Run dos2unix on the tree. No user-facing changes.

21 files changed, 2307 insertions, 2307 deletions

diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index fe39b436..46dd20c5 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -1,213 +1,213 @@
-/* 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 "camera.h"

-#include <QDebug>

-

-using namespace cv;

-

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

-void Camera::set_index(int index)

-{

-	if (desired_index != index)

-	{

-		desired_index = index;

-		_set_index();

-

-		// reset fps

-		dt_valid = 0;

-		dt_mean = 0;

-		active_index = index;

-	}

-}

-

-void Camera::set_f(float f)

-{

-	if (cam_desired.f != f)

-	{

-		cam_desired.f = f;

-		_set_f();

-	}

-}

-void Camera::set_fps(int fps)

-{

-	if (cam_desired.fps != fps)

-	{

-		cam_desired.fps = fps;

-		_set_fps();

-	}

-}

-

-void Camera::set_res(int x_res, int y_res)

-{

-	if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)

-	{

-		cam_desired.res_x = x_res;

-		cam_desired.res_y = y_res;

-		_set_res();

-	}

-}

-

-bool Camera::get_frame(float dt, cv::Mat* frame)

-{

-	bool new_frame = _get_frame(frame);

-	// measure fps of valid frames

-	const float dt_smoothing_const = 0.9;

-	dt_valid += dt;

-	if (new_frame)

-	{

-		dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;

-		cam_info.fps = 1.0 / dt_mean;

-		dt_valid = 0;

-	}

-	return new_frame;

-}

-

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

-void CVCamera::start()

-{

-	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) {

-        cap->release();

-        delete cap;

-        cap = NULL;

-    }

-	active = false;

-}

-

-bool CVCamera::_get_frame(Mat* frame)

-{

-    bool ret = cap->read(*frame);

-    //if (ret)

-    //    flip(tmp, *frame, 0);

-    return ret;

-}

-

-void CVCamera::_set_index()

-{

-	if (active) restart();

-}

-

-void CVCamera::_set_f()

-{

-	cam_info.f = cam_desired.f;

-}

-

-void CVCamera::_set_fps()

-{

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

-}

-

-void CVCamera::_set_res()

-{

-	if (cap)

-	{

-		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)

-{

-	VI.listDevices();

-}

-

-void VICamera::start()

-{

-	if (desired_index >= 0)

-	{		

-

-

-		if (cam_desired.res_x == 0 || cam_desired.res_y == 0)

-			VI.setupDevice(desired_index);

-		else

-			VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);		

-

-		active = true;

-		active_index = desired_index;

-

-		cam_info.res_x = VI.getWidth(active_index);

-		cam_info.res_y = VI.getHeight(active_index);

-		new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);

-		// If matrix is not continuous we have to copy manually via frame_buffer

-		if (!new_frame.isContinuous()) {

-			unsigned int size = VI.getSize(active_index);

-			frame_buffer = new unsigned char[size];

-		}

-	}

-}

-

-void VICamera::stop()

-{

-	if (active)

-	{

-		VI.stopDevice(active_index);

-	}

-	if (frame_buffer)

-	{

-		delete[] frame_buffer;

-		frame_buffer = NULL;

-	}

-	active = false;

-}

-

-bool VICamera::_get_frame(Mat* frame)

-{

-	if (active && VI.isFrameNew(active_index))

-	{

-		if (new_frame.isContinuous())

-		{

-			VI.getPixels(active_index, new_frame.data, false, true);

-		}

-		else

-		{

-			// If matrix is not continuous we have to copy manually via frame_buffer

-			VI.getPixels(active_index, frame_buffer, false, true);

-			new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();

-		}

-		*frame = new_frame;

-		return true;

-	}

-	return false;

-}

-

-void VICamera::_set_index()

-{

-	if (active) restart();

-}

-

-void VICamera::_set_f()

-{

-	cam_info.f = cam_desired.f;

-}

-

-void VICamera::_set_fps()

-{

-	bool was_active = active;

-	if (active) stop();

-	VI.setIdealFramerate(desired_index, cam_desired.fps);

-	if (was_active) start();

-}

-

-void VICamera::_set_res()

-{

-	if (active) restart();

-}

-#endif

+/* 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 "camera.h"
+#include <QDebug>
+
+using namespace cv;
+
+// ----------------------------------------------------------------------------
+void Camera::set_index(int index)
+{
+	if (desired_index != index)
+	{
+		desired_index = index;
+		_set_index();
+
+		// reset fps
+		dt_valid = 0;
+		dt_mean = 0;
+		active_index = index;
+	}
+}
+
+void Camera::set_f(float f)
+{
+	if (cam_desired.f != f)
+	{
+		cam_desired.f = f;
+		_set_f();
+	}
+}
+void Camera::set_fps(int fps)
+{
+	if (cam_desired.fps != fps)
+	{
+		cam_desired.fps = fps;
+		_set_fps();
+	}
+}
+
+void Camera::set_res(int x_res, int y_res)
+{
+	if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)
+	{
+		cam_desired.res_x = x_res;
+		cam_desired.res_y = y_res;
+		_set_res();
+	}
+}
+
+bool Camera::get_frame(float dt, cv::Mat* frame)
+{
+	bool new_frame = _get_frame(frame);
+	// measure fps of valid frames
+	const float dt_smoothing_const = 0.9;
+	dt_valid += dt;
+	if (new_frame)
+	{
+		dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
+		cam_info.fps = 1.0 / dt_mean;
+		dt_valid = 0;
+	}
+	return new_frame;
+}
+
+// ----------------------------------------------------------------------------
+void CVCamera::start()
+{
+	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) {
+        cap->release();
+        delete cap;
+        cap = NULL;
+    }
+	active = false;
+}
+
+bool CVCamera::_get_frame(Mat* frame)
+{
+    bool ret = cap->read(*frame);
+    //if (ret)
+    //    flip(tmp, *frame, 0);
+    return ret;
+}
+
+void CVCamera::_set_index()
+{
+	if (active) restart();
+}
+
+void CVCamera::_set_f()
+{
+	cam_info.f = cam_desired.f;
+}
+
+void CVCamera::_set_fps()
+{
+	if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps);
+}
+
+void CVCamera::_set_res()
+{
+	if (cap)
+	{
+		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)
+{
+	VI.listDevices();
+}
+
+void VICamera::start()
+{
+	if (desired_index >= 0)
+	{		
+
+
+		if (cam_desired.res_x == 0 || cam_desired.res_y == 0)
+			VI.setupDevice(desired_index);
+		else
+			VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);		
+
+		active = true;
+		active_index = desired_index;
+
+		cam_info.res_x = VI.getWidth(active_index);
+		cam_info.res_y = VI.getHeight(active_index);
+		new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);
+		// If matrix is not continuous we have to copy manually via frame_buffer
+		if (!new_frame.isContinuous()) {
+			unsigned int size = VI.getSize(active_index);
+			frame_buffer = new unsigned char[size];
+		}
+	}
+}
+
+void VICamera::stop()
+{
+	if (active)
+	{
+		VI.stopDevice(active_index);
+	}
+	if (frame_buffer)
+	{
+		delete[] frame_buffer;
+		frame_buffer = NULL;
+	}
+	active = false;
+}
+
+bool VICamera::_get_frame(Mat* frame)
+{
+	if (active && VI.isFrameNew(active_index))
+	{
+		if (new_frame.isContinuous())
+		{
+			VI.getPixels(active_index, new_frame.data, false, true);
+		}
+		else
+		{
+			// If matrix is not continuous we have to copy manually via frame_buffer
+			VI.getPixels(active_index, frame_buffer, false, true);
+			new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();
+		}
+		*frame = new_frame;
+		return true;
+	}
+	return false;
+}
+
+void VICamera::_set_index()
+{
+	if (active) restart();
+}
+
+void VICamera::_set_f()
+{
+	cam_info.f = cam_desired.f;
+}
+
+void VICamera::_set_fps()
+{
+	bool was_active = active;
+	if (active) stop();
+	VI.setIdealFramerate(desired_index, cam_desired.fps);
+	if (was_active) start();
+}
+
+void VICamera::_set_res()
+{
+	if (active) restart();
+}
+#endif
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 6fec12da..5f1f56b0 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -1,119 +1,119 @@
-/* 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 CAMERA_H

-#define CAMERA_H

-

-#include <opencv2/opencv.hpp>

-#include <opencv/highgui.h>

-//#include "videoInput/videoInput.h"

-

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

-struct CamInfo

-{

-	CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}

-

-	int res_x;

-	int res_y;

-	int fps;

-	float f;	// (focal length) / (sensor width)

-};

-

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

-// base class for cameras

-class Camera

-{

-public:

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

-	virtual ~Camera() {}

-

-	// start/stop capturing

-	virtual void start() = 0;

-	virtual void stop() = 0;

-	void restart() { stop(); start(); }

-

-	void set_index(int index);

-	void set_f(float f);

-	void set_fps(int fps);

-	void set_res(int x_res, int y_res);

-

-	// gets a frame from the camera, dt: time since last call in seconds

-	bool get_frame(float dt, cv::Mat* frame);

-

-	// WARNING: returned references are valid as long as object

-	const CamInfo& get_info() const { return cam_info; }

-	const CamInfo& get_desired() const { return cam_desired; }

-

-protected:

-	// get a frame from the camera

-	virtual bool _get_frame(cv::Mat* frame) = 0;

-

-	// update the camera

-	virtual void _set_index() = 0;

-	virtual void _set_f() = 0;

-	virtual void _set_fps() = 0;

-	virtual void _set_res() = 0;

-

-    int desired_index;

-    int active_index;

-	bool active;

-    float dt_valid;

-    float dt_mean;

-	CamInfo cam_info;

-	CamInfo cam_desired;

-};

-

-

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

-// OpenCV camera

-

-class CVCamera : public Camera

-{

-public:

-	CVCamera() : cap(NULL) {}

-	~CVCamera() { stop(); }

-

-	void start();

-	void stop();

-

-protected:

-	bool _get_frame(cv::Mat* frame);

-	void _set_index();

-	void _set_f();

-	void _set_fps();

-	void _set_res();

-

-	cv::VideoCapture* cap;

-};

-

-

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

-// videoInput camera

-#if 0

-class VICamera : public Camera

-{

-public:

-	VICamera();

-	~VICamera() { stop(); }

-

-	void start();

-	void stop();

-

-protected:

-	bool _get_frame(cv::Mat* frame);

-	void _set_index();

-	void _set_f();

-	void _set_fps();

-	void _set_res();

-

-	videoInput VI;

-	cv::Mat new_frame;

-	unsigned char* frame_buffer;

-};

-#endif

-

-#endif //CAMERA_H

+/* 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 CAMERA_H
+#define CAMERA_H
+
+#include <opencv2/opencv.hpp>
+#include <opencv/highgui.h>
+//#include "videoInput/videoInput.h"
+
+// ----------------------------------------------------------------------------
+struct CamInfo
+{
+	CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
+
+	int res_x;
+	int res_y;
+	int fps;
+	float f;	// (focal length) / (sensor width)
+};
+
+// ----------------------------------------------------------------------------
+// base class for cameras
+class Camera
+{
+public:
+    Camera() : desired_index(0), active_index(-1), active(false), dt_valid(0), dt_mean(0) {}
+	virtual ~Camera() {}
+
+	// start/stop capturing
+	virtual void start() = 0;
+	virtual void stop() = 0;
+	void restart() { stop(); start(); }
+
+	void set_index(int index);
+	void set_f(float f);
+	void set_fps(int fps);
+	void set_res(int x_res, int y_res);
+
+	// gets a frame from the camera, dt: time since last call in seconds
+	bool get_frame(float dt, cv::Mat* frame);
+
+	// WARNING: returned references are valid as long as object
+	const CamInfo& get_info() const { return cam_info; }
+	const CamInfo& get_desired() const { return cam_desired; }
+
+protected:
+	// get a frame from the camera
+	virtual bool _get_frame(cv::Mat* frame) = 0;
+
+	// update the camera
+	virtual void _set_index() = 0;
+	virtual void _set_f() = 0;
+	virtual void _set_fps() = 0;
+	virtual void _set_res() = 0;
+
+    int desired_index;
+    int active_index;
+	bool active;
+    float dt_valid;
+    float dt_mean;
+	CamInfo cam_info;
+	CamInfo cam_desired;
+};
+
+
+// ----------------------------------------------------------------------------
+// OpenCV camera
+
+class CVCamera : public Camera
+{
+public:
+	CVCamera() : cap(NULL) {}
+	~CVCamera() { stop(); }
+
+	void start();
+	void stop();
+
+protected:
+	bool _get_frame(cv::Mat* frame);
+	void _set_index();
+	void _set_f();
+	void _set_fps();
+	void _set_res();
+
+	cv::VideoCapture* cap;
+};
+
+
+// ----------------------------------------------------------------------------
+// videoInput camera
+#if 0
+class VICamera : public Camera
+{
+public:
+	VICamera();
+	~VICamera() { stop(); }
+
+	void start();
+	void stop();
+
+protected:
+	bool _get_frame(cv::Mat* frame);
+	void _set_index();
+	void _set_f();
+	void _set_fps();
+	void _set_res();
+
+	videoInput VI;
+	cv::Mat new_frame;
+	unsigned char* frame_buffer;
+};
+#endif
+
+#endif //CAMERA_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 99b2f680..48702d19 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -1,261 +1,261 @@
-/* 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.h"

-#include <QHBoxLayout>

-#include <cmath>

-#include <QDebug>

-#include <QFile>

-#include <QCoreApplication>

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

-

-using namespace std;

-using namespace cv;

-

-//#define PT_PERF_LOG	//log performance

-

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

-Tracker::Tracker()

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

-{

-    should_quit = false;

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

-	TrackerSettings settings;

-    settings.load_ini();

-	apply(settings);

-}

-

-Tracker::~Tracker()

-{

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

-	set_command(ABORT);

-	wait();

-	if (video_widget) delete video_widget;

-}

-

-void Tracker::set_command(Command command)

-{

-	//QMutexLocker lock(&mutex);

-	commands |= command;

-}

-

-void Tracker::reset_command(Command command)

-{

-	//QMutexLocker lock(&mutex);

-	commands &= ~command;

-}

-

-void Tracker::run()

-{

-	qDebug()<<"Tracker:: Thread started";

-

-#ifdef PT_PERF_LOG

-	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");

-	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;

-	QTextStream log_stream(&log_file);

-#endif

-

-	time.start();

-	float dt;

-	bool new_frame;

-	forever

-	{

-		{	

-            QMutexLocker lock(&mutex);

-            if (should_quit)

-                break;

-            

-			if (commands & ABORT) break;

-			if (commands & PAUSE) continue;

-			commands = 0;

-			

-			dt = time.elapsed() / 1000.0;

-			time.restart();

-

-			new_frame = camera.get_frame(dt, &frame);

-			if (new_frame && !frame.empty())

-			{

-				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

-				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);

-				frame_count++;

-                fresh = true;

-			}

-#ifdef PT_PERF_LOG

-			log_stream<<"dt: "<<dt;

