flush

It crashes after drawing a frame for now.

12 files changed, 74 insertions, 1369 deletions

diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
deleted file mode 100644
index 15062a8d..00000000
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ /dev/null
@@ -1,926 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>UICPTClientControls</class>
- <widget class="QWidget" name="UICPTClientControls">
-  <property name="windowModality">
-   <enum>Qt::NonModal</enum>
-  </property>
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>397</width>
-    <height>588</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="windowTitle">
-   <string>PointTracker Settings</string>
-  </property>
-  <property name="windowIcon">
-   <iconset resource="ftnoir_tracker_pt.qrc">
-    <normaloff>:/Resources/Logo_IR.png</normaloff>:/Resources/Logo_IR.png</iconset>
-  </property>
-  <property name="layoutDirection">
-   <enum>Qt::LeftToRight</enum>
-  </property>
-  <property name="autoFillBackground">
-   <bool>false</bool>
-  </property>
-  <layout class="QGridLayout" name="gridLayout_9">
-   <property name="sizeConstraint">
-    <enum>QLayout::SetFixedSize</enum>
-   </property>
-   <item row="0" column="0">
-    <widget class="QTabWidget" name="tabWidget">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="locale">
-      <locale language="English" country="UnitedStates"/>
-     </property>
-     <property name="currentIndex">
-      <number>1</number>
-     </property>
-     <widget class="QWidget" name="tab_2">
-      <attribute name="title">
-       <string>Camera</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout">
-       <item>
-        <widget class="QGroupBox" name="groupBox">
-         <property name="title">
-          <string>Camera settings</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_2">
-          <item row="0" column="0">
-           <widget class="QLabel" name="label_2">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Device</string>
-            </property>
-            <property name="buddy">
-             <cstring>camdevice_combo</cstring>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QSpinBox" name="res_x_spin">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="toolTip">
-             <string>Desired capture width</string>
-            </property>
-            <property name="suffix">
-             <string> px</string>
-            </property>
-            <property name="maximum">
-             <number>2000</number>
-            </property>
-            <property name="singleStep">
-             <number>10</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_41">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Height</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QComboBox" name="camdevice_combo">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumContentsLength">
-             <number>10</number>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_36">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Width</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_4">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Field of view</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="res_y_spin">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="toolTip">
-             <string>Desired capture height</string>
-            </property>
-            <property name="suffix">
-             <string> px</string>
-            </property>
-            <property name="maximum">
-             <number>2000</number>
-            </property>
-            <property name="singleStep">
-             <number>10</number>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_37">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>FPS</string>
-            </property>
-            <property name="buddy">
-             <cstring>fps_spin</cstring>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QSpinBox" name="fps_spin">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="toolTip">
-             <string>Desired capture framerate</string>
-            </property>
-            <property name="suffix">
-             <string> Hz</string>
-            </property>
-            <property name="maximum">
-             <number>2000</number>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QSpinBox" name="fov">
-            <property name="suffix">
-             <string>°</string>
-            </property>
-            <property name="prefix">
-             <string/>
-            </property>
-            <property name="minimum">
-             <number>10</number>
-            </property>
-            <property name="maximum">
-             <number>90</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="0">
-           <widget class="QLabel" name="label_5">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Dynamic pose resolution</string>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="1">
-           <widget class="QCheckBox" name="dynamic_pose">
-            <property name="text">
-             <string/>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-     <widget class="QWidget" name="tab_4">
-      <attribute name="title">
-       <string>Model</string>
-      </attribute>
-      <layout class="QGridLayout" name="gridLayout_3">
-       <item row="0" column="0">
-        <widget class="QTabWidget" name="model_tabs">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="tabShape">
-          <enum>QTabWidget::Rounded</enum>
-         </property>
-         <property name="currentIndex">
-          <number>0</number>
-         </property>
-         <property name="usesScrollButtons">
-          <bool>false</bool>
-         </property>
-         <property name="documentMode">
-          <bool>false</bool>
-         </property>
-         <property name="tabsClosable">
-          <bool>false</bool>
-         </property>
-         <widget class="QWidget" name="tab_5">
-          <attribute name="title">
-           <string>Clip</string>
-          </attribute>
-          <layout class="QGridLayout" name="gridLayout_6">
-           <item row="0" column="0">
-            <widget class="QGroupBox" name="groupBox_8">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>331</width>
-               <height>208</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Model Dimensions</string>
-             </property>
-             <widget class="QSpinBox" name="clip_tlength_spin">
-              <property name="geometry">
-               <rect>
-                <x>70</x>
-                <y>35</y>
