flush

8 files changed, 115 insertions, 115 deletions

diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 7ebbcb67..889bf2d3 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -8,7 +8,7 @@
 #ifndef CAMERA_H
 #define CAMERA_H
 
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 #ifndef OPENTRACK_API
 #   include <boost/shared_ptr.hpp>
 #else
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 5bcfd37d..fff8d4ab 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -22,7 +22,7 @@
 #include <QMutex>
 #include <QMutexLocker>
 #include <QTime>
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 #include <atomic>
 #ifndef OPENTRACK_API
 #   include <boost/shared_ptr.hpp>
@@ -36,53 +36,53 @@
 class Tracker : public ITracker, protected QThread
 {
 public:
-	Tracker();
+    Tracker();
     ~Tracker() override;
     void StartTracker(QFrame* parent_window) override;
     void GetHeadPoseData(double* data) override;
 
     void apply(settings& s);
-	void apply_inner();
-	void center();
-	void reset();	// reset the trackers internal state variables
+    void apply_inner();
+    void center();
+    void reset();	// reset the trackers internal state variables
 
-	void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
-	int  get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
-	void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
+    void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
+    int  get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
+    void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
 protected:
     void run() override;
 private:
-	QMutex mutex;
-	// thread commands
-	enum Command {
-		ABORT = 1<<0
-	};
-	void set_command(Command command);
-	void reset_command(Command command);
+    QMutex mutex;
+    // thread commands
+    enum Command {
+        ABORT = 1<<0
+    };
+    void set_command(Command command);
+    void reset_command(Command command);
     volatile int commands;
 
     CVCamera       camera;
-	FrameRotation  frame_rotation;
-	PointExtractor point_extractor;
-	PointTracker   point_tracker;
+    FrameRotation  frame_rotation;
+    PointExtractor point_extractor;
+    PointTracker   point_tracker;
 
-	FrameTrafo X_GH_0; // for centering
-	cv::Vec3f   t_MH; // translation from model frame to head frame
-	cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
+    FrameTrafo X_GH_0; // for centering
+    cv::Vec3f   t_MH; // translation from model frame to head frame
+    cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
 
-	// --- ui ---
-	cv::Mat frame;	// the output frame for display
+    // --- ui ---
+    cv::Mat frame;	// the output frame for display
 
     PTVideoWidget* video_widget;
-	QFrame*      video_frame;
-	
+    QFrame*      video_frame;
+
     settings s;
     std::atomic<settings*> new_settings;
     Timer time;
-    
+
     static constexpr double rad2deg = 180.0/3.14159265;
     static constexpr double deg2rad = 3.14159265/180.0;
-    
+
     PointModel model;
 };
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 6cd6135c..3af7b560 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -9,7 +9,7 @@
 
 #include <QMessageBox>
 #include <QDebug>
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 #ifndef OPENTRACK_API
 #   include <boost/shared_ptr.hpp>
 #else
@@ -25,14 +25,14 @@ TrackerDialog::TrackerDialog()
       timer(this),
       trans_calib_running(false)
 {
-	ui.setupUi( this );
+    ui.setupUi( this );
 
     vector<string> device_names;
-	get_camera_device_names(device_names);
+    get_camera_device_names(device_names);
     for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter)
-	{
-		ui.camdevice_combo->addItem(iter->c_str());
-	}
+    {
+        ui.camdevice_combo->addItem(iter->c_str());
+    }
 
     ui.camroll_combo->addItem("-90");
     ui.camroll_combo->addItem("0");
@@ -82,7 +82,7 @@ TrackerDialog::TrackerDialog()
 
     connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int)));
     connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
-	timer.start(100);
+    timer.start(100);
 
     connect(ui.buttonBox_2, SIGNAL(clicked(QAbstractButton*)), this, SLOT(do_apply_without_saving(QAbstractButton*)));
 }
@@ -96,7 +96,7 @@ void TrackerDialog::set_model_clip()
     s.m02_y = -static_cast<double>(s.clip_by);
     s.m02_z = -static_cast<double>(s.clip_bz);
 
-	settings_changed();
+    settings_changed();
 }
 
 void TrackerDialog::set_model_cap()
@@ -108,12 +108,12 @@ void TrackerDialog::set_model_cap()
     s.m02_y = -static_cast<double>(s.cap_y);
     s.m02_z = -static_cast<double>(s.cap_z);
 