-			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;

-			log_stream<<"\n";

-#endif

-            refreshVideo();

-		}

-        msleep(sleep_time);

-	}

-

-	qDebug()<<"Tracker:: Thread stopping";

-}

-

-void Tracker::apply(const TrackerSettings& settings)

-{

-	qDebug()<<"Tracker:: Applying settings";

-	QMutexLocker lock(&mutex);

-	camera.set_index(settings.cam_index);

-	camera.set_res(settings.cam_res_x, settings.cam_res_y);	

-	camera.set_fps(settings.cam_fps);

-	camera.set_f(settings.cam_f);

-	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 = 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;

-	draw_frame = settings.video_widget;

-	cam_pitch = settings.cam_pitch;

-

-	bEnableRoll = settings.bEnableRoll;

-	bEnablePitch = settings.bEnablePitch;

-	bEnableYaw = settings.bEnableYaw;

-	bEnableX = settings.bEnableX;

-	bEnableY = settings.bEnableY;

-	bEnableZ = settings.bEnableZ;

-

-	t_MH = settings.t_MH;

-	qDebug()<<"Tracker::apply ends";

-}

-

-void Tracker::reset()

-{

-	QMutexLocker lock(&mutex);

-	point_tracker.reset();

-}

-

-void Tracker::center()

-{

-	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet

-	QMutexLocker lock(&mutex);

-	FrameTrafo X_CM_0 = point_tracker.get_pose();

-	FrameTrafo X_MH(Matx33f::eye(), t_MH);

-	X_CH_0 = X_CM_0 * X_MH;

-}

-

-void Tracker::refreshVideo()

-{	

-    if (video_widget && fresh)

-	{

-		Mat frame_copy;

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

-		}

-	    //QMutexLocker lck(&mutex);	

-		video_widget->update_image(frame_copy, points);

-    }

-}

-

-void Tracker::StartTracker(QFrame* videoframe)

-{

-    const int VIDEO_FRAME_WIDTH = videoframe->width();

-    const int VIDEO_FRAME_HEIGHT = videoframe->height();

-    TrackerSettings settings;

-    settings.load_ini();

-    apply(settings);

-    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();

-    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));

-    timer.start(40);

-    camera.start();

-    start();

-    reset_command(PAUSE);

-}

-

-void Tracker::paint_widget() {

-    if (fresh) {

-        fresh = false;

-        video_widget->update();

-    }

-}

-

-bool Tracker::GiveHeadPoseData(double *data)

-{

-	const double rad2deg = 180.0/3.14159265;

-	const double deg2rad = 1.0/rad2deg;

-	{

-		QMutexLocker lock(&mutex);

-

-		if (!tracking_valid) return false;

-

-		FrameTrafo X_CM = point_tracker.get_pose();

-		FrameTrafo X_MH(Matx33f::eye(), t_MH);

-		FrameTrafo X_CH = X_CM * X_MH;

-

-		Matx33f R = X_CH.R * X_CH_0.R.t(); 

-		Vec3f t   = X_CH.t - X_CH_0.t;		

-		

-		// correct for camera pitch

-		Matx33f R_CP( 1, 0, 0,

-			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),

-					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));

-		R = R_CP * R * R_CP.t();

-		t = R_CP * t;

-

-		// get translation(s)

-		if (bEnableX) {

-            data[TX] = t[0] / 10.0;	// convert to cm

-		}

-		if (bEnableY) {

-            data[TY] = t[1] / 10.0;

-		}

-		if (bEnableZ) {

-            data[TZ] = t[2] / 10.0;

-		}

-

-		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame

-		// -z -> x, y -> z, x -> -y

-		Matx33f R_RG( 0, 0,-1,

-			         -1, 0, 0,

-					  0, 1, 0);

-		R = R_RG * R * R_RG.t();

-

-		// extract rotation angles

-		double alpha, beta, gamma;

-		//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );

-		beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );

-		alpha = atan2( R(1,0), R(0,0));

-		gamma = atan2( R(2,1), R(2,2));		

-

-		if (bEnableYaw) {

-            data[Yaw]   = rad2deg * alpha;

-		}

-		if (bEnablePitch) {

-            data[Pitch] = rad2deg * beta;

-		}

-		if (bEnableRoll) {

-            data[Roll]  = rad2deg * gamma;

-		}

-	}

-	return true;

-}

-

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

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

-

-extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()

-{

-    return new Tracker;

-}

+/* 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.h"
+#include <QHBoxLayout>
+#include <cmath>
+#include <QDebug>
+#include <QFile>
+#include <QCoreApplication>
+#include "facetracknoir/global-settings.h"
+
+using namespace std;
+using namespace cv;
+
+//#define PT_PERF_LOG	//log performance
+
+//-----------------------------------------------------------------------------
+Tracker::Tracker()
+    : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false)
+{
+    should_quit = false;
+	qDebug()<<"Tracker::Tracker";
+	TrackerSettings settings;
+    settings.load_ini();
+	apply(settings);
+}
+
+Tracker::~Tracker()
+{
+	qDebug()<<"Tracker::~Tracker";
+	set_command(ABORT);
+	wait();
+	if (video_widget) delete video_widget;
+}
+
+void Tracker::set_command(Command command)
+{
+	//QMutexLocker lock(&mutex);
+	commands |= command;
+}
+
+void Tracker::reset_command(Command command)
+{
+	//QMutexLocker lock(&mutex);
+	commands &= ~command;
+}
+
+void Tracker::run()
+{
+	qDebug()<<"Tracker:: Thread started";
+
+#ifdef PT_PERF_LOG
+	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
+	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
+	QTextStream log_stream(&log_file);
+#endif
+
+	time.start();
+	float dt;
+	bool new_frame;
+	forever
+	{
+		{	
+            QMutexLocker lock(&mutex);
+            if (should_quit)
+                break;
+            
+			if (commands & ABORT) break;
+			if (commands & PAUSE) continue;
+			commands = 0;
+			
+			dt = time.elapsed() / 1000.0;
+			time.restart();
+
+			new_frame = camera.get_frame(dt, &frame);
+			if (new_frame && !frame.empty())
+			{
+				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
+				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
+				frame_count++;
+                fresh = true;
+			}
+#ifdef PT_PERF_LOG
+			log_stream<<"dt: "<<dt;
+			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
+			log_stream<<"\n";
+#endif
+            refreshVideo();
+		}
+        msleep(sleep_time);
+	}
+
+	qDebug()<<"Tracker:: Thread stopping";
+}
+
+void Tracker::apply(const TrackerSettings& settings)
+{
+	qDebug()<<"Tracker:: Applying settings";
+	QMutexLocker lock(&mutex);
+	camera.set_index(settings.cam_index);
+	camera.set_res(settings.cam_res_x, settings.cam_res_y);	
+	camera.set_fps(settings.cam_fps);
+	camera.set_f(settings.cam_f);
+	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 = 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;
+	draw_frame = settings.video_widget;
+	cam_pitch = settings.cam_pitch;
+
+	bEnableRoll = settings.bEnableRoll;
+	bEnablePitch = settings.bEnablePitch;
+	bEnableYaw = settings.bEnableYaw;
+	bEnableX = settings.bEnableX;
+	bEnableY = settings.bEnableY;
+	bEnableZ = settings.bEnableZ;
+
+	t_MH = settings.t_MH;
+	qDebug()<<"Tracker::apply ends";
+}
+
+void Tracker::reset()
+{
+	QMutexLocker lock(&mutex);
+	point_tracker.reset();
+}
+
+void Tracker::center()
+{
+	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet
+	QMutexLocker lock(&mutex);
+	FrameTrafo X_CM_0 = point_tracker.get_pose();
+	FrameTrafo X_MH(Matx33f::eye(), t_MH);
+	X_CH_0 = X_CM_0 * X_MH;
+}
+
+void Tracker::refreshVideo()
+{	
+    if (video_widget && fresh)
+	{
+		Mat frame_copy;
+		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 = std::auto_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
+		}
+	    //QMutexLocker lck(&mutex);	
+		video_widget->update_image(frame_copy, points);
+    }
+}
+
+void Tracker::StartTracker(QFrame* videoframe)
+{
+    const int VIDEO_FRAME_WIDTH = videoframe->width();
+    const int VIDEO_FRAME_HEIGHT = videoframe->height();
+    TrackerSettings settings;
+    settings.load_ini();
+    apply(settings);
+    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();
+    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
+    timer.start(40);
+    camera.start();
+    start();
+    reset_command(PAUSE);
+}
+
+void Tracker::paint_widget() {
+    if (fresh) {
+        fresh = false;
+        video_widget->update();
+    }
+}
+
+bool Tracker::GiveHeadPoseData(double *data)
+{
+	const double rad2deg = 180.0/3.14159265;
+	const double deg2rad = 1.0/rad2deg;
+	{
+		QMutexLocker lock(&mutex);
+
+		if (!tracking_valid) return false;
+
+		FrameTrafo X_CM = point_tracker.get_pose();
+		FrameTrafo X_MH(Matx33f::eye(), t_MH);
+		FrameTrafo X_CH = X_CM * X_MH;
+
+		Matx33f R = X_CH.R * X_CH_0.R.t(); 
+		Vec3f t   = X_CH.t - X_CH_0.t;		
+		
+		// correct for camera pitch
+		Matx33f R_CP( 1, 0, 0,
+			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),
+					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));
+		R = R_CP * R * R_CP.t();
+		t = R_CP * t;
+
+		// get translation(s)
+		if (bEnableX) {
+            data[TX] = t[0] / 10.0;	// convert to cm
+		}
+		if (bEnableY) {
+            data[TY] = t[1] / 10.0;
+		}
+		if (bEnableZ) {
+            data[TZ] = t[2] / 10.0;
+		}
+
+		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame
+		// -z -> x, y -> z, x -> -y
+		Matx33f R_RG( 0, 0,-1,
+			         -1, 0, 0,
+					  0, 1, 0);
+		R = R_RG * R * R_RG.t();
+
+		// extract rotation angles
+		double alpha, beta, gamma;
+		//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );
+		beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+		alpha = atan2( R(1,0), R(0,0));
+		gamma = atan2( R(2,1), R(2,2));		
+
+		if (bEnableYaw) {
+            data[Yaw]   = rad2deg * alpha;
+		}
+		if (bEnablePitch) {
+            data[Pitch] = rad2deg * beta;
+		}
+		if (bEnableRoll) {
+            data[Roll]  = rad2deg * gamma;
+		}
+	}
+	return true;
+}
+
+//-----------------------------------------------------------------------------
+//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+{
+    return new Tracker;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 0c45c6b6..3825fce7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -1,96 +1,96 @@
-/* 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_H

-#define FTNOIR_TRACKER_PT_H

-

-#include "ftnoir_tracker_base/ftnoir_tracker_base.h"

-#include "ftnoir_tracker_pt_settings.h"

-#include "camera.h"

-#include "point_extractor.h"

-#include "point_tracker.h"

-#include "video_widget.h"

-#include "timer.h"

-

-#include <QThread>

-#include <QMutex>

-#include <QTime>

-#include <opencv2/opencv.hpp>

-#include <QFrame>

-#include <QTimer>

-

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

-class Tracker : public QThread, public ITracker

-{

-    Q_OBJECT

-public:

-	Tracker();

-	~Tracker();

-

-	// ITracker interface

-    void StartTracker(QFrame* videoFrame);

-    bool GiveHeadPoseData(double *data);

-

-	void refreshVideo();

-

-	void apply(const TrackerSettings& settings);

-	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(); }

-	void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }

-

-protected:	

-	FrameTrafo X_CH_0; // for centering

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

-

-	enum Command {

-		ABORT = 1<<0,

-		PAUSE = 1<<1

-	};

-	void set_command(Command command);

-	void reset_command(Command command);

-	

-    CVCamera camera;

-	PointExtractor point_extractor;

-	PointTracker point_tracker;

-	bool tracking_valid;

-

-	cv::Vec3f t_MH;

-	int cam_pitch;

-

-	bool draw_frame;

-	int sleep_time;

-

-	bool bEnableRoll;

-	bool bEnablePitch;

-	bool bEnableYaw;

-	bool bEnableX;

-	bool bEnableY;

-	bool bEnableZ;

-	

-	long frame_count;

-    volatile 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

+/* 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_H
+#define FTNOIR_TRACKER_PT_H
+
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ftnoir_tracker_pt_settings.h"
+#include "camera.h"
+#include "point_extractor.h"
+#include "point_tracker.h"
+#include "video_widget.h"
+#include "timer.h"
+
+#include <QThread>
+#include <QMutex>
+#include <QTime>
+#include <opencv2/opencv.hpp>
+#include <QFrame>
+#include <QTimer>
+
+//-----------------------------------------------------------------------------
+class Tracker : public QThread, public ITracker
+{
+    Q_OBJECT
+public:
+	Tracker();
+	~Tracker();
+
+	// ITracker interface
+    void StartTracker(QFrame* videoFrame);
+    bool GiveHeadPoseData(double *data);
+
+	void refreshVideo();
+
+	void apply(const TrackerSettings& settings);
+	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(); }
+	void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
+
+protected:	
+	FrameTrafo X_CH_0; // for centering
+	cv::Mat frame;	// the output frame for display
+
+	enum Command {
+		ABORT = 1<<0,
+		PAUSE = 1<<1
+	};
+	void set_command(Command command);
+	void reset_command(Command command);
+	
+    CVCamera camera;
+	PointExtractor point_extractor;
+	PointTracker point_tracker;
+	bool tracking_valid;
+
+	cv::Vec3f t_MH;
+	int cam_pitch;
+
+	bool draw_frame;
+	int sleep_time;
+
+	bool bEnableRoll;
+	bool bEnablePitch;
+	bool bEnableYaw;
+	bool bEnableX;
+	bool bEnableY;
+	bool bEnableZ;
+	
+	long frame_count;
+    volatile 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 4837f4a9..f222085e 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -1,337 +1,337 @@
-/* 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 "facetracknoir/global-settings.h"

-

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

-TrackerDialog::TrackerDialog()

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

-{

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

-	setAttribute(Qt::WA_DeleteOnClose, false);

-

-	ui.setupUi( this );

-

-	settings.load_ini();

-	dialog_settings.load_ini();

-

-	// initialize ui values

-	ui.videowidget_check->setChecked(settings.video_widget);

-	ui.dynpose_check->setChecked(settings.dyn_pose_res);

-	ui.sleep_spin->setValue(settings.sleep_time);

-	ui.reset_spin->setValue(settings.reset_time);

-	ui.camindex_spin->setValue(settings.cam_index);

-	ui.f_dspin->setValue(settings.cam_f);

-	ui.res_x_spin->setValue(settings.cam_res_x);

-	ui.res_y_spin->setValue(settings.cam_res_y);

-	ui.fps_spin->setValue(settings.cam_fps);

-	ui.campitch_spin->setValue(settings.cam_pitch);

-	ui.threshold_slider->setValue(settings.threshold);

-

-	ui.chkEnableRoll->setChecked(settings.bEnableRoll);