-                <width>100</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-             <widget class="QSpinBox" name="clip_bheight_spin">
-              <property name="geometry">
-               <rect>
-                <x>150</x>
-                <y>130</y>
-                <width>100</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_44">
-              <property name="geometry">
-               <rect>
-                <x>65</x>
-                <y>55</y>
-                <width>71</width>
-                <height>111</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string/>
-              </property>
-              <property name="pixmap">
-               <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_50">
-              <property name="geometry">
-               <rect>
-                <x>20</x>
-                <y>40</y>
-                <width>46</width>
-                <height>13</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string>Side</string>
-              </property>
-             </widget>
-             <widget class="QSpinBox" name="clip_blength_spin">
-              <property name="geometry">
-               <rect>
-                <x>50</x>
-                <y>160</y>
-                <width>100</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-             <widget class="QSpinBox" name="clip_theight_spin">
-              <property name="geometry">
-               <rect>
-                <x>150</x>
-                <y>70</y>
-                <width>100</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_51">
-              <property name="geometry">
-               <rect>
-                <x>290</x>
-                <y>40</y>
-                <width>46</width>
-                <height>13</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string>Front</string>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_45">
-              <property name="geometry">
-               <rect>
-                <x>300</x>
-                <y>70</y>
-                <width>21</width>
-                <height>111</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string/>
-              </property>
-              <property name="pixmap">
-               <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>
-              </property>
-             </widget>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="tab_6">
-          <attribute name="title">
-           <string>Cap</string>
-          </attribute>
-          <layout class="QVBoxLayout" name="verticalLayout_14">
-           <item>
-            <widget class="QGroupBox" name="groupBox_9">
-             <property name="minimumSize">
-              <size>
-               <width>331</width>
-               <height>208</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Model Dimensions</string>
-             </property>
-             <widget class="QLabel" name="label_46">
-              <property name="geometry">
-               <rect>
-                <x>100</x>
-                <y>60</y>
-                <width>111</width>
-                <height>81</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string/>
-              </property>
-              <property name="pixmap">
-               <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_48">
-              <property name="geometry">
-               <rect>
-                <x>20</x>
-                <y>40</y>
-                <width>46</width>
-                <height>13</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string>Side</string>
-              </property>
-             </widget>
-             <widget class="QSpinBox" name="cap_length_spin">
-              <property name="geometry">
-               <rect>
-                <x>90</x>
-                <y>40</y>
-                <width>101</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_47">
-              <property name="geometry">
-               <rect>
-                <x>220</x>
-                <y>100</y>
-                <width>81</width>
-                <height>81</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string/>
-              </property>
-              <property name="pixmap">
-               <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>
-              </property>
-             </widget>
-             <widget class="QSpinBox" name="cap_width_spin">
-              <property name="geometry">
-               <rect>
-                <x>240</x>
-                <y>70</y>
-                <width>81</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-             <widget class="QLabel" name="label_49">
-              <property name="geometry">
-               <rect>
-                <x>240</x>
-                <y>40</y>
-                <width>46</width>
-                <height>13</height>
-               </rect>
-              </property>
-              <property name="text">
-               <string>Front</string>
-              </property>
-             </widget>
-             <widget class="QSpinBox" name="cap_height_spin">
-              <property name="geometry">
-               <rect>
-                <x>20</x>
-                <y>90</y>
-                <width>81</width>
-                <height>22</height>
-               </rect>
-              </property>
-              <property name="suffix">
-               <string> mm</string>
-              </property>
-              <property name="minimum">
-               <number>-65535</number>
-              </property>
-              <property name="maximum">
-               <number>65535</number>
-              </property>
-             </widget>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="tab_7">
-          <attribute name="title">
-           <string>Custom</string>
-          </attribute>
-          <layout class="QGridLayout" name="gridLayout">
-           <item row="0" column="0">
-            <widget class="QGroupBox" name="groupBox_7">
-             <property name="title">
-              <string>Model Dimensions</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_5">
-              <item row="3" column="1">
-               <widget class="QLabel" name="label_57">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>z:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="5">
-               <widget class="QSpinBox" name="m2y_spin">
-                <property name="suffix">
-                 <string> mm</string>
-                </property>
-                <property name="minimum">
