pt: remove manual camera rotation declaration

We do it in core. And if we don't, we have to!

Issue: #63

7 files changed, 6 insertions, 182 deletions

diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 73b1f767..91cda5dd 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -277,119 +277,6 @@
         </widget>
        </item>
        <item>
-        <widget class="QGroupBox" name="groupBox_4">
-         <property name="title">
-          <string>Camera orientation</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_3">
-          <item row="0" column="0">
-           <widget class="QLabel" name="label_18">
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="buddy">
-             <cstring>camroll_combo</cstring>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QComboBox" name="camroll_combo">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>0</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="toolTip">
-             <string>Rotation of the camera image</string>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_4">
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="buddy">
-             <cstring>campitch_spin</cstring>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QSpinBox" name="campitch_spin">
-            <property name="contextMenuPolicy">
-             <enum>Qt::DefaultContextMenu</enum>
-            </property>
-            <property name="toolTip">
-             <string>The angle the camera is facing upwards</string>
-            </property>
-            <property name="suffix">
-             <string> deg</string>
-            </property>
-            <property name="minimum">
-             <number>-180</number>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QLabel" name="label_5">
-            <property name="text">
-             <string>positive = upwards</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_20">
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="buddy">
-             <cstring>camyaw_spin</cstring>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="camyaw_spin">
-            <property name="contextMenuPolicy">
-             <enum>Qt::DefaultContextMenu</enum>
-            </property>
-            <property name="toolTip">
-             <string>The angle the camera is facing leftwards</string>
-            </property>
-            <property name="suffix">
-             <string> deg</string>
-            </property>
-            <property name="prefix">
-             <string/>
-            </property>
-            <property name="minimum">
-             <number>-180</number>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QLabel" name="label_21">
-            <property name="text">
-             <string>positve = left</string>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
         <widget class="QGroupBox" name="groupBox_2">
          <property name="title">
           <string>Point extraction</string>
@@ -1180,9 +1067,6 @@
   <tabstop>tabWidget</tabstop>
   <tabstop>camdevice_combo</tabstop>
   <tabstop>res_x_spin</tabstop>
-  <tabstop>camroll_combo</tabstop>
-  <tabstop>campitch_spin</tabstop>
-  <tabstop>camyaw_spin</tabstop>
   <tabstop>threshold_slider</tabstop>
   <tabstop>model_tabs</tabstop>
   <tabstop>m1x_spin</tabstop>
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index fec503e1..e427f54e 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -302,29 +302,3 @@ void VICamera::_set_res()
 	if (active) restart();
 }
 #endif
-
-// ----------------------------------------------------------------------------
-Mat FrameRotation::rotate_frame(Mat frame)
-{	
-	switch (rotation)
-	{
-	case CLOCKWISE:
-		{
-			Mat dst;
-			transpose(frame, dst);
-			flip(dst, dst, 1);
-			return dst;
-		}
-
-	case COUNTER_CLOCKWISE:
-		{
-			Mat dst;
-			transpose(frame, dst);
-			flip(dst, dst, 0);
-			return dst;
-		}
-	
-	default:
-		return frame;
-	}
-}
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 889bf2d3..2bce6f35 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -5,8 +5,7 @@
  * copyright notice and this permission notice appear in all copies.
  */
 
-#ifndef CAMERA_H
-#define CAMERA_H
+#pragma once
 
 #include <opencv2/core/core.hpp>
 #ifndef OPENTRACK_API
@@ -128,14 +127,3 @@ enum RotationType
     ZERO = 1,
     COUNTER_CLOCKWISE = 2
 };
-
-// ----------------------------------------------------------------------------
-class FrameRotation
-{
-public:
-    RotationType rotation;
-
-    cv::Mat rotate_frame(cv::Mat frame);
-};
-
-#endif //CAMERA_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 9b3795b9..a32288f4 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -66,7 +66,6 @@ void Tracker::run()
         {
             QMutexLocker lock(&mutex);
 
-            frame = frame_rotation.rotate_frame(frame);
             const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame);
             for (auto p : points)
             {
@@ -119,22 +118,15 @@ void Tracker::apply_inner()
     camera.set_device_index(s.cam_index);
     camera.set_res(s.cam_res_x, s.cam_res_y);
     camera.set_fps(s.cam_fps);
-    frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));
     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);
-    R_GC =  Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),
-		                                         0, 1,                             0,
-                    -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));
-	R_GC = R_GC * Matx33f( 1,                                0,                               0,
-                           0,  cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),
-                           0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));
-
-	FrameTrafo X_MH(Matx33f::eye(), t_MH);
-	X_GH_0 = R_GC * X_MH;
-	qDebug()<<"Tracker::apply ends";
+    R_GC = cv::Matx33f::eye();
+    FrameTrafo X_MH(Matx33f::eye(), t_MH);
+    X_GH_0 = R_GC * X_MH;
+    qDebug()<<"Tracker::apply ends";
 }
 
 void Tracker::reset()
@@ -145,7 +137,7 @@ void Tracker::reset()
 
 void Tracker::center()
 {
-	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet
+	point_tracker.reset();
 	QMutexLocker lock(&mutex);
 	FrameTrafo X_CM_0 = point_tracker.pose();
 	FrameTrafo X_MH(Matx33f::eye(), t_MH);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 921d61cf..33e03ea8 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -62,7 +62,6 @@ private:
     volatile int commands;
 
     CVCamera       camera;
-    FrameRotation  frame_rotation;
     PointExtractor point_extractor;
     PointTracker   point_tracker;
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index a15e97b9..1b5b5910 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -34,17 +34,10 @@ TrackerDialog::TrackerDialog()
         ui.camdevice_combo->addItem(iter->c_str());
     }
 
-    ui.camroll_combo->addItem("-90");
-    ui.camroll_combo->addItem("0");
-    ui.camroll_combo->addItem("90");
-
     tie_setting(s.cam_index, ui.camdevice_combo);
     tie_setting(s.cam_res_x, ui.res_x_spin);
     tie_setting(s.cam_res_y, ui.res_y_spin);
     tie_setting(s.cam_fps, ui.fps_spin);
-    tie_setting(s.cam_roll, ui.camroll_combo);
-    tie_setting(s.cam_pitch, ui.campitch_spin);
-    tie_setting(s.cam_yaw, ui.camyaw_spin);
 
     tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
     tie_setting(s.threshold, ui.threshold_slider);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 9365eb9a..b301db31 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -21,9 +21,6 @@ struct settings
                cam_res_x,
                cam_res_y,
                cam_fps,
-               cam_roll,
-               cam_pitch,
-               cam_yaw,
                threshold,
                threshold_secondary,
                min_point_size,
@@ -45,9 +42,6 @@ struct settings
         cam_res_x(b, "camera-res-width", 640),
         cam_res_y(b, "camera-res-height", 480),
         cam_fps(b, "camera-fps", 30),
-        cam_roll(b, "camera-roll", 1),
-        cam_pitch(b, "camera-pitch", 0),
-        cam_yaw(b, "camera-yaw", 0),
         threshold(b, "threshold-primary", 128),
         threshold_secondary(b, "threshold-secondary", 128),
         min_point_size(b, "min-point-size", 10),