Just put everything new in. Conflict resolution will be later

16 files changed, 196 insertions, 166 deletions

diff --git a/ftnoir_tracker_pt/Resources/icon.ico b/ftnoir_tracker_pt/Resources/icon.ico
new file mode 100644
index 00000000..c4b2aedc
--- /dev/null
+++ b/ftnoir_tracker_pt/Resources/icon.ico
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index fc11c738..96ba3b89 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -68,45 +68,33 @@ bool Camera::get_frame(float dt, cv::Mat* frame)
 }

 

 // ----------------------------------------------------------------------------

-/*

 void CVCamera::start()

 {

-	cap = cvCreateCameraCapture(desired_index);

-	// extract camera info

-	if (cap)

-	{

-		active = true;

-		active_index = desired_index;

-		cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);

-		cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);

-	}

+	cap = new VideoCapture(desired_index);

+// extract camera info

+    active = true;

+    active_index = desired_index;

+    cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);

+    cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);

 }

 

 void CVCamera::stop()

 {

-	if (cap) cvReleaseCapture(&cap);

+	if (cap) {

+        cap->release();

+        delete cap;

+        cap = NULL;

+    }

 	active = false;

 }

 

 bool CVCamera::_get_frame(Mat* frame)

 {

-    if (cap && cvGrabFrame(cap) != 0)

-	{

-		// retrieve frame

-		IplImage* _img = cvRetrieveFrame(cap, 0);

-		if(_img)

-		{

-			if(_img->origin == IPL_ORIGIN_TL)

-				*frame = Mat(_img);

-			else

-			{

-				Mat temp(_img);

-				flip(temp, *frame, 0);

-			}

-			return true;

-		}

-	}

-	return false;

+    Mat tmp;

+    bool ret = cap->read(tmp);

+    if (ret)

+        flip(tmp, *frame, 0);

+    return ret;

 }

 

 void CVCamera::_set_index()

@@ -121,21 +109,21 @@ void CVCamera::_set_f()
 

 void CVCamera::_set_fps()

 {

-	if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps);

+	if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps);

 }

 

 void CVCamera::_set_res()

 {

 	if (cap)

 	{

-		cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH,  cam_desired.res_x);

-		cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);

-		cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);

-		cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);

+		cap->set(CV_CAP_PROP_FRAME_WIDTH,  cam_desired.res_x);

+		cap->set(CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);

+		cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);

+		cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);

 	}

 }

-*/

 

+#if 0

 // ----------------------------------------------------------------------------

 VICamera::VICamera() : frame_buffer(NULL)

 {

@@ -223,4 +211,4 @@ void VICamera::_set_res()
 {

 	if (active) restart();

 }

-

+#endif

diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index cd1f0842..9977431b 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -9,7 +9,7 @@
 #define CAMERA_H

 

 #include <opencv2/opencv.hpp>

-#include "videoInput/videoInput.h"

+//#include "videoInput/videoInput.h"

 

 // ----------------------------------------------------------------------------

 struct CamInfo

@@ -27,7 +27,7 @@ struct CamInfo
 class Camera

 {

 public:

-	Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}

+    Camera() : desired_index(0), active_index(-1), active(false), dt_valid(0), dt_mean(0) {}

 	virtual ~Camera() {}

 

 	// start/stop capturing

@@ -57,19 +57,19 @@ protected:
 	virtual void _set_fps() = 0;

 	virtual void _set_res() = 0;

 

+    int desired_index;

+    int active_index;

 	bool active;

-	int desired_index;

-	int active_index;

+    float dt_valid;

+    float dt_mean;

 	CamInfo cam_info;

 	CamInfo cam_desired;

-	float dt_valid;

-	float dt_mean;

 };

 

 

 // ----------------------------------------------------------------------------

 // OpenCV camera

-/*

+

 class CVCamera : public Camera

 {

 public:

@@ -86,12 +86,13 @@ protected:
 	void _set_fps();

 	void _set_res();

 

-	CvCapture* cap;

+	cv::VideoCapture* cap;

 };

-*/

+

 

 // ----------------------------------------------------------------------------

 // videoInput camera

+#if 0

 class VICamera : public Camera

 {

 public:

@@ -112,5 +113,6 @@ protected:
 	cv::Mat new_frame;

 	unsigned char* frame_buffer;

 };

+#endif

 