-	ui.chkEnablePitch->setChecked(settings.bEnablePitch);

-	ui.chkEnableYaw->setChecked(settings.bEnableYaw);

-	ui.chkEnableX->setChecked(settings.bEnableX);

-	ui.chkEnableY->setChecked(settings.bEnableY);

-	ui.chkEnableZ->setChecked(settings.bEnableZ);

-

-	ui.mindiam_spin->setValue(settings.min_point_size);

-	ui.maxdiam_spin->setValue(settings.max_point_size);

-	ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel);

-	ui.clip_bheight_spin->setValue(dialog_settings.clip_by);

-	ui.clip_blength_spin->setValue(dialog_settings.clip_bz);

-	ui.clip_theight_spin->setValue(dialog_settings.clip_ty);

-	ui.clip_tlength_spin->setValue(dialog_settings.clip_tz);

-	ui.cap_width_spin->setValue(dialog_settings.cap_x);

-	ui.cap_height_spin->setValue(dialog_settings.cap_y);

-	ui.cap_length_spin->setValue(dialog_settings.cap_z);

-	ui.m1x_spin->setValue(dialog_settings.M01x);

-	ui.m1y_spin->setValue(dialog_settings.M01y);

-	ui.m1z_spin->setValue(dialog_settings.M01z);

-	ui.m2x_spin->setValue(dialog_settings.M02x);

-	ui.m2y_spin->setValue(dialog_settings.M02y);

-	ui.m2z_spin->setValue(dialog_settings.M02z);

-	ui.tx_spin->setValue(settings.t_MH[0]);

-	ui.ty_spin->setValue(settings.t_MH[1]);

-	ui.tz_spin->setValue(settings.t_MH[2]);

-

-	// connect Qt signals and slots

-	connect( ui.videowidget_check,SIGNAL(toggled(bool)),     this,SLOT(set_video_widget(bool)) );

-	connect( ui.dynpose_check,SIGNAL(toggled(bool)),         this,SLOT(set_dyn_pose_res(bool)) );

-	connect( ui.sleep_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_sleep_time(int)) );

-	connect( ui.reset_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_reset_time(int)) );

-	connect( ui.camindex_spin,SIGNAL(valueChanged(int)),     this,SLOT(set_cam_index(int)) );	

-	connect( ui.f_dspin,SIGNAL(valueChanged(double)),        this,SLOT(set_cam_f(double)) );

-	connect( ui.res_x_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cam_res_x(int)) );

-	connect( ui.res_y_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cam_res_y(int)) );

-	connect( ui.fps_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_cam_fps(int)) );

-	connect( ui.campitch_spin,SIGNAL(valueChanged(int)),     this,SLOT(set_cam_pitch(int)) );

-	connect( ui.threshold_slider,SIGNAL(sliderMoved(int)),   this,SLOT(set_threshold(int)) );

-

-	connect( ui.chkEnableRoll,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_roll(bool)) );

-	connect( ui.chkEnablePitch,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_pitch(bool)) );

-	connect( ui.chkEnableYaw,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_yaw(bool)) );

-	connect( ui.chkEnableX,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_x(bool)) );

-	connect( ui.chkEnableY,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_y(bool)) );

-	connect( ui.chkEnableZ,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_z(bool)) );

-

-	connect( ui.mindiam_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_min_point_size(int)) );

-	connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_max_point_size(int)) );

-	connect( ui.model_tabs,SIGNAL(currentChanged(int)),      this,SLOT(set_model(int)) );

-	connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_height(int)) );

-	connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_length(int)) );

-	connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_height(int)) );

-	connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_length(int)) );

-	connect( ui.cap_width_spin,SIGNAL(valueChanged(int)),    this,SLOT(set_cap_width(int)) );

-	connect( ui.cap_height_spin,SIGNAL(valueChanged(int)),   this,SLOT(set_cap_height(int)) );	

-	connect( ui.cap_length_spin,SIGNAL(valueChanged(int)),   this,SLOT(set_cap_length(int)) );

-	connect( ui.m1x_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m1x(int)) );

-	connect( ui.m1y_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m1y(int)) );

-	connect( ui.m1z_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m1z(int)) );

-	connect( ui.m2x_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m2x(int)) );

-	connect( ui.m2y_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m2y(int)) );

-	connect( ui.m2z_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m2z(int)) );

-	connect( ui.tx_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_tx(int)) );

-	connect( ui.ty_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_ty(int)) );

-	connect( ui.tz_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_tz(int)) );

-

-	connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );

-

-	connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));

-	//connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));

-

-	connect(ui.ok_button, SIGNAL(clicked()),     this, SLOT(doOK()));

-	connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));

-

-    connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));

-    timer.start(100);

-}

-

-TrackerDialog::~TrackerDialog()

-{

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

-}

-

-void TrackerDialog::set_clip()

-{

-	settings.M01[0] =  0;

-	settings.M01[1] =  dialog_settings.clip_ty;

-	settings.M01[2] = -dialog_settings.clip_tz;

-	settings.M02[0] =  0;

-	settings.M02[1] = -dialog_settings.clip_by;

-	settings.M02[2] = -dialog_settings.clip_bz;

-

-	settings_changed();

-}

-

-void TrackerDialog::set_cap()

-{

-	settings.M01[0] = -dialog_settings.cap_x;

-	settings.M01[1] = -dialog_settings.cap_y;

-	settings.M01[2] = -dialog_settings.cap_z;

-	settings.M02[0] =  dialog_settings.cap_x;

-	settings.M02[1] = -dialog_settings.cap_y;

-	settings.M02[2] = -dialog_settings.cap_z;

-

-	settings_changed();

-}

-

-void TrackerDialog::set_custom()

-{

-	settings.M01[0] = dialog_settings.M01x;

-	settings.M01[1] = dialog_settings.M01y;

-	settings.M01[2] = dialog_settings.M01z;

-	settings.M02[0] = dialog_settings.M02x;

-	settings.M02[1] = dialog_settings.M02y;

-	settings.M02[2] = dialog_settings.M02z;

-

-	settings_changed();

-}

-

-void TrackerDialog::set_model(int val)

-{

-	dialog_settings.active_model_panel = val;

-

-	switch (val) {

-

-	case TrackerDialogSettings::MODEL_CLIP:

-		set_clip();

-		break;

-

-	case TrackerDialogSettings::MODEL_CAP:

-		set_cap();

-		break;

-

-	case TrackerDialogSettings::MODEL_CUSTOM:

-		set_custom();

-		break;

-

-	default:

-		break;

-	}

-}

-

-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;

-		settings.t_MH = trans_calib.get_estimate();

-		settings_changed();

-	}

-}

-

-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();

-		//qDebug()<<"TrackerDialog:: Current translation estimate: "<<t_MH[0]<<t_MH[1]<<t_MH[2];

-		ui.tx_spin->setValue(t_MH[0]);

-		ui.ty_spin->setValue(t_MH[1]);

-		ui.tz_spin->setValue(t_MH[2]);

-	}

-}

-

-void TrackerDialog::settings_changed()

-{

-	settings_dirty = true;

-	if (tracker) tracker->apply(settings);

-}

-

-void TrackerDialog::doCenter()

-{

-	if (tracker) tracker->center();

-}

-

-void TrackerDialog::doReset()

-{

-	if (tracker) tracker->reset();

-}

-

-void TrackerDialog::doOK()

-{

-	settings.save_ini();

-	dialog_settings.save_ini();

-	close();

-}

-

-void TrackerDialog::doCancel()

-{

-	if (settings_dirty) {

-		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", 

-			                              QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );

-		switch (ret) {

-			case QMessageBox::Save:

-				settings.save_ini();

-				dialog_settings.save_ini();

-				close();

-				break;

-			case QMessageBox::Discard:

-				close();

-				break;

-			case QMessageBox::Cancel:

-				// Cancel was clicked

-				break;

-			default:

-				// should never be reached

-			break;

-		}

-	}

-	else {

-		close();

-	}

-}

-

-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);

-		ui.caminfo_label_2->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);

-		ui.pointinfo_label_2->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.caminfo_label_2->setText(to_print);

-		ui.pointinfo_label->setText(to_print);

-		ui.pointinfo_label_2->setText(to_print);

-	}

-}

-

-

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

-// ITrackerDialog interface

-void TrackerDialog::Initialize(QWidget *parent)

-{

-	QPoint offsetpos(200, 200);

-	if (parent) {

-		this->move(parent->pos() + offsetpos);

-	}

-	show();

-}

-

-void TrackerDialog::registerTracker(ITracker *t)

-{

-	qDebug()<<"TrackerDialog:: Tracker registered";

-	tracker = static_cast<Tracker*>(t);

-	if (isVisible() && settings_dirty) tracker->apply(settings);

-	ui.tcalib_button->setEnabled(true);

-	//ui.center_button->setEnabled(true);

-	ui.reset_button->setEnabled(true);

-}

-

-void TrackerDialog::unRegisterTracker()

-{

-	qDebug()<<"TrackerDialog:: Tracker un-registered";

-	tracker = NULL;

-	ui.tcalib_button->setEnabled(false); 

-	//ui.center_button->setEnabled(false);

-	ui.reset_button->setEnabled(false);

-}

-

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

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

-

-extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )

-{

-    return new TrackerDialog;

-}

+/* 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 "facetracknoir/global-settings.h"
+
+//-----------------------------------------------------------------------------
+TrackerDialog::TrackerDialog()
+    : settings_dirty(false), tracker(NULL), trans_calib_running(false), timer(this)
+{
+	qDebug()<<"TrackerDialog::TrackerDialog";
+	setAttribute(Qt::WA_DeleteOnClose, false);
+
+	ui.setupUi( this );
+
+	settings.load_ini();
+	dialog_settings.load_ini();
+
+	// initialize ui values
+	ui.videowidget_check->setChecked(settings.video_widget);
+	ui.dynpose_check->setChecked(settings.dyn_pose_res);
+	ui.sleep_spin->setValue(settings.sleep_time);
+	ui.reset_spin->setValue(settings.reset_time);
+	ui.camindex_spin->setValue(settings.cam_index);
+	ui.f_dspin->setValue(settings.cam_f);
+	ui.res_x_spin->setValue(settings.cam_res_x);
+	ui.res_y_spin->setValue(settings.cam_res_y);
+	ui.fps_spin->setValue(settings.cam_fps);
+	ui.campitch_spin->setValue(settings.cam_pitch);
+	ui.threshold_slider->setValue(settings.threshold);
+
+	ui.chkEnableRoll->setChecked(settings.bEnableRoll);
+	ui.chkEnablePitch->setChecked(settings.bEnablePitch);
+	ui.chkEnableYaw->setChecked(settings.bEnableYaw);
+	ui.chkEnableX->setChecked(settings.bEnableX);
+	ui.chkEnableY->setChecked(settings.bEnableY);
+	ui.chkEnableZ->setChecked(settings.bEnableZ);
+
+	ui.mindiam_spin->setValue(settings.min_point_size);
+	ui.maxdiam_spin->setValue(settings.max_point_size);
+	ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel);
+	ui.clip_bheight_spin->setValue(dialog_settings.clip_by);
+	ui.clip_blength_spin->setValue(dialog_settings.clip_bz);
+	ui.clip_theight_spin->setValue(dialog_settings.clip_ty);
+	ui.clip_tlength_spin->setValue(dialog_settings.clip_tz);
+	ui.cap_width_spin->setValue(dialog_settings.cap_x);
+	ui.cap_height_spin->setValue(dialog_settings.cap_y);
+	ui.cap_length_spin->setValue(dialog_settings.cap_z);
+	ui.m1x_spin->setValue(dialog_settings.M01x);
+	ui.m1y_spin->setValue(dialog_settings.M01y);
+	ui.m1z_spin->setValue(dialog_settings.M01z);
+	ui.m2x_spin->setValue(dialog_settings.M02x);
+	ui.m2y_spin->setValue(dialog_settings.M02y);
+	ui.m2z_spin->setValue(dialog_settings.M02z);
+	ui.tx_spin->setValue(settings.t_MH[0]);
+	ui.ty_spin->setValue(settings.t_MH[1]);
+	ui.tz_spin->setValue(settings.t_MH[2]);
+
+	// connect Qt signals and slots
+	connect( ui.videowidget_check,SIGNAL(toggled(bool)),     this,SLOT(set_video_widget(bool)) );
+	connect( ui.dynpose_check,SIGNAL(toggled(bool)),         this,SLOT(set_dyn_pose_res(bool)) );
+	connect( ui.sleep_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_sleep_time(int)) );
+	connect( ui.reset_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_reset_time(int)) );
+	connect( ui.camindex_spin,SIGNAL(valueChanged(int)),     this,SLOT(set_cam_index(int)) );	
+	connect( ui.f_dspin,SIGNAL(valueChanged(double)),        this,SLOT(set_cam_f(double)) );
+	connect( ui.res_x_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cam_res_x(int)) );
+	connect( ui.res_y_spin,SIGNAL(valueChanged(int)),        this,SLOT(set_cam_res_y(int)) );
+	connect( ui.fps_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_cam_fps(int)) );
+	connect( ui.campitch_spin,SIGNAL(valueChanged(int)),     this,SLOT(set_cam_pitch(int)) );
+	connect( ui.threshold_slider,SIGNAL(sliderMoved(int)),   this,SLOT(set_threshold(int)) );
+
+	connect( ui.chkEnableRoll,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_roll(bool)) );
+	connect( ui.chkEnablePitch,SIGNAL(toggled(bool)),		 this,SLOT(set_ena_pitch(bool)) );
+	connect( ui.chkEnableYaw,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_yaw(bool)) );
+	connect( ui.chkEnableX,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_x(bool)) );
+	connect( ui.chkEnableY,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_y(bool)) );
+	connect( ui.chkEnableZ,SIGNAL(toggled(bool)),			 this,SLOT(set_ena_z(bool)) );
+
+	connect( ui.mindiam_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_min_point_size(int)) );
+	connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)),      this,SLOT(set_max_point_size(int)) );
+	connect( ui.model_tabs,SIGNAL(currentChanged(int)),      this,SLOT(set_model(int)) );
+	connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_height(int)) );
+	connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_length(int)) );
+	connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_height(int)) );
+	connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_length(int)) );
+	connect( ui.cap_width_spin,SIGNAL(valueChanged(int)),    this,SLOT(set_cap_width(int)) );
+	connect( ui.cap_height_spin,SIGNAL(valueChanged(int)),   this,SLOT(set_cap_height(int)) );	
+	connect( ui.cap_length_spin,SIGNAL(valueChanged(int)),   this,SLOT(set_cap_length(int)) );
+	connect( ui.m1x_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m1x(int)) );
+	connect( ui.m1y_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m1y(int)) );
+	connect( ui.m1z_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m1z(int)) );
+	connect( ui.m2x_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m2x(int)) );
+	connect( ui.m2y_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m2y(int)) );
+	connect( ui.m2z_spin,SIGNAL(valueChanged(int)),          this,SLOT(set_m2z(int)) );
+	connect( ui.tx_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_tx(int)) );
+	connect( ui.ty_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_ty(int)) );
+	connect( ui.tz_spin,SIGNAL(valueChanged(int)),           this,SLOT(set_tz(int)) );
+
+	connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
+
+	connect(ui.reset_button, SIGNAL(clicked()),  this, SLOT(doReset()));
+	//connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));
+
+	connect(ui.ok_button, SIGNAL(clicked()),     this, SLOT(doOK()));
+	connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));
+
+    connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+    timer.start(100);
+}
+
+TrackerDialog::~TrackerDialog()
+{
+	qDebug()<<"TrackerDialog::~TrackerDialog";
+}
+
+void TrackerDialog::set_clip()
+{
+	settings.M01[0] =  0;
+	settings.M01[1] =  dialog_settings.clip_ty;
+	settings.M01[2] = -dialog_settings.clip_tz;
+	settings.M02[0] =  0;
+	settings.M02[1] = -dialog_settings.clip_by;
+	settings.M02[2] = -dialog_settings.clip_bz;
+
+	settings_changed();
+}
+
+void TrackerDialog::set_cap()
+{
+	settings.M01[0] = -dialog_settings.cap_x;
+	settings.M01[1] = -dialog_settings.cap_y;
+	settings.M01[2] = -dialog_settings.cap_z;
+	settings.M02[0] =  dialog_settings.cap_x;
+	settings.M02[1] = -dialog_settings.cap_y;
+	settings.M02[2] = -dialog_settings.cap_z;
+
+	settings_changed();
+}
+
+void TrackerDialog::set_custom()
+{
+	settings.M01[0] = dialog_settings.M01x;
+	settings.M01[1] = dialog_settings.M01y;
+	settings.M01[2] = dialog_settings.M01z;
+	settings.M02[0] = dialog_settings.M02x;
+	settings.M02[1] = dialog_settings.M02y;
+	settings.M02[2] = dialog_settings.M02z;
+
+	settings_changed();
+}
+
+void TrackerDialog::set_model(int val)
+{
+	dialog_settings.active_model_panel = val;
+
+	switch (val) {
+
+	case TrackerDialogSettings::MODEL_CLIP:
+		set_clip();
+		break;
+
+	case TrackerDialogSettings::MODEL_CAP:
+		set_cap();
+		break;
+
+	case TrackerDialogSettings::MODEL_CUSTOM:
+		set_custom();
+		break;
+
+	default:
+		break;
+	}
+}
+
+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;
+		settings.t_MH = trans_calib.get_estimate();
+		settings_changed();
+	}
+}
+
+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();
+		//qDebug()<<"TrackerDialog:: Current translation estimate: "<<t_MH[0]<<t_MH[1]<<t_MH[2];
+		ui.tx_spin->setValue(t_MH[0]);
+		ui.ty_spin->setValue(t_MH[1]);
+		ui.tz_spin->setValue(t_MH[2]);
+	}
+}
+
+void TrackerDialog::settings_changed()
+{
+	settings_dirty = true;
+	if (tracker) tracker->apply(settings);
+}
+
+void TrackerDialog::doCenter()
+{
+	if (tracker) tracker->center();
+}
+
+void TrackerDialog::doReset()
+{
+	if (tracker) tracker->reset();
+}
+
+void TrackerDialog::doOK()
+{
+	settings.save_ini();
+	dialog_settings.save_ini();
+	close();
+}
+
+void TrackerDialog::doCancel()
+{
+	if (settings_dirty) {
+		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", 
+			                              QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
+		switch (ret) {
+			case QMessageBox::Save:
+				settings.save_ini();
+				dialog_settings.save_ini();
+				close();
+				break;
+			case QMessageBox::Discard:
+				close();
+				break;
+			case QMessageBox::Cancel:
+				// Cancel was clicked
+				break;
+			default:
+				// should never be reached
+			break;
+		}
+	}
+	else {
+		close();
+	}
+}
+
+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);
+		ui.caminfo_label_2->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);
+		ui.pointinfo_label_2->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.caminfo_label_2->setText(to_print);
+		ui.pointinfo_label->setText(to_print);
+		ui.pointinfo_label_2->setText(to_print);
+	}
+}
+
+
+//-----------------------------------------------------------------------------
+// ITrackerDialog interface
+void TrackerDialog::Initialize(QWidget *parent)
+{
+	QPoint offsetpos(200, 200);
+	if (parent) {
+		this->move(parent->pos() + offsetpos);
+	}
+	show();
+}
+
+void TrackerDialog::registerTracker(ITracker *t)
+{
+	qDebug()<<"TrackerDialog:: Tracker registered";
+	tracker = static_cast<Tracker*>(t);
+	if (isVisible() && settings_dirty) tracker->apply(settings);
+	ui.tcalib_button->setEnabled(true);
+	//ui.center_button->setEnabled(true);
+	ui.reset_button->setEnabled(true);
+}
+
+void TrackerDialog::unRegisterTracker()
+{
+	qDebug()<<"TrackerDialog:: Tracker un-registered";
+	tracker = NULL;
+	ui.tcalib_button->setEnabled(false); 
+	//ui.center_button->setEnabled(false);
+	ui.reset_button->setEnabled(false);
+}
+
+//-----------------------------------------------------------------------------
+//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
+{
+    return new TrackerDialog;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index ada331e5..f13fe13e 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -1,102 +1,102 @@
-/* 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