-	settings_changed();
+    settings_changed();
 }
 
 void TrackerDialog::set_model_custom()
 {
-	settings_changed();
+    settings_changed();
 }
 
 void TrackerDialog::set_model(int val)
@@ -123,38 +123,38 @@ void TrackerDialog::set_model(int val)
 
 void TrackerDialog::startstop_trans_calib(bool start)
 {
-	if (start)
-	{
-		qDebug()<<"TrackerDialog:: Starting translation calibration";
-		trans_calib.reset();
-		trans_calib_running = true;
-	}
-	else
-	{
-		qDebug()<<"TrackerDialog:: Stoppping translation calibration";
-		trans_calib_running = false;
+    if (start)
+    {
+        qDebug()<<"TrackerDialog:: Starting translation calibration";
+        trans_calib.reset();
+        trans_calib_running = true;
+    }
+    else
+    {
+        qDebug()<<"TrackerDialog:: Stoppping translation calibration";
+        trans_calib_running = false;
         {
             auto tmp = trans_calib.get_estimate();
             s.t_MH_x = tmp[0];
             s.t_MH_y = tmp[1];
             s.t_MH_z = tmp[2];
         }
-		settings_changed();
-	}
+        settings_changed();
+    }
 }
 
 void TrackerDialog::poll_tracker_info()
 {
     if (tracker)
-    {	
+    {
         QString to_print;
-        
+
         // display caminfo
         CamInfo info;
         tracker->get_cam_info(&info);
         to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
         ui.caminfo_label->setText(to_print);
-        
+
         // display pointinfo
         int n_points = tracker->get_n_points();
         to_print = QString::number(n_points);
@@ -163,7 +163,7 @@ void TrackerDialog::poll_tracker_info()
         else
             to_print += " BAD!";
         ui.pointinfo_label->setText(to_print);
-        
+
         // update calibration
         if (trans_calib_running) trans_calib_step();
     }
@@ -177,16 +177,16 @@ void TrackerDialog::poll_tracker_info()
 
 void TrackerDialog::trans_calib_step()
 {
-	if (tracker)
-	{
-		FrameTrafo X_CM;
-		tracker->get_pose(&X_CM);
-		trans_calib.update(X_CM.R, X_CM.t);
-		cv::Vec3f t_MH = trans_calib.get_estimate();
+    if (tracker)
+    {
+        FrameTrafo X_CM;
+        tracker->get_pose(&X_CM);
+        trans_calib.update(X_CM.R, X_CM.t);
+        cv::Vec3f t_MH = trans_calib.get_estimate();
         s.t_MH_x = t_MH[0];
         s.t_MH_y = t_MH[1];
         s.t_MH_z = t_MH[2];
-	}
+    }
 }
 
 void TrackerDialog::settings_changed()
@@ -203,7 +203,7 @@ void TrackerDialog::save()
 void TrackerDialog::doOK()
 {
     save();
-	close();
+    close();
 }
 
 void TrackerDialog::do_apply_without_saving(QAbstractButton*)
@@ -225,7 +225,7 @@ void TrackerDialog::do_apply_without_saving(QAbstractButton*)
 
 void TrackerDialog::doApply()
 {
-    save();                                                                                                                                                                                                                                                                                                         
+    save();
 }
 
 void TrackerDialog::doCancel()
@@ -236,23 +236,23 @@ void TrackerDialog::doCancel()
 
 void TrackerDialog::registerTracker(ITracker *t)
 {
-	qDebug()<<"TrackerDialog:: Tracker registered";
-	tracker = static_cast<Tracker*>(t);
+    qDebug()<<"TrackerDialog:: Tracker registered";
+    tracker = static_cast<Tracker*>(t);
     if (isVisible() & s.b->modifiedp())
         tracker->apply(s);
-	ui.tcalib_button->setEnabled(true);
-	//ui.center_button->setEnabled(true);
+    ui.tcalib_button->setEnabled(true);
+    //ui.center_button->setEnabled(true);
 }
 
 void TrackerDialog::unRegisterTracker()
 {
-	qDebug()<<"TrackerDialog:: Tracker un-registered";
-	tracker = NULL;
-	ui.tcalib_button->setEnabled(false); 
-	//ui.center_button->setEnabled(false);
+    qDebug()<<"TrackerDialog:: Tracker un-registered";
+    tracker = NULL;
+    ui.tcalib_button->setEnabled(false);
+    //ui.center_button->setEnabled(false);
 }
 
 extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( )
 {
-	return new TrackerDialog;
+    return new TrackerDialog;
 }
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 365776e4..e8cac679 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -8,7 +8,7 @@
 #ifndef FTNOIR_TRACKER_PT_SETTINGS_H
 #define FTNOIR_TRACKER_PT_SETTINGS_H
 
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 #include "point_tracker.h"
 
 #include "facetracknoir/options.h"
@@ -36,7 +36,7 @@ struct settings
 
     value<int> clip_ty, clip_tz, clip_by, clip_bz;
     value<int> active_model_panel, cap_x, cap_y, cap_z;
-    
+
     // XXX todo red channel only, good for crapola CCD sensors -sh 20140922
 
     settings() :
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index 3ef82900..5252b68d 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -8,8 +8,8 @@
 #ifndef POINTEXTRACTOR_H
 #define POINTEXTRACTOR_H
 