-                 <number>-65535</number>
-                </property>
-                <property name="maximum">
-                 <number>65535</number>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QLabel" name="label_63">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>x:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QSpinBox" name="m1x_spin">
-                <property name="suffix">
-                 <string> mm</string>
-                </property>
-                <property name="minimum">
-                 <number>-65535</number>
-                </property>
-                <property name="maximum">
-                 <number>65535</number>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QSpinBox" name="m1y_spin">
-                <property name="suffix">
-                 <string> mm</string>
-                </property>
-                <property name="minimum">
-                 <number>-65535</number>
-                </property>
-                <property name="maximum">
-                 <number>65535</number>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="5">
-               <widget class="QSpinBox" name="m2z_spin">
-                <property name="suffix">
-                 <string> mm</string>
-                </property>
-                <property name="minimum">
-                 <number>-65535</number>
-                </property>
-                <property name="maximum">
-                 <number>65535</number>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="5">
-               <widget class="QSpinBox" name="m2x_spin">
-                <property name="suffix">
-                 <string> mm</string>
-                </property>
-                <property name="minimum">
-                 <number>-65535</number>
-                </property>
-                <property name="maximum">
-                 <number>65535</number>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="0" colspan="6">
-               <widget class="QLabel" name="label_56">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Location of the two remaining model points&lt;br/&gt;with respect to the reference point in default pose&lt;/p&gt;&lt;p&gt;Use any units you want, not necessarily centimeters.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="2">
-               <widget class="QSpinBox" name="m1z_spin">
-                <property name="suffix">
-                 <string> mm</string>
-                </property>
-                <property name="minimum">
-                 <number>-65535</number>
-                </property>
-                <property name="maximum">
-                 <number>65535</number>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="4">
-               <widget class="QLabel" name="label_70">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>y:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="4">
-               <widget class="QLabel" name="label_67">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>x:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="3">
-               <widget class="QLabel" name="label_64">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;P&lt;/span&gt;&lt;span style=&quot; font-size:16pt; vertical-align:sub;&quot;&gt;3&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_60">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;P&lt;/span&gt;&lt;span style=&quot; font-size:16pt; vertical-align:sub;&quot;&gt;2&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="4">
-               <widget class="QLabel" name="label_69">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>z:</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QLabel" name="label_58">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="text">
-                 <string>y:</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-     <widget class="QWidget" name="tab_3">
-      <attribute name="title">
-       <string>About</string>
-      </attribute>
-      <layout class="QGridLayout" name="gridLayout_8">
-       <item row="0" column="0">
-        <widget class="QLabel" name="label_10">
-         <property name="text">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-         </property>
-         <property name="openExternalLinks">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="1">
-        <widget class="QLabel" name="label_35">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="pixmap">
-          <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="groupBox_5">
-     <property name="title">
-      <string>Status</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_10">
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_3">
-        <property name="text">
-         <string>Extracted Points:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QDialogButtonBox" name="buttonBox">
-        <property name="standardButtons">
-         <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_38">
-        <property name="text">
-         <string>Camera Info:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QLabel" name="pointinfo_label">
-        <property name="minimumSize">
-         <size>
-          <width>50</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="caminfo_label">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>120</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>tabWidget</tabstop>
-  <tabstop>camdevice_combo</tabstop>
-  <tabstop>res_x_spin</tabstop>
-  <tabstop>res_y_spin</tabstop>
-  <tabstop>fps_spin</tabstop>
-  <tabstop>fov</tabstop>
-  <tabstop>model_tabs</tabstop>
-  <tabstop>clip_tlength_spin</tabstop>
-  <tabstop>clip_theight_spin</tabstop>
-  <tabstop>clip_bheight_spin</tabstop>
-  <tabstop>clip_blength_spin</tabstop>
-  <tabstop>cap_length_spin</tabstop>
-  <tabstop>cap_width_spin</tabstop>
-  <tabstop>cap_height_spin</tabstop>
-  <tabstop>m1x_spin</tabstop>
-  <tabstop>m1y_spin</tabstop>
-  <tabstop>m1z_spin</tabstop>
-  <tabstop>m2x_spin</tabstop>
-  <tabstop>m2y_spin</tabstop>
-  <tabstop>m2z_spin</tabstop>
- </tabstops>
- <resources>
-  <include location="ftnoir_tracker_pt.qrc"/>
- </resources>
- <connections/>
- <slots>
-  <slot>startEngineClicked()</slot>
-  <slot>stopEngineClicked()</slot>
-  <slot>cameraSettingsClicked()</slot>
- </slots>
-</ui>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 4c0913e7..bad75238 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -12,6 +12,7 @@
 #include <QFile>
 #include <QCoreApplication>
 #include "opentrack/thread.hpp"
+#include "opentrack/camera-names.hpp"
 