-

-#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 "trans_calib.h"

-

-#include <QTimer>

-

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

-class TrackerDialog : public QWidget, public ITrackerDialog

-{

-    Q_OBJECT

-public:

-	TrackerDialog();

-	~TrackerDialog();

-

-	// ITrackerDialog interface

-	void Initialize(QWidget *parent);

-	void registerTracker(ITracker *tracker);

-	void unRegisterTracker();

-	

-	void trans_calib_step();

-

-protected slots:

-	// ugly qt stuff

-	void set_video_widget(bool val)  { settings.video_widget = val;   settings_changed(); }

-	void set_dyn_pose_res(bool val)  { settings.dyn_pose_res = val;   settings_changed(); }

-	void set_sleep_time(int val)     { settings.sleep_time = val;     settings_changed(); }

-	void set_reset_time(int val)     { settings.reset_time = val;     settings_changed(); }

-	void set_cam_index(int val)		 { settings.cam_index = val;      settings_changed(); }

-	void set_cam_f(double val)       { settings.cam_f = val;          settings_changed(); }

-	void set_cam_res_x(int val)      { settings.cam_res_x = val;      settings_changed(); }

-	void set_cam_res_y(int val)      { settings.cam_res_y = val;      settings_changed(); }

-	void set_cam_fps(int val)        { settings.cam_fps = val;        settings_changed(); }

-	void set_cam_pitch(int val)      { settings.cam_pitch = val;      settings_changed(); }

-	void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); }

-	void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); }

-	void set_threshold(int val)      { settings.threshold = val;      settings_changed(); }

-	void set_ena_roll(bool val)		 { settings.bEnableRoll = val;    settings_changed(); }

-	void set_ena_pitch(bool val)	 { settings.bEnablePitch = val;   settings_changed(); }

-	void set_ena_yaw(bool val)		 { settings.bEnableYaw = val;     settings_changed(); }

-	void set_ena_x(bool val)		 { settings.bEnableX = val;       settings_changed(); }

-	void set_ena_y(bool val)		 { settings.bEnableY = val;       settings_changed(); }

-	void set_ena_z(bool val)		 { settings.bEnableZ = val;       settings_changed(); }

-

-	void set_clip_t_height(int val)  { dialog_settings.clip_ty = val; set_clip(); }

-	void set_clip_t_length(int val)  { dialog_settings.clip_tz = val; set_clip(); }

-	void set_clip_b_height(int val)  { dialog_settings.clip_by = val; set_clip(); }

-	void set_clip_b_length(int val)  { dialog_settings.clip_bz = val; set_clip(); }

-	void set_cap_width(int val)      { dialog_settings.cap_x = val;   set_cap(); }

-	void set_cap_height(int val)     { dialog_settings.cap_y = val;   set_cap(); }

-	void set_cap_length(int val)     { dialog_settings.cap_z = val;   set_cap(); }

-	void set_m1x(int val)            { dialog_settings.M01x = val;	  set_custom(); }

-	void set_m1y(int val)            { dialog_settings.M01y = val;    set_custom(); }

-	void set_m1z(int val)            { dialog_settings.M01z = val;    set_custom(); }

-	void set_m2x(int val)            { dialog_settings.M02x = val;    set_custom(); }

-	void set_m2y(int val)            { dialog_settings.M02y = val;    set_custom(); }

-	void set_m2z(int val)            { dialog_settings.M02z = val;    set_custom(); }

-	void set_tx(int val)             { settings.t_MH[0] = val;        settings_changed(); }

-	void set_ty(int val)             { settings.t_MH[1] = val;        settings_changed(); }

-	void set_tz(int val)             { settings.t_MH[2] = val;        settings_changed(); }

-	void set_model(int model_id);

-

-	void doCenter();

-	void doReset();

-

-	void doOK();

-	void doCancel();

-

-	void startstop_trans_calib(bool start);

-	

-	void poll_tracker_info();

-

-protected:

-	void set_clip();

-	void set_cap();

-	void set_custom();

-

-	void settings_changed();

-

-	TrackerSettings settings;

-	TrackerDialogSettings dialog_settings;

-	bool settings_dirty;

-

-	Tracker* tracker;

-	TranslationCalibrator trans_calib;

-	bool trans_calib_running;

-	QTimer timer;

-	Ui::UICPTClientControls ui;

-};

-

-#endif //FTNOIR_TRACKER_PT_DIALOG_H

+/* 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
+
+#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 "trans_calib.h"
+
+#include <QTimer>
+
+//-----------------------------------------------------------------------------
+class TrackerDialog : public QWidget, public ITrackerDialog
+{
+    Q_OBJECT
+public:
+	TrackerDialog();
+	~TrackerDialog();
+
+	// ITrackerDialog interface
+	void Initialize(QWidget *parent);
+	void registerTracker(ITracker *tracker);
+	void unRegisterTracker();
+	
+	void trans_calib_step();
+
+protected slots:
+	// ugly qt stuff
+	void set_video_widget(bool val)  { settings.video_widget = val;   settings_changed(); }
+	void set_dyn_pose_res(bool val)  { settings.dyn_pose_res = val;   settings_changed(); }
+	void set_sleep_time(int val)     { settings.sleep_time = val;     settings_changed(); }
+	void set_reset_time(int val)     { settings.reset_time = val;     settings_changed(); }
+	void set_cam_index(int val)		 { settings.cam_index = val;      settings_changed(); }
+	void set_cam_f(double val)       { settings.cam_f = val;          settings_changed(); }
+	void set_cam_res_x(int val)      { settings.cam_res_x = val;      settings_changed(); }
+	void set_cam_res_y(int val)      { settings.cam_res_y = val;      settings_changed(); }
+	void set_cam_fps(int val)        { settings.cam_fps = val;        settings_changed(); }
+	void set_cam_pitch(int val)      { settings.cam_pitch = val;      settings_changed(); }
+	void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); }
+	void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); }
+	void set_threshold(int val)      { settings.threshold = val;      settings_changed(); }
+	void set_ena_roll(bool val)		 { settings.bEnableRoll = val;    settings_changed(); }
+	void set_ena_pitch(bool val)	 { settings.bEnablePitch = val;   settings_changed(); }
+	void set_ena_yaw(bool val)		 { settings.bEnableYaw = val;     settings_changed(); }
+	void set_ena_x(bool val)		 { settings.bEnableX = val;       settings_changed(); }
+	void set_ena_y(bool val)		 { settings.bEnableY = val;       settings_changed(); }
+	void set_ena_z(bool val)		 { settings.bEnableZ = val;       settings_changed(); }
+
+	void set_clip_t_height(int val)  { dialog_settings.clip_ty = val; set_clip(); }
+	void set_clip_t_length(int val)  { dialog_settings.clip_tz = val; set_clip(); }
+	void set_clip_b_height(int val)  { dialog_settings.clip_by = val; set_clip(); }
+	void set_clip_b_length(int val)  { dialog_settings.clip_bz = val; set_clip(); }
+	void set_cap_width(int val)      { dialog_settings.cap_x = val;   set_cap(); }
+	void set_cap_height(int val)     { dialog_settings.cap_y = val;   set_cap(); }
+	void set_cap_length(int val)     { dialog_settings.cap_z = val;   set_cap(); }
+	void set_m1x(int val)            { dialog_settings.M01x = val;	  set_custom(); }
+	void set_m1y(int val)            { dialog_settings.M01y = val;    set_custom(); }
+	void set_m1z(int val)            { dialog_settings.M01z = val;    set_custom(); }
+	void set_m2x(int val)            { dialog_settings.M02x = val;    set_custom(); }
+	void set_m2y(int val)            { dialog_settings.M02y = val;    set_custom(); }
+	void set_m2z(int val)            { dialog_settings.M02z = val;    set_custom(); }
+	void set_tx(int val)             { settings.t_MH[0] = val;        settings_changed(); }
+	void set_ty(int val)             { settings.t_MH[1] = val;        settings_changed(); }
+	void set_tz(int val)             { settings.t_MH[2] = val;        settings_changed(); }
+	void set_model(int model_id);
+
+	void doCenter();
+	void doReset();
+
+	void doOK();
+	void doCancel();
+
+	void startstop_trans_calib(bool start);
+	
+	void poll_tracker_info();
+
+protected:
+	void set_clip();
+	void set_cap();
+	void set_custom();
+
+	void settings_changed();
+
+	TrackerSettings settings;
+	TrackerDialogSettings dialog_settings;
+	bool settings_dirty;
+
+	Tracker* tracker;
+	TranslationCalibrator trans_calib;
+	bool trans_calib_running;
+	QTimer timer;
+	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
index 22c4a33d..1c486382 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
@@ -1,40 +1,40 @@
-/* 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>

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

-

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

-void TrackerDll::getFullName(QString *strToBeFilled)

-{

-	*strToBeFilled = "PointTracker 1.0";

-}

-

-void TrackerDll::getShortName(QString *strToBeFilled)

-{

-	*strToBeFilled = "PointTracker";

-}

-

-void TrackerDll::getDescription(QString *strToBeFilled)

-{

-	*strToBeFilled = "Tracks a 3-point model with know geometry like Freetrack / TrackIR";

-}

-

-void TrackerDll::getIcon(QIcon *icon)

-{

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

-}

-

-

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

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

-

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

-{

-	return new TrackerDll;

-}

+/* 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>
+#include "facetracknoir/global-settings.h"
+
+//-----------------------------------------------------------------------------
+void TrackerDll::getFullName(QString *strToBeFilled)
+{
+	*strToBeFilled = "PointTracker 1.0";
+}
+
+void TrackerDll::getShortName(QString *strToBeFilled)
+{
+	*strToBeFilled = "PointTracker";
+}
+
+void TrackerDll::getDescription(QString *strToBeFilled)
+{
+	*strToBeFilled = "Tracks a 3-point model with know geometry like Freetrack / TrackIR";
+}
+
+void TrackerDll::getIcon(QIcon *icon)
+{
+    *icon = QIcon(":/resources/icon.png");
+}
+
+
+//-----------------------------------------------------------------------------
+//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+
+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 dde0bc9f..4dc94173 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
@@ -1,18 +1,18 @@
-/* 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_base/ftnoir_tracker_base.h"