 #endif //CAMERA_H

diff --git a/ftnoir_tracker_pt/ftnoir_pt_controls.ui b/ftnoir_tracker_pt/ftnoir_pt_controls.ui
index 0174df23..0934a4fb 100644
--- a/ftnoir_tracker_pt/ftnoir_pt_controls.ui
+++ b/ftnoir_tracker_pt/ftnoir_pt_controls.ui
@@ -9,7 +9,7 @@
    <rect>

     <x>0</x>

     <y>0</y>

-    <width>405</width>

+    <width>451</width>

     <height>489</height>

    </rect>

   </property>

@@ -23,8 +23,8 @@
    <string>PointTracker Settings</string>

   </property>

   <property name="windowIcon">

-   <iconset resource="ftnoir_tracker_pt.qrc">

-    <normaloff>:/Resources/icon.ico</normaloff>:/Resources/icon.ico</iconset>

+   <iconset>

+    <normaloff>:/Resources/icon.png</normaloff>:/Resources/icon.png</iconset>

   </property>

   <property name="layoutDirection">

    <enum>Qt::LeftToRight</enum>

@@ -54,7 +54,7 @@
       <locale language="English" country="UnitedStates"/>

      </property>

      <property name="currentIndex">

-      <number>0</number>

+      <number>1</number>

      </property>

      <widget class="QWidget" name="tab">

       <attribute name="title">

@@ -561,6 +561,9 @@
                 <property name="toolTip">

                  <string>Desired capture framerate</string>

                 </property>

+                <property name="maximum">

+                 <number>300</number>

+                </property>

                </widget>

               </item>

              </layout>

@@ -959,7 +962,7 @@
                   <string/>

                  </property>

                  <property name="pixmap">

-                  <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>

+                  <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/clip_side.png</pixmap>

                  </property>

                 </widget>

                 <widget class="QSpinBox" name="clip_theight_spin">

@@ -1082,7 +1085,7 @@
                   <string/>

                  </property>

                  <property name="pixmap">

-                  <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>

+                  <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/clip_front.png</pixmap>

                  </property>

                 </widget>

                 <widget class="QLabel" name="label_53">

@@ -1137,7 +1140,7 @@
                   <string/>

                  </property>

                  <property name="pixmap">

-                  <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>

+                  <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/cap_side.png</pixmap>

                  </property>

                 </widget>

                 <widget class="QSpinBox" name="cap_height_spin">

@@ -1247,7 +1250,7 @@
                   <string/>

                  </property>

                  <property name="pixmap">

-                  <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>

+                  <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/cap_front.png</pixmap>

                  </property>

                 </widget>

                 <widget class="QSpinBox" name="cap_width_spin">

@@ -1656,7 +1659,7 @@
         <string/>

        </property>

        <property name="pixmap">

-        <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>

+        <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/logo_ir.png</pixmap>

        </property>

       </widget>

      </widget>

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 5b77da69..db863e3a 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -11,23 +11,22 @@
 #include <QDebug>

 #include <QFile>

 #include <QCoreApplication>

+#include "facetracknoir/global-settings.h"

 

 using namespace std;

 using namespace cv;

-using namespace boost;

 

 //#define PT_PERF_LOG	//log performance

 

 //-----------------------------------------------------------------------------

 Tracker::Tracker()

-	: frame_count(0), commands(0), video_widget(NULL), tracking_valid(false)

+    : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false)

 {

+    should_quit = false;

 	qDebug()<<"Tracker::Tracker";

 	TrackerSettings settings;

-	settings.load_ini();

+    settings.load_ini();

 	apply(settings);

-	camera.start();

-	start();

 }

 

 Tracker::~Tracker()

@@ -66,8 +65,12 @@ void Tracker::run()
 	forever

 	{

 		{	

+            

+            refreshVideo();

 			QMutexLocker lock(&mutex);

-			

+            if (should_quit)

+                break;

+

 			if (commands & ABORT) break;

 			if (commands & PAUSE) continue;

 			commands = 0;

@@ -105,7 +108,7 @@ void Tracker::apply(const TrackerSettings& settings)
 	point_extractor.threshold_val = settings.threshold;

 	point_extractor.min_size = settings.min_point_size;

 	point_extractor.max_size = settings.max_point_size;

-	point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

+	point_tracker.point_model = std::auto_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

 	point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;

 	sleep_time = settings.sleep_time;

 	point_tracker.dt_reset = settings.reset_time / 1000.0;

@@ -138,57 +141,60 @@ void Tracker::center()
 	X_CH_0 = X_CM_0 * X_MH;

