ht/video_widget.h
+++ b/ftnoir_tracker_ht/ht_video_widget.h
@@ -15,25 +15,33 @@
 #include <QLabel>
 #include <QPainter>
 #include <QPaintEvent>
+#include <QTimer>
 
 // ----------------------------------------------------------------------------
-class VideoWidget : public QWidget
+class HTVideoWidget : public QWidget
 {
-	Q_OBJECT
+    Q_OBJECT
 
 public:
-    VideoWidget(QWidget *parent) : QWidget(parent), mtx() {
-	}
+    HTVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0) {
+        connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
+        timer.start(60);
+    }
     void update_image(unsigned char* frame, int width, int height);
 protected slots:
     void paintEvent( QPaintEvent* e ) {
         QMutexLocker foo(&mtx);
         QPainter painter(this);
-        painter.drawPixmap(e->rect(), pixmap, e->rect());
+        painter.drawImage(e->rect(), texture);
     }
+    void update_and_repaint();
+
 private:
     QMutex mtx;
-    QPixmap pixmap;
+    QImage texture;
+    QTimer timer;
+    char fb[2048*2048*3];
+    int width,height;
 };
 
 #endif // VIDEOWIDGET_H
diff --git a/ftnoir_tracker_ht/stdafx.h b/ftnoir_tracker_ht/stdafx.h
index 0e532c9f..6f1539b7 100644
--- a/ftnoir_tracker_ht/stdafx.h
+++ b/ftnoir_tracker_ht/stdafx.h
@@ -4,7 +4,6 @@
 #include <QImage>
 #include <QLabel>
 #include <QCoreApplication>
-#include <QSettings>
 #include <QIcon>
 #include <QHBoxLayout>
 #include <QTimer>
diff --git a/ftnoir_tracker_ht/video_widget.cpp b/ftnoir_tracker_ht/video_widget.cpp
deleted file mode 100644
index 84cba6a3..00000000
--- a/ftnoir_tracker_ht/video_widget.cpp
+++ /dev/null
@@ -1,30 +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 "video_widget.h"
-
-#include <QDebug>
-
-using namespace std;
-
-void VideoWidget::update_image(unsigned char *frame, int width, int height)
-{
-    QMutexLocker foo(&mtx);
-    QImage qframe = QImage(width, height, QImage::Format_RGB888);
-    uchar* data = qframe.bits();
-    const int pitch = qframe.bytesPerLine();
-    for (int y = 0; y < height; y++)
-        for (int x = 0; x < width; x++)
-        {
-            const int pos = 3 * (y*width + x);
-            data[y * pitch + x * 3 + 0] = frame[pos + 2];
-            data[y * pitch + x * 3 + 1] = frame[pos + 1];
-            data[y * pitch + x * 3 + 2] = frame[pos + 0];
-        }
-    qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
-    pixmap = QPixmap::fromImage(qframe);
-}