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

-

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

-class TrackerDll : public Metadata

-{

-	void getFullName(QString *strToBeFilled);

-	void getShortName(QString *strToBeFilled);

-	void getDescription(QString *strToBeFilled);

-	void getIcon(QIcon *icon);

-};

+/* 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_base/ftnoir_tracker_base.h"
+#include "facetracknoir/global-settings.h"
+
+//-----------------------------------------------------------------------------
+class TrackerDll : public Metadata
+{
+	void getFullName(QString *strToBeFilled);
+	void getShortName(QString *strToBeFilled);
+	void getDescription(QString *strToBeFilled);
+	void getIcon(QIcon *icon);
+};
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.cpp
index 3164b291..b0249813 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.cpp
@@ -1,150 +1,150 @@
-/* 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.h"

-#include <QCoreApplication>

-#include <QSettings>

-

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

-void TrackerSettings::load_ini()

-{

-	qDebug("TrackerSettings::load_ini()");

-

-	QSettings settings("opentrack");	// Registry settings (in HK_USER)

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup( "PointTracker" );

-

-	cam_index      = iniFile.value("CameraId", 0).toInt();

-	cam_f          = iniFile.value("CameraF", 1).toFloat();

-	cam_res_x      = iniFile.value("CameraResX", 640).toInt();

-	cam_res_y      = iniFile.value("CameraResY", 480).toInt();

-	cam_fps        = iniFile.value("CameraFPS", 30).toInt();

-	cam_pitch      = iniFile.value("CameraPitch", 0).toInt();

-	threshold      = iniFile.value("PointExtractThreshold", 128).toInt();

-	min_point_size = iniFile.value("PointExtractMinSize", 2).toInt();

-	max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt();

-	M01[0]  = iniFile.value("PointModelM01x", 0).toFloat();

-	M01[1]  = iniFile.value("PointModelM01y", 40).toFloat();

-	M01[2]  = iniFile.value("PointModelM01z", -30).toFloat();

-	M02[0]  = iniFile.value("PointModelM02x", 0).toFloat();

-	M02[1]  = iniFile.value("PointModelM02y", -70).toFloat();

-	M02[2]  = iniFile.value("PointModelM02z", -80).toFloat();

-	t_MH[0] = iniFile.value("tMHx", 0).toFloat();

-	t_MH[1] = iniFile.value("tMHy", 0).toFloat();

-	t_MH[2] = iniFile.value("tMHz", 0).toFloat();

-	dyn_pose_res = iniFile.value("DynamicPoseResolution", true).toBool();

-	video_widget = iniFile.value("VideoWidget", true).toBool();

-	sleep_time   = iniFile.value("SleepTime", 10).toInt();

-	reset_time   = iniFile.value("ResetTime", 1000).toInt();

-

-	bEnableRoll = iniFile.value( "EnableRoll", 1 ).toBool();

-	bEnablePitch = iniFile.value( "EnablePitch", 1 ).toBool();

-	bEnableYaw = iniFile.value( "EnableYaw", 1 ).toBool();

-	bEnableX = iniFile.value( "EnableX", 1 ).toBool();

-	bEnableY = iniFile.value( "EnableY", 1 ).toBool();

-	bEnableZ = iniFile.value( "EnableZ", 1 ).toBool();

-

-	iniFile.endGroup();

-}

-

-void TrackerSettings::save_ini() const

-{

-	qDebug("TrackerSettings::save_ini()");

-

-	QSettings settings("opentrack");	// Registry settings (in HK_USER)

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup ( "PointTracker" );

-

-	iniFile.setValue("CameraId", cam_index);

-	iniFile.setValue("CameraF", cam_f);

-	iniFile.setValue("CameraResX", cam_res_x);

-	iniFile.setValue("CameraResY", cam_res_y);

-	iniFile.setValue("CameraFPS", cam_fps);

-	iniFile.setValue("CameraPitch", cam_pitch);

-	iniFile.setValue("PointExtractThreshold", threshold);

-	iniFile.setValue("PointExtractMinSize", min_point_size);

-	iniFile.setValue("PointExtractMaxSize", max_point_size);

-	iniFile.setValue("PointModelM01x", M01[0]);

-	iniFile.setValue("PointModelM01y", M01[1]);

-	iniFile.setValue("PointModelM01z", M01[2]);

-	iniFile.setValue("PointModelM02x", M02[0]);

-	iniFile.setValue("PointModelM02y", M02[1]);

-	iniFile.setValue("PointModelM02z", M02[2]);

-	iniFile.setValue("tMHx", t_MH[0]);

-	iniFile.setValue("tMHy", t_MH[1]);

-	iniFile.setValue("tMHz", t_MH[2]);

-	iniFile.setValue("DynamicPoseResolution", dyn_pose_res);

-	iniFile.setValue("VideoWidget", video_widget);

-	iniFile.setValue("SleepTime", sleep_time);

-	iniFile.setValue("ResetTime", reset_time);

-

-	iniFile.setValue( "EnableRoll", bEnableRoll );

-	iniFile.setValue( "EnablePitch", bEnablePitch );

-	iniFile.setValue( "EnableYaw", bEnableYaw );

-	iniFile.setValue( "EnableX", bEnableX );

-	iniFile.setValue( "EnableY", bEnableY );

-	iniFile.setValue( "EnableZ", bEnableZ );

-

-	iniFile.endGroup();

-}

-

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

-void TrackerDialogSettings::load_ini()

-{

-	qDebug("TrackerDialogSettings::load_ini()");

-

-	QSettings settings("opentrack");	// Registry settings (in HK_USER)

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup( "PointTrackerDialog" );

-

-	active_model_panel = iniFile.value("ActiveModelPanel", MODEL_CLIP).toInt();

-	M01x    = iniFile.value("CustomM01x", 0).toInt();

-	M01y    = iniFile.value("CustomM01y", 40).toInt();

-	M01z    = iniFile.value("CustomM01z", -30).toInt();

-	M02x    = iniFile.value("CustomM02x", 0).toInt();

-	M02y    = iniFile.value("CustomM02y", -70).toInt();

-	M02z    = iniFile.value("CustomM02z", -80).toInt();

-	clip_ty = iniFile.value("ClipTopHeight", 40).toInt();

-	clip_tz = iniFile.value("ClipTopLength", 30).toInt();

-	clip_by = iniFile.value("ClipBottomHeight", 70).toInt();

-	clip_bz = iniFile.value("ClipBottomLength", 80).toInt();

-	cap_x   = iniFile.value("CapHalfWidth", 40).toInt();

-	cap_y   = iniFile.value("CapHeight", 60).toInt();

-	cap_z   = iniFile.value("CapLength", 100).toInt();

-}

-

-void TrackerDialogSettings::save_ini() const

-{

-	qDebug("TrackerDialogSettings::save_ini()");

-

-	QSettings settings("opentrack");	// Registry settings (in HK_USER)

-	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

-	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-

-	iniFile.beginGroup ( "PointTrackerDialog" );

-

-	iniFile.setValue("ActiveModelPanel", active_model_panel);

-	iniFile.setValue("CustomM01x", M01x);

-	iniFile.setValue("CustomM01y", M01y);

-	iniFile.setValue("CustomM01z", M01z);

-	iniFile.setValue("CustomM02x", M02x);

-	iniFile.setValue("CustomM02y", M02y);

-	iniFile.setValue("CustomM02z", M02z);

-	iniFile.setValue("ClipTopHeight", clip_ty);

-	iniFile.setValue("ClipTopLength", clip_tz);

-	iniFile.setValue("ClipBottomHeight", clip_by);

-	iniFile.setValue("ClipBottomLength", clip_bz);

-	iniFile.setValue("CapHalfWidth", cap_x);

-	iniFile.setValue("CapHeight", cap_y);

-	iniFile.setValue("CapLength", cap_z);

+/* 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.h"
+#include <QCoreApplication>
+#include <QSettings>
+
+//-----------------------------------------------------------------------------
+void TrackerSettings::load_ini()
+{
+	qDebug("TrackerSettings::load_ini()");
+
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup( "PointTracker" );
+
+	cam_index      = iniFile.value("CameraId", 0).toInt();
+	cam_f          = iniFile.value("CameraF", 1).toFloat();
+	cam_res_x      = iniFile.value("CameraResX", 640).toInt();
+	cam_res_y      = iniFile.value("CameraResY", 480).toInt();
+	cam_fps        = iniFile.value("CameraFPS", 30).toInt();
+	cam_pitch      = iniFile.value("CameraPitch", 0).toInt();
+	threshold      = iniFile.value("PointExtractThreshold", 128).toInt();
+	min_point_size = iniFile.value("PointExtractMinSize", 2).toInt();
+	max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt();
+	M01[0]  = iniFile.value("PointModelM01x", 0).toFloat();
+	M01[1]  = iniFile.value("PointModelM01y", 40).toFloat();
+	M01[2]  = iniFile.value("PointModelM01z", -30).toFloat();
+	M02[0]  = iniFile.value("PointModelM02x", 0).toFloat();
+	M02[1]  = iniFile.value("PointModelM02y", -70).toFloat();
+	M02[2]  = iniFile.value("PointModelM02z", -80).toFloat();
+	t_MH[0] = iniFile.value("tMHx", 0).toFloat();
+	t_MH[1] = iniFile.value("tMHy", 0).toFloat();
+	t_MH[2] = iniFile.value("tMHz", 0).toFloat();
+	dyn_pose_res = iniFile.value("DynamicPoseResolution", true).toBool();
+	video_widget = iniFile.value("VideoWidget", true).toBool();
+	sleep_time   = iniFile.value("SleepTime", 10).toInt();
+	reset_time   = iniFile.value("ResetTime", 1000).toInt();
+
+	bEnableRoll = iniFile.value( "EnableRoll", 1 ).toBool();
+	bEnablePitch = iniFile.value( "EnablePitch", 1 ).toBool();
+	bEnableYaw = iniFile.value( "EnableYaw", 1 ).toBool();
+	bEnableX = iniFile.value( "EnableX", 1 ).toBool();
+	bEnableY = iniFile.value( "EnableY", 1 ).toBool();
+	bEnableZ = iniFile.value( "EnableZ", 1 ).toBool();
+
+	iniFile.endGroup();
+}
+
+void TrackerSettings::save_ini() const
+{
+	qDebug("TrackerSettings::save_ini()");
+
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup ( "PointTracker" );
+
+	iniFile.setValue("CameraId", cam_index);
+	iniFile.setValue("CameraF", cam_f);
+	iniFile.setValue("CameraResX", cam_res_x);
+	iniFile.setValue("CameraResY", cam_res_y);
+	iniFile.setValue("CameraFPS", cam_fps);
+	iniFile.setValue("CameraPitch", cam_pitch);
+	iniFile.setValue("PointExtractThreshold", threshold);
+	iniFile.setValue("PointExtractMinSize", min_point_size);
+	iniFile.setValue("PointExtractMaxSize", max_point_size);
+	iniFile.setValue("PointModelM01x", M01[0]);
+	iniFile.setValue("PointModelM01y", M01[1]);
+	iniFile.setValue("PointModelM01z", M01[2]);
+	iniFile.setValue("PointModelM02x", M02[0]);
+	iniFile.setValue("PointModelM02y", M02[1]);
+	iniFile.setValue("PointModelM02z", M02[2]);
+	iniFile.setValue("tMHx", t_MH[0]);
+	iniFile.setValue("tMHy", t_MH[1]);
+	iniFile.setValue("tMHz", t_MH[2]);
+	iniFile.setValue("DynamicPoseResolution", dyn_pose_res);
+	iniFile.setValue("VideoWidget", video_widget);
+	iniFile.setValue("SleepTime", sleep_time);
+	iniFile.setValue("ResetTime", reset_time);
+
+	iniFile.setValue( "EnableRoll", bEnableRoll );
+	iniFile.setValue( "EnablePitch", bEnablePitch );
+	iniFile.setValue( "EnableYaw", bEnableYaw );
+	iniFile.setValue( "EnableX", bEnableX );
+	iniFile.setValue( "EnableY", bEnableY );
+	iniFile.setValue( "EnableZ", bEnableZ );
+
+	iniFile.endGroup();
+}
+
+//-----------------------------------------------------------------------------
+void TrackerDialogSettings::load_ini()
+{
+	qDebug("TrackerDialogSettings::load_ini()");
+
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup( "PointTrackerDialog" );
+
+	active_model_panel = iniFile.value("ActiveModelPanel", MODEL_CLIP).toInt();
+	M01x    = iniFile.value("CustomM01x", 0).toInt();
+	M01y    = iniFile.value("CustomM01y", 40).toInt();
+	M01z    = iniFile.value("CustomM01z", -30).toInt();
+	M02x    = iniFile.value("CustomM02x", 0).toInt();
+	M02y    = iniFile.value("CustomM02y", -70).toInt();
+	M02z    = iniFile.value("CustomM02z", -80).toInt();
+	clip_ty = iniFile.value("ClipTopHeight", 40).toInt();
+	clip_tz = iniFile.value("ClipTopLength", 30).toInt();
+	clip_by = iniFile.value("ClipBottomHeight", 70).toInt();
+	clip_bz = iniFile.value("ClipBottomLength", 80).toInt();
+	cap_x   = iniFile.value("CapHalfWidth", 40).toInt();
+	cap_y   = iniFile.value("CapHeight", 60).toInt();
+	cap_z   = iniFile.value("CapLength", 100).toInt();
+}
+
+void TrackerDialogSettings::save_ini() const
+{
+	qDebug("TrackerDialogSettings::save_ini()");
+
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup ( "PointTrackerDialog" );
+
+	iniFile.setValue("ActiveModelPanel", active_model_panel);
+	iniFile.setValue("CustomM01x", M01x);
+	iniFile.setValue("CustomM01y", M01y);
+	iniFile.setValue("CustomM01z", M01z);
+	iniFile.setValue("CustomM02x", M02x);
+	iniFile.setValue("CustomM02y", M02y);
+	iniFile.setValue("CustomM02z", M02z);
+	iniFile.setValue("ClipTopHeight", clip_ty);
+	iniFile.setValue("ClipTopLength", clip_tz);
+	iniFile.setValue("ClipBottomHeight", clip_by);
+	iniFile.setValue("ClipBottomLength", clip_bz);
+	iniFile.setValue("CapHalfWidth", cap_x);
+	iniFile.setValue("CapHeight", cap_y);
+	iniFile.setValue("CapLength", cap_z);
 }
\ No newline at end of file
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 88162c86..a1523898 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -1,84 +1,84 @@
-/* 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_SETTINGS_H

-#define FTNOIR_TRACKER_PT_SETTINGS_H

-

-#include <opencv2/opencv.hpp>

-#include "point_tracker.h"