 using namespace std;
 using namespace cv;
@@ -53,7 +54,19 @@ void Tracker_PT::reset_command(Command command)
 float Tracker_PT::get_focal_length()
 {
     static constexpr float pi = 3.1415926f;
-    const float fov = static_cast<int>(s.fov) * pi / 180.f;
+    float fov_;
+    switch (s.fov)
+    {
+    default:
+    case 0:
+        fov_ = 56;
+        break;
+    case 1:
+        fov_ = 75;
+        break;
+    }
+
+    const float fov = static_cast<int>(fov_) * pi / 180.f;
     return 0.5f / tan(0.5f * fov);
 }
 
@@ -85,7 +98,7 @@ void Tracker_PT::run()
             ever_success |= success;
             
             if (success)
-                point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose);
+                point_tracker.track(points, PointModel(s), get_focal_length(), true);
             
             {
                 Affine X_CM = pose();
@@ -128,15 +141,39 @@ void Tracker_PT::run()
     qDebug()<<"Tracker:: Thread stopping";
 }
 
-int camera_name_to_index(const QString &name);
-
 void Tracker_PT::apply_settings()
 {
     qDebug()<<"Tracker:: Applying settings";
     QMutexLocker lock(&mutex);
-    camera.set_device_index(camera_name_to_index(s.camera_name));
-    camera.set_res(s.cam_res_x, s.cam_res_y);
-    camera.set_fps(s.cam_fps);
+    camera.set_device_index(camera_name_to_index("PS3Eye Camera"));
+    int res_x, res_y, cam_fps;
+    switch (s.camera_mode)
+    {
+    default:
+    case 0:
+        res_x = 640;
+        res_y = 480;
+        cam_fps = 75;
+        break;
+    case 1:
+        res_x = 640;
+        res_y = 480;
+        cam_fps = 60;
+        break;
+    case 2:
+        res_x = 320;
+        res_y = 240;
+        cam_fps = 189;
+        break;
+    case 3:
+        res_x = 320;
+        res_y = 240;
+        cam_fps = 120;
+        break;
+    }
+
+    camera.set_res(res_x, res_y);
+    camera.set_fps(cam_fps);
     qDebug()<<"Tracker::apply ends";
 }
 