 }

 

-//-----------------------------------------------------------------------------

-// ITracker interface

-void Tracker::Initialize(QFrame *videoframe)

-{

-	const int VIDEO_FRAME_WIDTH = 252;

-	const int VIDEO_FRAME_HEIGHT = 189;

-

-	qDebug("Tracker::Initialize");

-	// setup video frame

-	videoframe->setAttribute(Qt::WA_NativeWindow);

-	videoframe->show();

-	video_widget = new VideoWidget(videoframe);

-	QHBoxLayout* layout = new QHBoxLayout();

-	layout->setContentsMargins(0, 0, 0, 0);

-	layout->addWidget(video_widget);

-	if (videoframe->layout()) delete videoframe->layout();

-	videoframe->setLayout(layout);

-	video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);

-}

-

 void Tracker::refreshVideo()

 {	

 	if (video_widget)

 	{

 		Mat frame_copy;

-		shared_ptr< vector<Vec2f> > points;

+		std::auto_ptr< vector<Vec2f> > points;

 		{

 			QMutexLocker lock(&mutex);

 			if (!draw_frame || frame.empty()) return;

 		

 			// copy the frame and points from the tracker thread

 			frame_copy = frame.clone();

-			points = shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));

+			points = std::auto_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));

 		}

 		

-		video_widget->update(frame_copy, points);

+		video_widget->update_image(frame_copy, points);

+        fresh = true;

 	}

 }

 

-void Tracker::StartTracker(HWND parent_window)

+void Tracker::StartTracker(QFrame* videoframe)

 {

+    const int VIDEO_FRAME_WIDTH = 252;

+    const int VIDEO_FRAME_HEIGHT = 189;

+    TrackerSettings settings;

+    settings.load_ini();

+    apply(settings);

+    camera.start();

+    start();

+    qDebug("Tracker::Initialize");

+    // setup video frame

+    video_widget = new VideoWidget(videoframe);

+    QHBoxLayout* layout = new QHBoxLayout();

+    layout->setContentsMargins(0, 0, 0, 0);

+    layout->addWidget(video_widget);

+    if (videoframe->layout()) delete videoframe->layout();

+    videoframe->setLayout(layout);

+    video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);

+    videoframe->show();

 	reset_command(PAUSE);

+    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()), Qt::QueuedConnection);

+    timer.start(40);

 }

 

-void Tracker::StopTracker(bool exit)

-{

-	set_command(PAUSE);

+void Tracker::paint_widget() {

+    if (fresh) {

+        fresh = false;

+        video_widget->update();

+    }

 }

 

 bool Tracker::GiveHeadPoseData(THeadPoseData *data)

 {

+    refreshVideo();

 	const float rad2deg = 180.0/3.14159265;

 	const float deg2rad = 1.0/rad2deg;

 	{

@@ -249,9 +255,9 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 }

 

 //-----------------------------------------------------------------------------

-#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

+//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

 

-FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()

+extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetConstructor()

 {

-	return new Tracker;

-}
\ No newline at end of file
+    return (ITracker*) new Tracker;

+}

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 2533a39b..49881b69 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -8,7 +8,7 @@
 #ifndef FTNOIR_TRACKER_PT_H

 #define FTNOIR_TRACKER_PT_H

 

-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"

+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"

 #include "ftnoir_tracker_pt_settings.h"

 #include "camera.h"

 #include "point_extractor.h"

@@ -20,18 +20,19 @@
 #include <QMutex>

 #include <QTime>

 #include <opencv2/opencv.hpp>

+#include <QFrame>

+#include <QTimer>

 

 //-----------------------------------------------------------------------------

-class Tracker : public ITracker, QThread

+class Tracker : public QThread, public ITracker

 {

+    Q_OBJECT

 public:

 	Tracker();

 	~Tracker();

 

 	// ITracker interface

-	void Initialize(QFrame *videoframe);

-	void StartTracker(HWND parent_window);

-	void StopTracker(bool exit);

+    void StartTracker(QFrame* videoFrame);

 	bool GiveHeadPoseData(THeadPoseData *data);

 

 	void refreshVideo();

@@ -40,6 +41,10 @@ public:
 	void center();

 	void reset();	// reset the trackers internal state variables

 	void run();

+    void WaitForExit() {

+        should_quit = true;

+        wait();

+    }

 

 	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(); }

@@ -47,8 +52,6 @@ public:
 

 protected:	