-

-

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

-struct TrackerSettings

-{	

-	// camera

-	int cam_index;

-	float cam_f;

-	int cam_res_x;

-	int cam_res_y;

-	int cam_fps;

-	int cam_pitch;

-

-	// point extraction

-	int threshold;

-	int min_point_size;

-	int max_point_size;

-

-	// point tracking

-	cv::Vec3f M01;

-	cv::Vec3f M02;

-	bool dyn_pose_res;

-

-	// head to model translation

-	cv::Vec3f t_MH;

-

-	int sleep_time; // in ms

-	int reset_time; // in ms

-	bool video_widget;

-

-	bool bEnableRoll;

-	bool bEnablePitch;

-	bool bEnableYaw;

-	bool bEnableX;

-	bool bEnableY;

-	bool bEnableZ;

-

-	void load_ini();

-	void save_ini() const;

-};

-

-

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

-struct TrackerDialogSettings

-{

-	enum

-	{

-		MODEL_CLIP,

-		MODEL_CAP,

-		MODEL_CUSTOM

-	};

-	int active_model_panel;

-

-	int M01x;

-	int M01y;

-	int M01z;

-	int M02x;

-	int M02y;

-	int M02z;

-	int clip_ty;

-	int clip_tz;

-	int clip_by;

-	int clip_bz;

-	int cap_x;

-	int cap_y;

-	int cap_z;

-

-	void load_ini();

-	void save_ini() const;

-};

-

+/* 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_SETTINGS_H
+#define FTNOIR_TRACKER_PT_SETTINGS_H
+
+#include <opencv2/opencv.hpp>
+#include "point_tracker.h"
+
+
+//-----------------------------------------------------------------------------
+struct TrackerSettings
+{	
+	// camera
+	int cam_index;
+	float cam_f;
+	int cam_res_x;
+	int cam_res_y;
+	int cam_fps;
+	int cam_pitch;
+
+	// point extraction
+	int threshold;
+	int min_point_size;
+	int max_point_size;
+
+	// point tracking
+	cv::Vec3f M01;
+	cv::Vec3f M02;
+	bool dyn_pose_res;
+
+	// head to model translation
+	cv::Vec3f t_MH;
+
+	int sleep_time; // in ms
+	int reset_time; // in ms
+	bool video_widget;
+
+	bool bEnableRoll;
+	bool bEnablePitch;
+	bool bEnableYaw;
+	bool bEnableX;
+	bool bEnableY;
+	bool bEnableZ;
+
+	void load_ini();
+	void save_ini() const;
+};
+
+
+//-----------------------------------------------------------------------------
+struct TrackerDialogSettings
+{
+	enum
+	{
+		MODEL_CLIP,
+		MODEL_CAP,
+		MODEL_CUSTOM
+	};
+	int active_model_panel;
+
+	int M01x;
+	int M01y;
+	int M01z;
+	int M02x;
+	int M02y;
+	int M02z;
+	int clip_ty;
+	int clip_tz;
+	int clip_by;
+	int clip_bz;
+	int cap_x;
+	int cap_y;
+	int cap_z;
+
+	void load_ini();
+	void save_ini() const;
+};
+
 #endif //FTNOIR_TRACKER_PT_SETTINGS_H
\ No newline at end of file
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 61e86bec..09be967a 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -1,96 +1,96 @@
-/* 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 "point_extractor.h"

-#include <QDebug>

-

-using namespace cv;

-using namespace std;

-

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

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

-{

-    const int W = frame.cols;

-	const int H = frame.rows; 

-

-	// clear old points

-	points.clear();

-

-	// convert to grayscale

-	Mat frame_grey;

-	cvtColor(frame, frame_grey, COLOR_BGR2GRAY);

-

-	// convert to binary

-	Mat frame_bin;

-	threshold(frame_grey, frame_bin, threshold_val, 255, THRESH_BINARY);

-

-	unsigned int region_size_min = 3.14*min_size*min_size;

-    unsigned int region_size_max = 3.14*max_size*max_size;

-

-    int blob_index = 1;

-    for (int y=0; y<H; y++)

-	{

-        for (int x=0; x<W; x++)

-		{

-			// find connected components with floodfill

-			if (frame_bin.at<unsigned char>(y,x) != 255) continue;

-            Rect rect;

-            floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE);

-			blob_index++;

-

-			// calculate the size of the connected component

-			unsigned int region_size = 0;

-            for (int i=rect.y; i < (rect.y+rect.height); i++)

-			{

-                for (int j=rect.x; j < (rect.x+rect.width); j++)

-				{

-                    if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;

-					region_size++;

-                }

-            }

-			

-			if (region_size < region_size_min || region_size > region_size_max) continue; 

-

-			// calculate the center of mass:

-			// mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij))

-			// my = ...

-			// f maps from [threshold,256] -> [0, 1], lower values are mapped to 0 

-			float m = 0;

-			float mx = 0;

-			float my = 0;

-			for (int i=rect.y; i < (rect.y+rect.height); i++)

-			{

-                for (int j=rect.x; j < (rect.x+rect.width); j++)

-				{

-                    if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;

-					float val = frame_grey.at<unsigned char>(i,j);

-					val = float(val - threshold_val)/(256 - threshold_val);

-					val = val*val; // makes it more stable (less emphasis on low values, more on the peak)

-					m  +=     val;

-					mx += j * val;

-					my += i * val; 

-                }

-            }

-

-			// convert to centered camera coordinate system with y axis upwards 

-			Vec2f c;

-			c[0] =  (mx/m - W/2)/W;

-			c[1] = -(my/m - H/2)/W;

-			points.push_back(c);

-            

-			if (blob_index >= 255) break;

-        }

-		if (blob_index >= 255) break;

-    }

-	

-	// draw output image

-	if (draw_output) {	

-		frame.setTo(Scalar(255,0,0), frame_bin);

-	}

-

-	return points;

-}

+/* 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 "point_extractor.h"
+#include <QDebug>
+
+using namespace cv;
+using namespace std;
+
+// ----------------------------------------------------------------------------
+const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)
+{
+    const int W = frame.cols;
+	const int H = frame.rows; 
+
+	// clear old points
+	points.clear();
+
+	// convert to grayscale
+	Mat frame_grey;
+	cvtColor(frame, frame_grey, COLOR_BGR2GRAY);
+
+	// convert to binary
+	Mat frame_bin;
+	threshold(frame_grey, frame_bin, threshold_val, 255, THRESH_BINARY);
+
+	unsigned int region_size_min = 3.14*min_size*min_size;
+    unsigned int region_size_max = 3.14*max_size*max_size;
+
+    int blob_index = 1;
+    for (int y=0; y<H; y++)
+	{
+        for (int x=0; x<W; x++)
+		{
+			// find connected components with floodfill
+			if (frame_bin.at<unsigned char>(y,x) != 255) continue;
+            Rect rect;
+            floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE);
+			blob_index++;
+
+			// calculate the size of the connected component
+			unsigned int region_size = 0;
+            for (int i=rect.y; i < (rect.y+rect.height); i++)
+			{
+                for (int j=rect.x; j < (rect.x+rect.width); j++)
+				{
+                    if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
+					region_size++;
+                }
+            }
+			
+			if (region_size < region_size_min || region_size > region_size_max) continue; 
+
+			// calculate the center of mass:
+			// mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij))
+			// my = ...
+			// f maps from [threshold,256] -> [0, 1], lower values are mapped to 0 
+			float m = 0;
+			float mx = 0;
+			float my = 0;
+			for (int i=rect.y; i < (rect.y+rect.height); i++)
+			{
+                for (int j=rect.x; j < (rect.x+rect.width); j++)
+				{
+                    if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
+					float val = frame_grey.at<unsigned char>(i,j);
+					val = float(val - threshold_val)/(256 - threshold_val);
+					val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
+					m  +=     val;
+					mx += j * val;
+					my += i * val; 
+                }
+            }
+
+			// convert to centered camera coordinate system with y axis upwards 
+			Vec2f c;
+			c[0] =  (mx/m - W/2)/W;
+			c[1] = -(my/m - H/2)/W;
+			points.push_back(c);
+            
+			if (blob_index >= 255) break;
+        }
+		if (blob_index >= 255) break;
+    }
+	
+	// draw output image
+	if (draw_output) {	
+		frame.setTo(Scalar(255,0,0), frame_bin);
+	}
+
+	return points;
+}
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index b142d2bb..9a6f7f2c 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -1,31 +1,31 @@
-/* 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 POINTEXTRACTOR_H

-#define POINTEXTRACTOR_H

-

-#include <opencv2/opencv.hpp>

-

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

-// Extracts points from an opencv image

-class PointExtractor

-{

-public:	

-	// extracts points from frame and draws some processing info into frame, if draw_output is set

-	// dt: time since last call in seconds

-	// WARNING: returned reference is valid as long as object

-	const std::vector<cv::Vec2f>& extract_points(cv::Mat frame, float dt, bool draw_output);

-	const std::vector<cv::Vec2f>& get_points() { return points; }

-

-	int threshold_val;

-	int min_size, max_size;	

-

-protected:

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

-};

-

-#endif //POINTEXTRACTOR_H

+/* 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 POINTEXTRACTOR_H
+#define POINTEXTRACTOR_H
+
+#include <opencv2/opencv.hpp>
+
+// ----------------------------------------------------------------------------
+// Extracts points from an opencv image
+class PointExtractor
+{
+public:	
+	// extracts points from frame and draws some processing info into frame, if draw_output is set
+	// dt: time since last call in seconds
+	// WARNING: returned reference is valid as long as object
+	const std::vector<cv::Vec2f>& extract_points(cv::Mat frame, float dt, bool draw_output);
+	const std::vector<cv::Vec2f>& get_points() { return points; }
+
+	int threshold_val;
+	int min_size, max_size;	
+
+protected:
+	std::vector<cv::Vec2f> points;
+};
+
+#endif //POINTEXTRACTOR_H
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index c08d6d83..210ed2eb 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -1,352 +1,352 @@
-/* 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 "point_tracker.h"

-

-#include <vector>

-#include <algorithm>

-#include <cmath>

-

-#include <QDebug>

-

-using namespace cv;

-using namespace std;

-

-const float PI = 3.14159265358979323846f;

-

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

-static void get_row(const Matx33f& m, int i, Vec3f& v)

-{

-	v[0] = m(i,0);

-	v[1] = m(i,1);

-	v[2] = m(i,2);

-}

-

-static void set_row(Matx33f& m, int i, const Vec3f& v)

-{

-	m(i,0) = v[0];

-	m(i,1) = v[1];

-	m(i,2) = v[2];

-}

-

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

-PointModel::PointModel(Vec3f M01, Vec3f M02)

-	: M01(M01), M02(M02)

-{	

-	// calculate u

-	u = M01.cross(M02);

-	u /= norm(u);

-

-	// calculate projection matrix on M01,M02 plane

-	float s11 = M01.dot(M01);

-	float s12 = M01.dot(M02);

-	float s22 = M02.dot(M02);

-	P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12, 

-		                               -s12,  s11);

-

-	// calculate d and d_order for simple freetrack-like point correspondence

-	vector<Vec2f> points;

-	points.push_back(Vec2f(0,0));

-	points.push_back(Vec2f(M01[0], M01[1]));

-	points.push_back(Vec2f(M02[0], M02[1]));

-	// fit line to orthographically projected points

-	// ERROR: yields wrong results with colinear points?!

-	/*

-	Vec4f line;

-	fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);

-	d[0] = line[0]; d[1] = line[1];

-	*/

-	// TODO: fix this

-	d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);

-

-	// sort model points

-	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<(int)points.size(); ++i)

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

-

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

-

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

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

-}

-

-

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

-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;

-}

-

-void PointTracker::reset()

-{

-	// enter init phase and reset velocities

-	init_phase = true;

-	dt_valid = 0;

-	reset_velocities();

-}

-

-void PointTracker::reset_velocities()

-{	

-	v_t = Vec3f(0,0,0);

-	v_r = Vec3f(0,0,0);

-}

-

-

-bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)

-{

-	if (!dynamic_pose_resolution) init_phase = true;

-

-	dt_valid += dt;

-	// if there was no valid tracking result for too long, do a reset

-	if (dt_valid > dt_reset) 

-	{

-		//qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;

-		reset();

-	}

-

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

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

-	{

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

-		reset_velocities();

-		return false;

-	}

-

-	X_CM_old = X_CM;	// backup old transformation for velocity calculation

-

-	if (!init_phase) 

-		predict(dt_valid);

-

-	// if there is a point correspondence problem something has gone wrong, do a reset

-	if (!find_correspondences(points, f))

-	{

-		//qDebug()<<"Error in finding point correspondences!";

-		X_CM = X_CM_old;	// undo prediction

-		reset();

-		return false;

-	}

-

-    (void) POSIT(f);

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

-

-	if (!init_phase)

-		update_velocities(dt_valid);

-

-	// we have a valid tracking result, leave init phase and reset time since valid result

-	init_phase = false;

-	dt_valid = 0;

-	return true;

-}

-

-void PointTracker::predict(float dt)

-{

-	// predict with constant velocity

-	Matx33f R;

-	Rodrigues(dt*v_r, R);

-	X_CM.R = R*X_CM.R;

-	X_CM.t += dt * v_t;

-}

-

-void PointTracker::update_velocities(float dt)

-{

-	// update velocities

-	Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);

-	v_r /= dt;

-	v_t = (X_CM.t - X_CM_old.t)/dt;

-}

-

-bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)

-{

-	if (init_phase) {

-		// We do a simple freetrack-like sorting in the init phase...

