pt: use settings framework

Issue: #96

Model values are recomputed every frame. This shouldn't matter, as
there's very little to compute.

With this change, sliders and other options are applied immediately, and
the "Apply" button is gone.

1 files changed, 8 insertions, 32 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 3abaa35e..61216000 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -21,10 +21,10 @@ using namespace cv;
 Tracker::Tracker()
     : mutex(QMutex::Recursive),
       commands(0),
-	  video_widget(NULL), 
-	  video_frame(NULL),
-      new_settings(nullptr)
+	  video_widget(NULL),
+	  video_frame(NULL)
 {
+    connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
 }
 
 Tracker::~Tracker()
@@ -65,7 +65,6 @@ void Tracker::run()
 
     while((commands & ABORT) == 0)
     {
-        apply_inner();
         const double dt = time.elapsed() * 1e-9;
         time.start();
         cv::Mat frame;
@@ -92,7 +91,7 @@ void Tracker::run()
                          4);
             }
             if (points.size() == PointModel::N_POINTS)
-                point_tracker.track(points, model, get_focal_length());
+                point_tracker.track(points, PointModel(s), get_focal_length());
             video_widget->update_image(frame);
         }
 #ifdef PT_PERF_LOG
@@ -103,36 +102,14 @@ void Tracker::run()
     }
     qDebug()<<"Tracker:: Thread stopping";
 }
-void Tracker::apply(settings& s)
-{
-    // caller guarantees object lifetime
-    new_settings = &s;
-}
 
-void Tracker::apply_inner()
+void Tracker::apply_settings()
 {
-    // XXX this nonsense oughta reference settings directly,
-    // rather than keep its own state -sh 20141102
-    // applies to -- camera, extractor, this tracker class
-    settings* tmp = new_settings.exchange(nullptr);
-    if (tmp == nullptr)
-        return;
-    auto& s = *tmp;
     qDebug()<<"Tracker:: Applying settings";
-
-    {
-        cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z);
-        cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z);
-        model = PointModel(M01, M02);
-    }
+    QMutexLocker lock(&mutex);
     camera.set_device_index(s.cam_index);
     camera.set_res(s.cam_res_x, s.cam_res_y);
     camera.set_fps(s.cam_fps);
-    point_extractor.threshold_val = s.threshold;
-    point_extractor.threshold_secondary_val = s.threshold_secondary;
-    point_extractor.min_size = s.min_point_size;
-    point_extractor.max_size = s.max_point_size;
-    t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
     qDebug()<<"Tracker::apply ends";
 }
 
@@ -147,8 +124,7 @@ void Tracker::start_tracker(QFrame *parent_window)
     video_layout->addWidget(video_widget);
     video_frame->setLayout(video_layout);
     video_widget->resize(video_frame->width(), video_frame->height());
-    apply(s);
-    apply_inner();
+    apply_settings();
     camera.start();
     start();
 }
@@ -169,7 +145,7 @@ void Tracker::data(THeadPoseData *data)
 
     Affine X_CM = point_tracker.pose();
 
-    Affine X_MH(Matx33f::eye(), t_MH);
+    Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
     Affine X_GH = X_CM * X_MH;
 
     Matx33f R = X_GH.R;