@@ -202,14 +239,3 @@ void Tracker_PT::data(THeadPoseData *data)
         data[TZ] = t[2] / 10.0;
     }
 }
-
-//-----------------------------------------------------------------------------
-#ifdef OPENTRACK_API
-extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
-#else
-#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker()
-#endif
-{
-	return new Tracker_PT;
-}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc b/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc
deleted file mode 100644
index a8f9a1af..00000000
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc
+++ /dev/null
@@ -1,9 +0,0 @@
-<RCC>
-    <qresource prefix="/">
-        <file>Resources/cap_front.png</file>
-        <file>Resources/cap_side.png</file>
-        <file>Resources/clip_front.png</file>
-        <file>Resources/clip_side.png</file>
-        <file>Resources/Logo_IR.png</file>
-    </qresource>
-</RCC>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
deleted file mode 100644
index 6f78b141..00000000
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ /dev/null
@@ -1,154 +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 "ftnoir_tracker_pt_dialog.h"
-
-#include <QMessageBox>
-#include <QDebug>
-#include <opencv2/core/core.hpp>
-#ifndef OPENTRACK_API
-#   include <boost/shared_ptr.hpp>
-#else
-#   include <memory>
-#   include "opentrack/camera-names.hpp"
-#endif
-#include <vector>
-
-using namespace std;
-
-//-----------------------------------------------------------------------------
-TrackerDialog_PT::TrackerDialog_PT()
-    : tracker(NULL),
-      timer(this),
-      trans_calib_running(false)
-{
-    ui.setupUi( this );
-
-#ifdef OPENTRACK_API
-    ui.camdevice_combo->addItems(get_camera_names());
-#else
-    vector<string> 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());
-    }
-#endif
-
-
-
-    connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
-
-    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
-    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
-
-    connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
-    timer.start(100);
-}
-
-void TrackerDialog_PT::startstop_trans_calib(bool start)
-{
-    if (start)
-    {
-        qDebug()<<"TrackerDialog:: Starting translation calibration";
-        trans_calib.reset();
-        trans_calib_running = true;
-        s.t_MH_x = 0;
-        s.t_MH_y = 0;
-        s.t_MH_z = 0;
-    }
-    else
-    {
-        qDebug()<<"TrackerDialog:: Stopping 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];
-        }
-    }
-}
-
-void TrackerDialog_PT::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);
-        if (n_points == 3)
-            to_print += " OK!";
-        else
-            to_print += " BAD!";
-        ui.pointinfo_label->setText(to_print);
-
-        // update calibration
-        if (trans_calib_running) trans_calib_step();
-    }
-    else
-    {
-        QString to_print = "Tracker offline";
-        ui.caminfo_label->setText(to_print);
-        ui.pointinfo_label->setText(to_print);
-    }
-}
-
-void TrackerDialog_PT::trans_calib_step()
-{
-    if (tracker)
-    {
-        Affine X_CM = tracker->pose();
-        trans_calib.update(X_CM.R, X_CM.t);
-    }
-}
-
-void TrackerDialog_PT::save()
-{
-    s.b->save();
-}
-
-void TrackerDialog_PT::doOK()
-{
-    save();
-    close();
-}
-
-void TrackerDialog_PT::doCancel()
-{
-    s.b->reload();
-    close();
-}
-
-void TrackerDialog_PT::register_tracker(ITracker *t)
-{
-    qDebug()<<"TrackerDialog:: Tracker registered";
-    tracker = static_cast<Tracker_PT*>(t);
-    ui.tcalib_button->setEnabled(true);
-    //ui.center_button->setEnabled(true);
-}
-
-void TrackerDialog_PT::unregister_tracker()
-{
-    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_PT;
-}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
deleted file mode 100644
index c1cd2e3b..00000000
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ /dev/null
@@ -1,53 +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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_DIALOG_H
-#define FTNOIR_TRACKER_PT_DIALOG_H
-
-#ifdef OPENTRACK_API
-#   include "opentrack/plugin-api.hpp"
-#else
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
-#endif
-#include "ftnoir_tracker_pt_settings.h"
-#include "ftnoir_tracker_pt.h"
-#include "trans_calib.h"
-#include "pt_video_widget.h"
-#include "ui_FTNoIR_PT_Controls.h"
-
-#include <QTimer>
-
-//-----------------------------------------------------------------------------
-// The dialog that shows up when the user presses "Settings"
-class TrackerDialog_PT : public ITrackerDialog
-{
-	Q_OBJECT
-public:
-	TrackerDialog_PT();
-	void register_tracker(ITracker *tracker) override;
-	void unregister_tracker() override;
-    void save();
-	void trans_calib_step();
-
-public slots:
-	void doOK();
-	void doCancel();
-
-	void startstop_trans_calib(bool start);
-	void poll_tracker_info();
-private:
-    settings_pt s;
-	Tracker_PT* tracker;
-	QTimer timer;
-
-	TranslationCalibrator trans_calib;
-	bool trans_calib_running;
-
-	Ui::UICPTClientControls ui;
-};
-
-#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
deleted file mode 100644
index 1aaa1bf9..00000000
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
+++ /dev/null
@@ -1,20 +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 "ftnoir_tracker_pt_dll.h"
-#include <QIcon>
-
-#ifdef OPENTRACK_API
-#   include "opentrack/plugin-api.hpp"
-extern "C" OPENTRACK_EXPORT Metadata* GetMetadata()
-#else
-#   pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
-OPENTRACK_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
-#endif
-{
-	return new TrackerDll;
-}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
deleted file mode 100644
index 9579d46c..00000000
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
+++ /dev/null
@@ -1,24 +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.
- */
-
-#if defined(OPENTRACK_API)
-#   include "opentrack/plugin-api.hpp"
-#else
-#   include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
-#endif
-
-//-----------------------------------------------------------------------------
-class TrackerDll :
-#if defined(OPENTRACK_API)
-        public Metadata
-#else
-        public ITrackerDll
-#endif
-{
-    QString name() { return QString("PointTracker 1.1"); }
-    QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
-};
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 2c39c2e2..c186f5f2 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -25,58 +25,24 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
 	const int W = frame.cols;
 	const int H = frame.rows; 
 