-		// sort points

-		int point_d_order[PointModel::N_POINTS];

-		point_model->get_d_order(points, point_d_order);

-

-		// set correspondences

-		for (int i=0; i<PointModel::N_POINTS; ++i)

-		{

-			p[point_model->d_order[i]] = points[point_d_order[i]];

-		}

-	}

-	else {

-		// ... otherwise we look at the distance to the projection of the expected model points 

-		// project model points under current pose

-		p_exp[0] = project(Vec3f(0,0,0), f);

-		p_exp[1] = project(point_model->M01, f);

-		p_exp[2] = project(point_model->M02, f);

-

-		// set correspondences by minimum distance to projected model point

-		bool point_taken[PointModel::N_POINTS];

-		for (int i=0; i<PointModel::N_POINTS; ++i)

-			point_taken[i] = false;

-

-		float min_sdist = 0;

-		int min_idx = 0;

-		

-		for (int i=0; i<PointModel::N_POINTS; ++i)

-		{

-			// find closest point to projected model point i

-			for (int j=0; j<PointModel::N_POINTS; ++j)

-			{

-				Vec2f d = p_exp[i]-points[j];

-				float sdist = d.dot(d);

-				if (sdist < min_sdist || j==0) 

-				{

-					min_idx = j;

-					min_sdist = sdist;

-				}

-			}

-			// if one point is closest to more than one model point, abort

-			if (point_taken[min_idx]) return false;

-			point_taken[min_idx] = true;

-			p[i] = points[min_idx];

-		}

-	}

-	return true;

-}

-

-

-

-int PointTracker::POSIT(float f)

-{

-	// POSIT algorithm for coplanar points as presented in

-	// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]

-	// we use the same notation as in the paper here

-

-	// The expected rotation used for resolving the ambiguity in POSIT:

-	// In every iteration step the rotation closer to R_expected is taken 

-	Matx33f R_expected;	

-	if (init_phase)

-		R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation

-	else 

-		R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation

-	

-	// initial pose = last (predicted) pose

-	Vec3f k;

-	get_row(X_CM.R, 2, k);

-	float Z0 = X_CM.t[2];

-

-	float old_epsilon_1 = 0;

-	float old_epsilon_2 = 0;

-	float epsilon_1 = 1;

-	float epsilon_2 = 1;

-

-	Vec3f I0, J0;

-	Vec2f I0_coeff, J0_coeff;

-

-	Vec3f I_1, J_1, I_2, J_2;

-	Matx33f R_1, R_2;

-	Matx33f* R_current;

-

-	const int MAX_ITER = 100;

-	const float EPS_THRESHOLD = 1e-4;

-

-	int i=1;

-	for (; i<MAX_ITER; ++i)

-	{

-		epsilon_1 = k.dot(point_model->M01)/Z0;

-		epsilon_2 = k.dot(point_model->M02)/Z0;

-

-		// vector of scalar products <I0, M0i> and <J0, M0i>

-		Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], 

-			         p[2][0]*(1.0 + epsilon_2) - p[0][0]);

-		Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],

-			         p[2][1]*(1.0 + epsilon_2) - p[0][1]);

-

-		// construct projection of I, J onto M0i plane: I0 and J0

-		I0_coeff = point_model->P * I0_M0i;

-		J0_coeff = point_model->P * J0_M0i;

-		I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;

-		J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;

-

-		// calculate u component of I, J		

-		float II0 = I0.dot(I0);

-		float IJ0 = I0.dot(J0);

-		float JJ0 = J0.dot(J0);

-		float rho, theta;

-		if (JJ0 == II0) {

-			rho = sqrt(abs(2*IJ0));

-			theta = -PI/4;

-			if (IJ0<0) theta *= -1;

-		}

-		else {

-			rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));

-			theta = atan( -2*IJ0 / (JJ0-II0) );

-			if (JJ0 - II0 < 0) theta += PI;

-			theta /= 2;

-		}

-

-		// construct the two solutions

-		I_1 = I0 + rho*cos(theta)*point_model->u;	

-		I_2 = I0 - rho*cos(theta)*point_model->u;

-

-		J_1 = J0 + rho*sin(theta)*point_model->u;

-		J_2 = J0 - rho*sin(theta)*point_model->u;

-

-		float norm_const = 1.0/norm(I_1); // all have the same norm

-		

-		// create rotation matrices

-		I_1 *= norm_const; J_1 *= norm_const;

-		I_2 *= norm_const; J_2 *= norm_const;

-

-		set_row(R_1, 0, I_1);

-		set_row(R_1, 1, J_1);

-		set_row(R_1, 2, I_1.cross(J_1));

-		

-		set_row(R_2, 0, I_2);

-		set_row(R_2, 1, J_2);

-		set_row(R_2, 2, I_2.cross(J_2));

-

-		// the single translation solution

-		Z0 = norm_const * f;

-

-		// pick the rotation solution closer to the expected one

-		// in simple metric d(A,B) = || I - A * B^T ||

-		float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());

-		float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());

-

-		if (R_1_deviation < R_2_deviation)

-			R_current = &R_1;

-		else

-			R_current = &R_2;

-

-		get_row(*R_current, 2, k);

-

-		// check for convergence condition

-		if (abs(epsilon_1 - old_epsilon_1) +  abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)

-			break;

-		old_epsilon_1 = epsilon_1;

-		old_epsilon_2 = epsilon_2;

-	}	

-

-	// apply results

-	X_CM.R = *R_current;

-	X_CM.t[0] = p[0][0] * Z0/f;

-	X_CM.t[1] = p[0][1] * Z0/f;

-	X_CM.t[2] = Z0;

-

-	return i;

-

-	//Rodrigues(X_CM.R, r);

-	//qDebug()<<"iter: "<<i;

-	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];

-	//Vec3f r;

-	//

-	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';

-}

+/* 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 "point_tracker.h"
+
+#include <vector>
+#include <algorithm>
+#include <cmath>
+
+#include <QDebug>
+
+using namespace cv;
+using namespace std;
+
+const float PI = 3.14159265358979323846f;
+
+// ----------------------------------------------------------------------------
+static void get_row(const Matx33f& m, int i, Vec3f& v)
+{
+	v[0] = m(i,0);
+	v[1] = m(i,1);
+	v[2] = m(i,2);
+}
+
+static void set_row(Matx33f& m, int i, const Vec3f& v)
+{
+	m(i,0) = v[0];
+	m(i,1) = v[1];
+	m(i,2) = v[2];
+}
+
+// ----------------------------------------------------------------------------
+PointModel::PointModel(Vec3f M01, Vec3f M02)
+	: M01(M01), M02(M02)
+{	
+	// calculate u
+	u = M01.cross(M02);
+	u /= norm(u);
+
+	// calculate projection matrix on M01,M02 plane
+	float s11 = M01.dot(M01);
+	float s12 = M01.dot(M02);
+	float s22 = M02.dot(M02);
+	P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12, 
+		                               -s12,  s11);
+
+	// calculate d and d_order for simple freetrack-like point correspondence
+	vector<Vec2f> points;
+	points.push_back(Vec2f(0,0));
+	points.push_back(Vec2f(M01[0], M01[1]));
+	points.push_back(Vec2f(M02[0], M02[1]));
+	// fit line to orthographically projected points
+	// ERROR: yields wrong results with colinear points?!
+	/*
+	Vec4f line;
+	fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);
+	d[0] = line[0]; d[1] = line[1];
+	*/
+	// TODO: fix this
+	d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);
+
+	// sort model points
+	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<(int)points.size(); ++i)
+		d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
+
+    sort(d_vals.begin(), d_vals.end(), d_vals_sort);
+
+    for (int i = 0; i<(int)points.size(); ++i)
+		d_order[i] = d_vals[i].second;
+}
+
+
+// ----------------------------------------------------------------------------
+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;
+}
+
+void PointTracker::reset()
+{
+	// enter init phase and reset velocities
+	init_phase = true;
+	dt_valid = 0;
+	reset_velocities();
+}
+
+void PointTracker::reset_velocities()
+{	
+	v_t = Vec3f(0,0,0);
+	v_r = Vec3f(0,0,0);
+}
+
+
+bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
+{
+	if (!dynamic_pose_resolution) init_phase = true;
+
+	dt_valid += dt;
+	// if there was no valid tracking result for too long, do a reset
+	if (dt_valid > dt_reset) 
+	{
+		//qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;
+		reset();
+	}
+
+	// if there is a pointtracking problem, reset the velocities
+    if (!point_model.get() || (int) points.size() != PointModel::N_POINTS)
+	{
+		//qDebug()<<"Wrong number of points!";
+		reset_velocities();
+		return false;
+	}
+
+	X_CM_old = X_CM;	// backup old transformation for velocity calculation
+
+	if (!init_phase) 
+		predict(dt_valid);
+
+	// if there is a point correspondence problem something has gone wrong, do a reset
+	if (!find_correspondences(points, f))
+	{
+		//qDebug()<<"Error in finding point correspondences!";
+		X_CM = X_CM_old;	// undo prediction
+		reset();
+		return false;
+	}
+
+    (void) POSIT(f);
+	//qDebug()<<"Number of POSIT iterations: "<<n_iter;
+
+	if (!init_phase)
+		update_velocities(dt_valid);
+
+	// we have a valid tracking result, leave init phase and reset time since valid result
+	init_phase = false;
+	dt_valid = 0;
+	return true;
+}
+
+void PointTracker::predict(float dt)
+{
+	// predict with constant velocity
+	Matx33f R;
+	Rodrigues(dt*v_r, R);
+	X_CM.R = R*X_CM.R;
+	X_CM.t += dt * v_t;
+}
+
+void PointTracker::update_velocities(float dt)
+{
+	// update velocities
+	Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);
+	v_r /= dt;
+	v_t = (X_CM.t - X_CM_old.t)/dt;
+}
+
+bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)
+{
+	if (init_phase) {
+		// We do a simple freetrack-like sorting in the init phase...
+		// sort points
+		int point_d_order[PointModel::N_POINTS];
+		point_model->get_d_order(points, point_d_order);
+
+		// set correspondences
+		for (int i=0; i<PointModel::N_POINTS; ++i)
+		{
+			p[point_model->d_order[i]] = points[point_d_order[i]];
+		}
+	}
+	else {
+		// ... otherwise we look at the distance to the projection of the expected model points 
+		// project model points under current pose
+		p_exp[0] = project(Vec3f(0,0,0), f);
+		p_exp[1] = project(point_model->M01, f);
+		p_exp[2] = project(point_model->M02, f);
+
+		// set correspondences by minimum distance to projected model point
+		bool point_taken[PointModel::N_POINTS];
+		for (int i=0; i<PointModel::N_POINTS; ++i)
+			point_taken[i] = false;
+
+		float min_sdist = 0;
+		int min_idx = 0;
+		
+		for (int i=0; i<PointModel::N_POINTS; ++i)
+		{
+			// find closest point to projected model point i
+			for (int j=0; j<PointModel::N_POINTS; ++j)
+			{
+				Vec2f d = p_exp[i]-points[j];
+				float sdist = d.dot(d);
+				if (sdist < min_sdist || j==0) 
+				{
+					min_idx = j;
+					min_sdist = sdist;
+				}
+			}
+			// if one point is closest to more than one model point, abort
+			if (point_taken[min_idx]) return false;
+			point_taken[min_idx] = true;
+			p[i] = points[min_idx];
+		}
+	}
+	return true;
+}
+
+
+
+int PointTracker::POSIT(float f)
+{
+	// POSIT algorithm for coplanar points as presented in
+	// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+	// we use the same notation as in the paper here
+
+	// The expected rotation used for resolving the ambiguity in POSIT:
+	// In every iteration step the rotation closer to R_expected is taken 
+	Matx33f R_expected;	
+	if (init_phase)
+		R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation
+	else 
+		R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
+	
+	// initial pose = last (predicted) pose
+	Vec3f k;
+	get_row(X_CM.R, 2, k);
+	float Z0 = X_CM.t[2];
+
+	float old_epsilon_1 = 0;
+	float old_epsilon_2 = 0;
+	float epsilon_1 = 1;
+	float epsilon_2 = 1;
+
+	Vec3f I0, J0;
+	Vec2f I0_coeff, J0_coeff;
+
+	Vec3f I_1, J_1, I_2, J_2;
+	Matx33f R_1, R_2;
+	Matx33f* R_current;
+
+	const int MAX_ITER = 100;
+	const float EPS_THRESHOLD = 1e-4;
+
+	int i=1;
+	for (; i<MAX_ITER; ++i)
+	{
+		epsilon_1 = k.dot(point_model->M01)/Z0;
+		epsilon_2 = k.dot(point_model->M02)/Z0;
+
+		// vector of scalar products <I0, M0i> and <J0, M0i>
+		Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], 
+			         p[2][0]*(1.0 + epsilon_2) - p[0][0]);
+		Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],
+			         p[2][1]*(1.0 + epsilon_2) - p[0][1]);
+
+		// construct projection of I, J onto M0i plane: I0 and J0
+		I0_coeff = point_model->P * I0_M0i;
+		J0_coeff = point_model->P * J0_M0i;
+		I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;
+		J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;
+
+		// calculate u component of I, J		
+		float II0 = I0.dot(I0);
+		float IJ0 = I0.dot(J0);
+		float JJ0 = J0.dot(J0);
+		float rho, theta;
+		if (JJ0 == II0) {
+			rho = sqrt(abs(2*IJ0));
+			theta = -PI/4;
+			if (IJ0<0) theta *= -1;
+		}
+		else {
+			rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
+			theta = atan( -2*IJ0 / (JJ0-II0) );
+			if (JJ0 - II0 < 0) theta += PI;
+			theta /= 2;
+		}
+
+		// construct the two solutions
+		I_1 = I0 + rho*cos(theta)*point_model->u;	
+		I_2 = I0 - rho*cos(theta)*point_model->u;
+
+		J_1 = J0 + rho*sin(theta)*point_model->u;
+		J_2 = J0 - rho*sin(theta)*point_model->u;
+
+		float norm_const = 1.0/norm(I_1); // all have the same norm
+		
+		// create rotation matrices
+		I_1 *= norm_const; J_1 *= norm_const;
+		I_2 *= norm_const; J_2 *= norm_const;
+
+		set_row(R_1, 0, I_1);
+		set_row(R_1, 1, J_1);
+		set_row(R_1, 2, I_1.cross(J_1));
+		
+		set_row(R_2, 0, I_2);
+		set_row(R_2, 1, J_2);
+		set_row(R_2, 2, I_2.cross(J_2));
+
+		// the single translation solution
+		Z0 = norm_const * f;
+
+		// pick the rotation solution closer to the expected one
+		// in simple metric d(A,B) = || I - A * B^T ||
+		float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());
+		float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());
+
+		if (R_1_deviation < R_2_deviation)
+			R_current = &R_1;
+		else
+			R_current = &R_2;
+
+		get_row(*R_current, 2, k);
+
+		// check for convergence condition
+		if (abs(epsilon_1 - old_epsilon_1) +  abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
+			break;
+		old_epsilon_1 = epsilon_1;
+		old_epsilon_2 = epsilon_2;
+	}	
+
+	// apply results
+	X_CM.R = *R_current;
+	X_CM.t[0] = p[0][0] * Z0/f;
+	X_CM.t[1] = p[0][1] * Z0/f;
+	X_CM.t[2] = Z0;
+
+	return i;
+
+	//Rodrigues(X_CM.R, r);
+	//qDebug()<<"iter: "<<i;
+	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
+	//Vec3f r;
+	//
+	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+}
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 7eee580d..8967f806 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -1,114 +1,114 @@
-/* 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 POINTTRACKER_H

-#define POINTTRACKER_H

-

-#include <memory>

-#include <opencv2/opencv.hpp>

-#include <list>

-

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

-// Afine frame trafo

-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) {}

-

-	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);

-}

-

-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)

-{

-	return X.R*v + X.t;

-}

-

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

-// Describes a 3-point model

-// nomenclature as in

-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]

-class PointModel

-{

-	friend class PointTracker;

-public:

-	static const int N_POINTS = 3;

-

-	PointModel(cv::Vec3f M01, cv::Vec3f M02);

-

-	const cv::Vec3f& get_M01() const { return M01; };

-	const cv::Vec3f& get_M02() const { return M02; };

-

-protected:

-	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::Matx22f P;

-

-	cv::Vec2f d;	// discrimant 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;

-};

-

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

-// Tracks a 3-point model

-// implementing the POSIT algorithm for coplanar points as presented in

-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]