-#include <opencv2/opencv.hpp>
-#include <opencv2/imgproc/imgproc_c.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 
 // ----------------------------------------------------------------------------
 // Extracts points from an opencv image
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index c8212538..d65494a4 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -8,7 +8,7 @@
 #ifndef POINTTRACKER_H
 #define POINTTRACKER_H
 
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 #ifndef OPENTRACK_API
 #   include <boost/shared_ptr.hpp>
 #else
@@ -21,31 +21,31 @@
 class FrameTrafo
 {
 public:
-	FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
-	FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
+    FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
+    FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
 
-	cv::Matx33f R;
-	cv::Vec3f t;
+    cv::Matx33f R;
+    cv::Vec3f t;
 };
 
 inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
 {
-	return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
+    return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
 }
 
 inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
 {
-	return FrameTrafo(X*Y.R, X*Y.t);
+    return FrameTrafo(X*Y.R, X*Y.t);
 }
 
 inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
 {
-	return FrameTrafo(X.R*Y, X.t);
+    return FrameTrafo(X.R*Y, X.t);
 }
 
 inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
 {
-	return X.R*v + X.t;
+    return X.R*v + X.t;
 }
 
 
@@ -55,28 +55,28 @@ inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
 // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
 class PointModel
 {
-	friend class PointTracker;
+    friend class PointTracker;
 public:
-	static constexpr int N_POINTS = 3;
+    static constexpr int N_POINTS = 3;
 
-	PointModel(cv::Vec3f M01, cv::Vec3f M02);
+    PointModel(cv::Vec3f M01, cv::Vec3f M02);
     PointModel();
 
-	inline const cv::Vec3f& get_M01() const { return M01; }
-	inline const cv::Vec3f& get_M02() const { return M02; }
+    inline const cv::Vec3f& get_M01() const { return M01; }
+    inline const cv::Vec3f& get_M02() const { return M02; }
 
 private:
-	cv::Vec3f M01;	// M01 in model frame
-	cv::Vec3f M02;	// M02 in model frame
+    cv::Vec3f M01;	// M01 in model frame
+    cv::Vec3f M02;	// M02 in model frame
 
-	cv::Vec3f u;	// unit vector perpendicular to M01,M02-plane
+    cv::Vec3f u;	// unit vector perpendicular to M01,M02-plane
 
-	cv::Matx22f P;
+    cv::Matx22f P;
 
-	cv::Vec2f d;	// determinant vector for point correspondence
-	int d_order[3];	// sorting of projected model points with respect to d scalar product 
+    cv::Vec2f d;	// determinant vector for point correspondence
+    int d_order[3];	// sorting of projected model points with respect to d scalar product
 
-	void get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const;
+    void get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const;
 };
 
 // ----------------------------------------------------------------------------
@@ -86,29 +86,29 @@ private:
 class PointTracker
 {
 public:
-	PointTracker();
-	// track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
-	// f : (focal length)/(sensor width)
-	// dt : time since last call
-	void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model);
-	FrameTrafo get_pose() const { return X_CM; }
-	void reset();
+    PointTracker();
+    // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
+    // f : (focal length)/(sensor width)
+    // dt : time since last call
+    void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model);
+    FrameTrafo get_pose() const { return X_CM; }
+    void reset();
 
 private:
     // the points in model order
     typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder;
-    static constexpr float focal_length = 1.0f;    
-    
-	inline cv::Vec2f project(const cv::Vec3f& v_M)
-	{
-		cv::Vec3f v_C = X_CM * v_M;
-		return cv::Vec2f(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]);
-	}
+    static constexpr float focal_length = 1.0f;
+
+    inline cv::Vec2f project(const cv::Vec3f& v_M)
+    {
+        cv::Vec3f v_C = X_CM * v_M;
+        return cv::Vec2f(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]);
+    }
 
     PointOrder find_correspondences(const std::vector<cv::Vec2f>& projected_points, const PointModel &model);
     int POSIT(const PointModel& point_model, const PointOrder& order);  // The POSIT algorithm, returns the number of iterations
-    
-	FrameTrafo X_CM; // trafo from model to camera
+
+    FrameTrafo X_CM; // trafo from model to camera
 };
 
 #endif //POINTTRACKER_H
diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h
index de2c7efb..f2b41d63 100644
--- a/ftnoir_tracker_pt/pt_video_widget.h
+++ b/ftnoir_tracker_pt/pt_video_widget.h
@@ -10,7 +10,7 @@
 #include <QObject>
 #include <QTime>
 #include <QDialog>
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 #ifndef OPENTRACK_API
 #   include <QGLWidget>
 #   include <boost/shared_ptr.hpp>
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
index 5c321b2c..c2c02b38 100644
--- a/ftnoir_tracker_pt/trans_calib.h
+++ b/ftnoir_tracker_pt/trans_calib.h
@@ -8,7 +8,7 @@
 #ifndef TRANSCALIB_H
 #define TRANSCALIB_H
 
-#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
 
 //-----------------------------------------------------------------------------
 // Calibrates the translation from head to model = t_MH