 	FrameTrafo X_CH_0; // for centering

-

-	QMutex mutex;

 	cv::Mat frame;	// the output frame for display

 

 	enum Command {

@@ -57,9 +60,8 @@ protected:
 	};

 	void set_command(Command command);

 	void reset_command(Command command);

-	int commands;

 	

-	VICamera camera;

+    CVCamera camera;

 	PointExtractor point_extractor;

 	PointTracker point_tracker;

 	bool tracking_valid;

@@ -78,9 +80,17 @@ protected:
 	bool bEnableZ;

 	

 	long frame_count;

+    int commands;

 

 	VideoWidget* video_widget;

 	Timer time;

+    QMutex mutex;

+    volatile bool should_quit;

+    volatile bool fresh;

+    QTimer timer;

+    

+protected slots:

+    void paint_widget();

 };

 

 #endif // FTNOIR_TRACKER_PT_H

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index a1531dd7..c1067ba7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -9,10 +9,11 @@
 

 #include <QMessageBox>

 #include <QDebug>

+#include "facetracknoir/global-settings.h"

 

 //-----------------------------------------------------------------------------

 TrackerDialog::TrackerDialog()

-	: settings_dirty(false), tracker(NULL), timer(this), trans_calib_running(false)

+    : settings_dirty(false), tracker(NULL), trans_calib_running(false), timer(this)

 {

 	qDebug()<<"TrackerDialog::TrackerDialog";

 	setAttribute(Qt::WA_DeleteOnClose, false);

@@ -328,9 +329,9 @@ void TrackerDialog::unRegisterTracker()
 }

 

 //-----------------------------------------------------------------------------

-#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")

+//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")

 

-FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )

+extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetDialog( )

 {

-	return new TrackerDialog;

-}
\ No newline at end of file
+    return (ITrackerDialog*) new TrackerDialog;

+}

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index 0f836dfe..28120692 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -8,10 +8,10 @@
 #ifndef FTNOIR_TRACKER_PT_DIALOG_H

 #define FTNOIR_TRACKER_PT_DIALOG_H

 

-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"

+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"

 #include "ftnoir_tracker_pt_settings.h"

 #include "ftnoir_tracker_pt.h"

-#include "ui_FTNoIR_PT_Controls.h"

+#include "ui_ftnoir_pt_controls.h"

 #include "trans_calib.h"

 

 #include <QTimer>

@@ -99,4 +99,4 @@ protected:
 	Ui::UICPTClientControls ui;

 };

 

-#endif //FTNOIR_TRACKER_PT_DIALOG_H
\ No newline at end of file
+#endif //FTNOIR_TRACKER_PT_DIALOG_H

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
index 7f58d77d..22c4a33d 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
@@ -6,8 +6,8 @@
  */

 

 #include "ftnoir_tracker_pt_dll.h"

-

 #include <QIcon>

+#include "facetracknoir/global-settings.h"

 

 //-----------------------------------------------------------------------------

 void TrackerDll::getFullName(QString *strToBeFilled)

@@ -27,14 +27,14 @@ void TrackerDll::getDescription(QString *strToBeFilled)
 

 void TrackerDll::getIcon(QIcon *icon)

 {

-	*icon = QIcon(":/Resources/icon.ico");

+    *icon = QIcon(":/resources/icon.png");

 }

 

 

 //-----------------------------------------------------------------------------

-#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")

+//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")

 

-FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()

+extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()

 {

 	return new TrackerDll;

 }

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
index 15ad63aa..f684c55b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
@@ -5,10 +5,11 @@
  * copyright notice and this permission notice appear in all copies.

  */

 

-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"

+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"

+#include "facetracknoir/global-settings.h"

 

 //-----------------------------------------------------------------------------

-class TrackerDll : public ITrackerDll

+class TrackerDll : public Metadata

 {

 	// ITrackerDll interface

 	void Initialize() {}

@@ -16,4 +17,4 @@ class TrackerDll : public ITrackerDll
 	void getShortName(QString *strToBeFilled);

 	void getDescription(QString *strToBeFilled);

 	void getIcon(QIcon *icon);

-};
\ No newline at end of file
+};

diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 4aa1a658..b6e9ad3a 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -11,6 +11,14 @@
 using namespace cv;

 using namespace std;

 

+struct BlobInfo

+{

+    BlobInfo() : m00(0), m10(0), m01(0) {}

+    long m00;

+    long m10;

+    long m01;

+};

+

 // ----------------------------------------------------------------------------

 const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)

 {

@@ -39,13 +47,6 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr
 

 	// find connected components...