-    if (frame_last.cols != W || frame_last.rows != H)
-    {
-        frame_last = cv::Mat();
-    }
-
 	// clear old points
 	points.clear();
 
-	// convert to grayscale
-	Mat frame_gray;
+    // convert to grayscale
+    Mat frame_gray;
     cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
-
-	int secondary = s.threshold_secondary;
+    
     int primary = s.threshold;
 	
-	// mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
-	Mat frame_bin;
-	// only used if draw_output
-	Mat frame_bin_copy;
-	// mask for everything that passes
-	Mat frame_bin_low;
-	// mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0
-	Mat frame_last_and_low;
-
-	if(secondary==0){
-		threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY);
-	}else{
-		// we recombine a number of buffers, this might be slower than a single loop of per-pixel logic
-		// but it might as well be faster if openCV makes good use of SIMD
-		float t = primary;
-		//float hyst = float(threshold_secondary_val)/512.;
-		//threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);
-		float hyst = float(primary)/(256.*8.);
-		threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY); 
-		threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY);
-
-		frame_bin.copyTo(frame_bin_copy);
-        if(frame_last.empty()){
-			frame_bin.copyTo(frame_last);
-		}else{
-			// keep pixels from last if they are above lower threshold
-			bitwise_and(frame_last, frame_bin_low, frame_last_and_low);
-			// union of pixels >= higher threshold and pixels >= lower threshold
-			bitwise_or(frame_bin, frame_last_and_low, frame_last);
-			frame_last.copyTo(frame_bin);
-		}
-	}
+    // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
+    Mat frame_bin;
+    
+    threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY);
     
     int min_size = s.min_point_size;
     int max_size = s.max_point_size;
     
-	unsigned int region_size_min = 3.14*min_size*min_size/4.0;
+    unsigned int region_size_min = 3.14*min_size*min_size/4.0;
 	unsigned int region_size_max = 3.14*max_size*max_size/4.0;
 
 	int blob_index = 1;
@@ -121,14 +87,9 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
 					if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
 					float val;
 
-					if(secondary==0){
-						val = frame_gray.at<unsigned char>(i,j);
-						val = float(val - primary)/(256 - primary);
-						val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
-					}else{
-						//hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture
-						val = frame_last.at<unsigned char>(i,j) / 256.;
-					}
+                                        val = frame_gray.at<unsigned char>(i,j);
+                                        val = float(val - primary)/(256 - primary);
+                                        val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
 
 					m  +=     val;
 					mx += j * val;
@@ -143,24 +104,15 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
 			//qDebug()<<blob_index<<"  => "<<c[0]<<" "<<c[1];
 			points.push_back(c);
 		}
-	}
-	
-	// draw output image
-    vector<Mat> channels;
-    if(secondary==0){
-        frame_bin.setTo(170, frame_bin);
-        channels.push_back(frame_gray + frame_bin);
-        channels.push_back(frame_gray - frame_bin);
-        channels.push_back(frame_gray - frame_bin);
-    }else{
-        frame_bin_copy.setTo(120, frame_bin_copy);
-        //frame_bin_low.setTo(90, frame_bin_low);
-        channels.push_back(frame_gray + frame_bin_copy);
-        channels.push_back(frame_gray - frame_bin_copy);
-        channels.push_back(frame_gray - frame_bin_copy);
-        //channels.push_back(frame_gray + frame_bin);
     }
+    
+    // draw output image
+    vector<Mat> channels;
+    frame_bin.setTo(170, frame_bin);
+    channels.push_back(frame_gray + frame_bin);
+    channels.push_back(frame_gray - frame_bin);
+    channels.push_back(frame_gray - frame_bin);
     merge(channels, frame);
-
+    
 	return points;
 }
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index 3f6cfb72..b9368ab6 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -28,7 +28,6 @@ public:
     settings_pt s;
 private:
     std::vector<cv::Vec2f> points;
-    cv::Mat frame_last;
 };
 