 	// extract blobs with floodfill

-	struct BlobInfo

-	{

-		BlobInfo() : m00(0), m10(0), m01(0) {}

-		long m00;

-		long m10;

-		long m01;

-	};

 	vector<BlobInfo> blobs;

     int blob_count = 1;

 

diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index d617de19..c08d6d83 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -14,7 +14,6 @@
 #include <QDebug>

 

 using namespace cv;

-using namespace boost;

 using namespace std;

 

 const float PI = 3.14159265358979323846f;

@@ -68,26 +67,27 @@ PointModel::PointModel(Vec3f M01, Vec3f M02)
 	get_d_order(points, d_order);

 }

 

+static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)

+{

+    return a.first < b.first;

+}

+

 void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const

 {

 	// get sort indices with respect to d scalar product

 	vector< pair<float,int> > d_vals;

-	for (int i = 0; i<points.size(); ++i)

+    for (int i = 0; i<(int)points.size(); ++i)

 		d_vals.push_back(pair<float, int>(d.dot(points[i]), i));

 

-	struct

-	{

-		bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }

-	} comp;

-	sort(d_vals.begin(), d_vals.end(), comp);

+    sort(d_vals.begin(), d_vals.end(), d_vals_sort);

 

-	for (int i = 0; i<points.size(); ++i)

+    for (int i = 0; i<(int)points.size(); ++i)

 		d_order[i] = d_vals[i].second;

 }

 

 

 // ----------------------------------------------------------------------------

-PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0), dynamic_pose_resolution(true)

+PointTracker::PointTracker() : dynamic_pose_resolution(true), dt_reset(1), init_phase(true), dt_valid(0), v_t(0,0,0), v_r(0,0,0)

 {

 	X_CM.t[2] = 1000;	// default position: 1 m away from cam;

 }

@@ -120,7 +120,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
 	}

 

 	// if there is a pointtracking problem, reset the velocities

-	if (!point_model || points.size() != PointModel::N_POINTS) 

+    if (!point_model.get() || (int) points.size() != PointModel::N_POINTS)

 	{

 		//qDebug()<<"Wrong number of points!";

 		reset_velocities();

@@ -141,7 +141,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
 		return false;

 	}

 

-	int n_iter = POSIT(f);

+    (void) POSIT(f);

 	//qDebug()<<"Number of POSIT iterations: "<<n_iter;

 

 	if (!init_phase)

diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 21baad19..7eee580d 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -8,8 +8,8 @@
 #ifndef POINTTRACKER_H

 #define POINTTRACKER_H

 

+#include <memory>

 #include <opencv2/opencv.hpp>

-#include <boost/shared_ptr.hpp>

 #include <list>

 

 // ----------------------------------------------------------------------------

@@ -76,7 +76,7 @@ public:
 	// f : (focal length)/(sensor width)

 	// dt : time since last call

 	bool track(const std::vector<cv::Vec2f>& points, float f, float dt);

-	boost::shared_ptr<PointModel> point_model;

+	std::auto_ptr<PointModel> point_model;

 

 	bool dynamic_pose_resolution;

 	float dt_reset;

diff --git a/ftnoir_tracker_pt/timer.cpp b/ftnoir_tracker_pt/timer.cpp
index 363b5b09..9e6ca8b8 100644
--- a/ftnoir_tracker_pt/timer.cpp
+++ b/ftnoir_tracker_pt/timer.cpp
@@ -55,8 +55,7 @@ double Timer::elapsed()
     startTime = startCount.QuadPart * (1e3 / frequency.QuadPart);

     endTime = endCount.QuadPart * (1e3 / frequency.QuadPart);

 #else

-    if(!stopped)

-        gettimeofday(&endCount, NULL);

+	(void) gettimeofday(&endCount, NULL);

 

     startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec;

     endTime = (endCount.tv_sec * 1e3) + endCount.tv_usec;

diff --git a/ftnoir_tracker_pt/video_widget.cpp b/ftnoir_tracker_pt/video_widget.cpp
index c2b41da1..c297c455 100644
--- a/ftnoir_tracker_pt/video_widget.cpp
+++ b/ftnoir_tracker_pt/video_widget.cpp
@@ -3,8 +3,6 @@
  * 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.

- *

- * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load.

  */

 

 #include "video_widget.h"

@@ -13,7 +11,6 @@
 

 using namespace cv;

 using namespace std;

-using namespace boost;

 

 // ----------------------------------------------------------------------------

 void VideoWidget::initializeGL()

@@ -31,21 +28,20 @@ void VideoWidget::resizeGL(int w, int h)
 	glLoadIdentity();

 	glOrtho(0, w, 0, h, -1, 1);

 	resize_frame();

-	glDisable(GL_DEPTH_TEST);

-	glBegin(GL_QUADS);

-	glVertex2f(0,0);

-	glVertex2f(1,0);

-	glVertex2f(1,1);

-	glVertex2f(0,1);

-	glEnd(); 

+    glDisable(GL_DEPTH_TEST);

+    glBegin(GL_QUADS);

+    glVertex2f(0,0);

+    glVertex2f(1,0);

+    glVertex2f(1,1);

+    glVertex2f(0,1);

+    glEnd();

 }

 

 void VideoWidget::paintGL()

 {

-	glClear(GL_COLOR_BUFFER_BIT);

-	if (!resized_qframe.isNull())

-	{

-		glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGBA, GL_UNSIGNED_BYTE, resized_qframe.bits());

+    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());

 		

 		const int crosshair_radius = 10;

 		const int crosshair_thickness = 1;

@@ -69,30 +65,44 @@ void VideoWidget::paintGL()
 			glVertex2i(x, y+crosshair_radius);

 			glEnd();

 		}

-	}

-	glFlush();

+

+    } else {

+        glClear(GL_DEPTH_BUFFER_BIT);

+    }

+    glFlush();

 }

 

 

 void VideoWidget::resize_frame()

 {

-	if (!qframe.isNull())

-		resized_qframe = qframe.scaled(this->size(), Qt::KeepAspectRatio);

+    QMutexLocker lck(&mtx);

+#ifdef _WIN32

+    if (qframe.size() == size() || (qframe.width() <= width() && qframe.height() <= height()))

+        resized_qframe = qframe.mirrored();

+    else

+        resized_qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation).mirrored();

+#else

+    if (qframe.size() == size() || (qframe.width() <= width() && qframe.height() <= height()))

+        resized_qframe = qframe.copy();

+    else

+        resized_qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);

+#endif

 }

 

+void VideoWidget::update()

+{

+    updateGL();

+}

 

-void VideoWidget::update(Mat frame, shared_ptr< vector<Vec2f> > points)

+void VideoWidget::update_image(Mat frame, std::auto_ptr< vector<Vec2f> > points)

 {

 	this->frame = frame;

 	this->points = points;

 

-	// convert to QImage

+	// convert to QImage 

 	if (frame.channels() == 3)

-		qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_RGB888).rgbSwapped();

+		qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.cols * 3, QImage::Format_RGB888).rgbSwapped();

 	else if (frame.channels() == 1)

-		qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_Indexed8);

-	qframe = QGLWidget::convertToGLFormat(qframe);

-

+		qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.cols, QImage::Format_Indexed8);

 	resize_frame();

-	updateGL();

 }

diff --git a/ftnoir_tracker_pt/video_widget.h b/ftnoir_tracker_pt/video_widget.h
index f49fef18..2425603b 100644
--- a/ftnoir_tracker_pt/video_widget.h
+++ b/ftnoir_tracker_pt/video_widget.h
@@ -11,7 +11,10 @@
 #include <QGLWidget>

 #include <QTime>

 #include <opencv2/opencv.hpp>

-#include <boost/shared_ptr.hpp>

+#include <memory>

+#include <QWidget>

+#include <QMutex>

+#include <QMutexLocker>

 

 // ----------------------------------------------------------------------------

 class VideoWidget : public QGLWidget

@@ -19,13 +22,18 @@ class VideoWidget : public QGLWidget
 	Q_OBJECT

 

 public:

-	VideoWidget(QWidget *parent) : QGLWidget(parent) {}

+    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 update(cv::Mat frame, boost::shared_ptr< std::vector<cv::Vec2f> > points);

+    void update_image(cv::Mat frame, std::auto_ptr< std::vector<cv::Vec2f> > points);

+    void update();

 

 private:

 	void resize_frame();

@@ -34,7 +42,8 @@ private:
 	QImage qframe;

 	QImage resized_qframe;

 

-	boost::shared_ptr< std::vector<cv::Vec2f> > points;

+    std::auto_ptr< std::vector<cv::Vec2f> > points;

+    QMutex mtx;

 };

 

 #endif // VIDEOWIDGET_H