 #endif //POINTEXTRACTOR_H
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 3b9573ff..39071351 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -70,7 +70,7 @@ public:
 
     cv::Matx22f P;
     
-    enum Model { Clip = 0, Cap = 1, Custom = 2 };
+    enum Model { Clip = 0, Cap = 1 };
         
     PointModel(settings_pt& s)
     {
@@ -88,20 +88,17 @@ public:
     
     void set_model(settings_pt& s)
     {
-        switch (s.active_model_panel)
+        if (s.is_cap)
         {
-        case Clip:
-            M01 = cv::Vec3f(0, static_cast<double>(s.clip_ty), -static_cast<double>(s.clip_tz));
-            M02 = cv::Vec3f(0, -static_cast<double>(s.clip_by), -static_cast<double>(s.clip_bz));
-            break;
-        case Cap:
-            M01 = cv::Vec3f(-static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z));
-            M02 = cv::Vec3f(static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z));
-            break;
-        case Custom:
-            M01 = cv::Vec3f(s.m01_x, s.m01_y, s.m01_z);
-            M02 = cv::Vec3f(s.m02_x, s.m02_y, s.m02_z);
-            break;
+            const double z = 100, x = 120, y = 60;
+            M01 = cv::Vec3f(-x, -y, -z);
+            M02 = cv::Vec3f(x, -y, -z);
+        }
+        else
+        {
+            const double a = 27, b = 43, c = 62, d = 74;
+            M01 = cv::Vec3f(0, b, -a);
+            M02 = cv::Vec3f(0, -c, -d);            
         }
     }
     
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
deleted file mode 100644
index 2994eb48..00000000
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ /dev/null
@@ -1,44 +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 "trans_calib.h"
-
-using namespace cv;
-
-//-----------------------------------------------------------------------------
-TranslationCalibrator::TranslationCalibrator()
-{
-	reset();
-}
-
-void TranslationCalibrator::reset()
-{
-	P = Matx66f::zeros();
-	y = Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
-{
-	Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
-	for (int i=0; i<3; ++i) {
-		for (int j=0; j<3; ++j) {
-			H_k_T(i,j) = R_CM_k(j,i);
-		}
-	}
-	for (int i=0; i<3; ++i)
-	{
-		H_k_T(3+i,i) = 1.0;
-	}
-	P += H_k_T * H_k_T.t();
-	y += H_k_T * t_CM_k;
-}
-
-Vec3f TranslationCalibrator::get_estimate()
-{
-	Vec6f x = P.inv() * y;
-	return Vec3f(-x[0], -x[1], -x[2]);
-}
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
deleted file mode 100644
index c2c02b38..00000000
--- a/ftnoir_tracker_pt/trans_calib.h
+++ /dev/null
@@ -1,39 +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.
- */
-
-#ifndef TRANSCALIB_H
-#define TRANSCALIB_H
-
-#include <opencv2/core/core.hpp>
-
-//-----------------------------------------------------------------------------
-// Calibrates the translation from head to model = t_MH
-// by recursive least squares /
-// kalman filter in information form with identity noise covariance
-// measurement equation when head position = t_CH is fixed:
-// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
-
-class TranslationCalibrator
-{
-public:
-    TranslationCalibrator();
-
-    // reset the calibration process
-    void reset();
-
-    // update the current estimate
-    void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
-
-    // get the current estimate for t_MH
-    cv::Vec3f get_estimate();
-
-private:
-    cv::Matx66f P;	// normalized precision matrix = inverse covariance
-    cv::Vec6f y;	// P*(-t_MH, t_CH)
-};
-
-#endif //TRANSCALIB_H