-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

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

-	std::auto_ptr<PointModel> point_model;

-

-	bool dynamic_pose_resolution;

-	float dt_reset;

-

-	FrameTrafo get_pose() const { return X_CM; }

-	void reset();

-

-protected:

-	inline cv::Vec2f project(const cv::Vec3f& v_M, float f)

-	{

-		cv::Vec3f v_C = X_CM * v_M;

-		return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);

-	}

-

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

-

-	cv::Vec2f p[PointModel::N_POINTS];	// the points in model order

-	cv::Vec2f p_exp[PointModel::N_POINTS];	// the expected point positions

-

-	void predict(float dt);

-	void update_velocities(float dt);

-	void reset_velocities();

-

-	

-	int POSIT(float f);  // The POSIT algorithm, returns the number of iterations

-

-	bool init_phase;

-	float dt_valid;	// time since last valid tracking result

-	cv::Vec3f v_t;	// velocities

-	cv::Vec3f v_r;

-	FrameTrafo X_CM; // trafo from model to camera

-	FrameTrafo X_CM_old;

-};

-

-#endif //POINTTRACKER_H

+/* 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 POINTTRACKER_H
+#define POINTTRACKER_H
+
+#include <memory>
+#include <opencv2/opencv.hpp>
+#include <list>
+
+// ----------------------------------------------------------------------------
+// Afine frame trafo
+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) {}
+
+	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);
+}
+
+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
+{
+	return X.R*v + X.t;
+}
+
+// ----------------------------------------------------------------------------
+// Describes a 3-point model
+// nomenclature as in
+// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+class PointModel
+{
+	friend class PointTracker;
+public:
+	static const int N_POINTS = 3;
+
+	PointModel(cv::Vec3f M01, cv::Vec3f M02);
+
+	const cv::Vec3f& get_M01() const { return M01; };
+	const cv::Vec3f& get_M02() const { return M02; };
+
+protected:
+	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::Matx22f P;
+
+	cv::Vec2f d;	// discrimant 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;
+};
+
+// ----------------------------------------------------------------------------
+// Tracks a 3-point model
+// implementing the POSIT algorithm for coplanar points as presented in
+// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+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
+	bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
+	std::auto_ptr<PointModel> point_model;
+
+	bool dynamic_pose_resolution;
+	float dt_reset;
+
+	FrameTrafo get_pose() const { return X_CM; }
+	void reset();
+
+protected:
+	inline cv::Vec2f project(const cv::Vec3f& v_M, float f)
+	{
+		cv::Vec3f v_C = X_CM * v_M;
+		return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);
+	}
+
+	bool find_correspondences(const std::vector<cv::Vec2f>& points, float f);
+
+	cv::Vec2f p[PointModel::N_POINTS];	// the points in model order
+	cv::Vec2f p_exp[PointModel::N_POINTS];	// the expected point positions
+
+	void predict(float dt);
+	void update_velocities(float dt);
+	void reset_velocities();
+
+	
+	int POSIT(float f);  // The POSIT algorithm, returns the number of iterations
+
+	bool init_phase;
+	float dt_valid;	// time since last valid tracking result
+	cv::Vec3f v_t;	// velocities
+	cv::Vec3f v_r;
+	FrameTrafo X_CM; // trafo from model to camera
+	FrameTrafo X_CM_old;
+};
+
+#endif //POINTTRACKER_H
diff --git a/ftnoir_tracker_pt/resource.h b/ftnoir_tracker_pt/resource.h
index c14e94ad..4ca527a3 100644
--- a/ftnoir_tracker_pt/resource.h
+++ b/ftnoir_tracker_pt/resource.h
@@ -1,14 +1,14 @@
-//{{NO_DEPENDENCIES}}

-// Microsoft Visual C++ generated include file.

-// Used by FTNoIR_Tracker_PT.rc

-

-// Next default values for new objects

-// 

-#ifdef APSTUDIO_INVOKED

-#ifndef APSTUDIO_READONLY_SYMBOLS

-#define _APS_NEXT_RESOURCE_VALUE        101

-#define _APS_NEXT_COMMAND_VALUE         40001

-#define _APS_NEXT_CONTROL_VALUE         1001

-#define _APS_NEXT_SYMED_VALUE           101

-#endif

-#endif

+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ generated include file.
+// Used by FTNoIR_Tracker_PT.rc
+
+// Next default values for new objects
+// 
+#ifdef APSTUDIO_INVOKED
+#ifndef APSTUDIO_READONLY_SYMBOLS
+#define _APS_NEXT_RESOURCE_VALUE        101
+#define _APS_NEXT_COMMAND_VALUE         40001
+#define _APS_NEXT_CONTROL_VALUE         1001
+#define _APS_NEXT_SYMED_VALUE           101
+#endif
+#endif
diff --git a/ftnoir_tracker_pt/timer.cpp b/ftnoir_tracker_pt/timer.cpp
index 9e6ca8b8..07379853 100644
--- a/ftnoir_tracker_pt/timer.cpp
+++ b/ftnoir_tracker_pt/timer.cpp
@@ -1,65 +1,65 @@
-/* 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 "timer.h"

-

-#include <stdlib.h>

-

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

-Timer::Timer() 

-: startTime(0), endTime(0), running(false)

-{

-#ifdef WIN32

-    QueryPerformanceFrequency(&frequency);

-    startCount.QuadPart = 0;

-    endCount.QuadPart = 0;

-#else

-    startCount.tv_sec = startCount.tv_usec = 0;

-    endCount.tv_sec = endCount.tv_usec = 0;

-#endif

-}

-

-

-void Timer::start()

-{

-#ifdef WIN32

-    QueryPerformanceCounter(&startCount);

-#else

-    gettimeofday(&startCount, NULL);

-#endif

-	running = true;

-}

-

-

-void Timer::stop()

-{

-#ifdef WIN32

-    QueryPerformanceCounter(&endCount);

-#else

-    gettimeofday(&endCount, NULL);

-#endif

-	running = false;

-}

-

-

-double Timer::elapsed()

-{

-#ifdef WIN32

-    if (running)

-        QueryPerformanceCounter(&endCount);

-

-    startTime = startCount.QuadPart * (1e3 / frequency.QuadPart);

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

-#else

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

-

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

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

-#endif

-

-    return endTime - startTime;

+/* 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 "timer.h"
+
+#include <stdlib.h>
+
+// ----------------------------------------------------------------------------
+Timer::Timer() 
+: startTime(0), endTime(0), running(false)
+{
+#ifdef WIN32
+    QueryPerformanceFrequency(&frequency);
+    startCount.QuadPart = 0;
+    endCount.QuadPart = 0;
+#else
+    startCount.tv_sec = startCount.tv_usec = 0;
+    endCount.tv_sec = endCount.tv_usec = 0;
+#endif
+}
+
+
+void Timer::start()
+{
+#ifdef WIN32
+    QueryPerformanceCounter(&startCount);
+#else
+    gettimeofday(&startCount, NULL);
+#endif
+	running = true;
+}
+
+
+void Timer::stop()
+{
+#ifdef WIN32
+    QueryPerformanceCounter(&endCount);
+#else
+    gettimeofday(&endCount, NULL);
+#endif
+	running = false;
+}
+
+
+double Timer::elapsed()
+{
+#ifdef WIN32
+    if (running)
+        QueryPerformanceCounter(&endCount);
+
+    startTime = startCount.QuadPart * (1e3 / frequency.QuadPart);
+    endTime = endCount.QuadPart * (1e3 / frequency.QuadPart);
+#else
+	(void) gettimeofday(&endCount, NULL);
+
+    startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec;
+    endTime = (endCount.tv_sec * 1e3) + endCount.tv_usec;
+#endif
+
+    return endTime - startTime;
 }
\ No newline at end of file
diff --git a/ftnoir_tracker_pt/timer.h b/ftnoir_tracker_pt/timer.h
index 2aaf725a..1c2c3559 100644
--- a/ftnoir_tracker_pt/timer.h
+++ b/ftnoir_tracker_pt/timer.h
@@ -1,44 +1,44 @@
-/* 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 PT_TIMER_H

-#define PT_TIMER_H

-

-#ifdef WIN32   // Windows system specific

-#include <windows.h>

-#else          // Unix based system specific

-#include <sys/time.h>

-#endif

-

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

-// high resolution timer based on http://www.songho.ca/misc/timer/timer.html

-class Timer

-{

-public:

-    Timer();

-

-    void start();

-    void stop();

-	void restart() { start(); } // for Qt compatibility

-    double elapsed(); // get elapsed time in ms

-

-protected:

-    double startTime; // starting time in ms

-    double endTime; // ending time in ms

-    bool running;

-

-#ifdef WIN32

-    LARGE_INTEGER frequency;  // ticks per second

-    LARGE_INTEGER startCount;

-    LARGE_INTEGER endCount;

-#else

-    timeval startCount;

-    timeval endCount;

-#endif

-};

-

+/* 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 PT_TIMER_H
+#define PT_TIMER_H
+
+#ifdef WIN32   // Windows system specific
+#include <windows.h>
+#else          // Unix based system specific
+#include <sys/time.h>
+#endif
+
+// ----------------------------------------------------------------------------
+// high resolution timer based on http://www.songho.ca/misc/timer/timer.html
+class Timer
+{
+public:
+    Timer();
+
+    void start();
+    void stop();
+	void restart() { start(); } // for Qt compatibility
+    double elapsed(); // get elapsed time in ms
+
+protected:
+    double startTime; // starting time in ms
+    double endTime; // ending time in ms
+    bool running;
+
+#ifdef WIN32
+    LARGE_INTEGER frequency;  // ticks per second
+    LARGE_INTEGER startCount;
+    LARGE_INTEGER endCount;
+#else
+    timeval startCount;
+    timeval endCount;
+#endif
+};
+
 #endif //PT_TIMER_H
\ No newline at end of file
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index 9b75a1b6..729a0b7f 100644
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -1,44 +1,44 @@
-/* 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]);

+/* 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]);
 }
\ No newline at end of file
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
index 4024d011..6288546a 100644
--- a/ftnoir_tracker_pt/trans_calib.h
+++ b/ftnoir_tracker_pt/trans_calib.h
@@ -1,39 +1,39 @@
-/* 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/opencv.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();

-

-protected:

-	cv::Matx66f P;	// normalized precision matrix = inverse covariance

-	cv::Vec6f y;	// P*(-t_MH, t_CH)

-};

-

+/* 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/opencv.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();
+
+protected:
+	cv::Matx66f P;	// normalized precision matrix = inverse covariance
+	cv::Vec6f y;	// P*(-t_MH, t_CH)
+};
+
 #endif //TRANSCALIB_H
\ No newline at end of file
diff --git a/ftnoir_tracker_pt/video_widget.cpp b/ftnoir_tracker_pt/video_widget.cpp
index a13542ba..2b554aba 100644
--- a/ftnoir_tracker_pt/video_widget.cpp
+++ b/ftnoir_tracker_pt/video_widget.cpp
@@ -1,52 +1,52 @@
-/* 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 "video_widget.h"

-

-#include <QDebug>

-

-using namespace cv;

-using namespace std;

-

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

-{

-    QMutexLocker foo(&mtx);

-

-    if (frame.channels() != 3 && frame.channels() != 1)

-        return;

-    

-    int width = frame.cols, height = frame.rows;

-    unsigned char* src = frame.data;

-    

-    QImage qframe(width, height, QImage::Format_RGB888);

-    if (frame.channels() == 3)

-    {

-        uchar* data = qframe.bits();

-        const int pitch = qframe.bytesPerLine();

-        for (int y = 0; y < height; y++)

-            for (int x = 0; x < width; x++)

-            {

-                const int pos = 3 * (y*width + x);

-                data[y * pitch + x * 3 + 0] = src[pos + 2];

-                data[y * pitch + x * 3 + 1] = src[pos + 1];

-                data[y * pitch + x * 3 + 2] = src[pos + 0];

-            }

-    } else {

-        uchar* data = qframe.bits();

-        const int pitch = qframe.bytesPerLine();

-        for (int y = 0; y < height; y++)

-            for (int x = 0; x < width; x++)

-            {

-                const int pos = (y*width + x);

-                data[y * pitch + x * 3 + 0] = src[pos];

-                data[y * pitch + x * 3 + 1] = src[pos];

-                data[y * pitch + x * 3 + 2] = src[pos];

-            }

-    }

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

-    pixmap = QPixmap::fromImage(qframe);

-}

+/* 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 "video_widget.h"
+
+#include <QDebug>
+
+using namespace cv;
+using namespace std;
+
+void VideoWidget::update_image(Mat frame, std::auto_ptr< vector<Vec2f> >)
+{
+    QMutexLocker foo(&mtx);
+
+    if (frame.channels() != 3 && frame.channels() != 1)
+        return;
+    
+    int width = frame.cols, height = frame.rows;
+    unsigned char* src = frame.data;
+    
+    QImage qframe(width, height, QImage::Format_RGB888);
+    if (frame.channels() == 3)
+    {
+        uchar* data = qframe.bits();
+        const int pitch = qframe.bytesPerLine();
+        for (int y = 0; y < height; y++)
+            for (int x = 0; x < width; x++)
+            {
+                const int pos = 3 * (y*width + x);
+                data[y * pitch + x * 3 + 0] = src[pos + 2];
+                data[y * pitch + x * 3 + 1] = src[pos + 1];
+                data[y * pitch + x * 3 + 2] = src[pos + 0];
+            }
+    } else {
+        uchar* data = qframe.bits();
+        const int pitch = qframe.bytesPerLine();
+        for (int y = 0; y < height; y++)
+            for (int x = 0; x < width; x++)
+            {
+                const int pos = (y*width + x);
+                data[y * pitch + x * 3 + 0] = src[pos];
+                data[y * pitch + x * 3 + 1] = src[pos];
+                data[y * pitch + x * 3 + 2] = src[pos];
+            }
+    }
+    qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+    pixmap = QPixmap::fromImage(qframe);
+}
diff --git a/ftnoir_tracker_pt/video_widget.h b/ftnoir_tracker_pt/video_widget.h
index 66959fde..3051919b 100644
--- a/ftnoir_tracker_pt/video_widget.h
+++ b/ftnoir_tracker_pt/video_widget.h
@@ -1,42 +1,42 @@
-/* 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 VIDEOWIDGET_H

-#define VIDEOWIDGET_H

-

-#include <QTime>

-#include <opencv2/opencv.hpp>

-#include <memory>

-#include <QWidget>

-#include <QMutex>

-#include <QMutexLocker>

-#include <QLabel>

-#include <QPainter>

-#include <QPaintEvent>

-

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

-class VideoWidget : public QWidget

-{

-	Q_OBJECT

-

-public:

-    VideoWidget(QWidget *parent) : QWidget(parent), mtx() {

-	}

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

-protected slots:

-    void paintEvent( QPaintEvent* e ) {

-        QMutexLocker foo(&mtx);

-        QPainter painter(this);

-        painter.drawPixmap(e->rect(), pixmap, e->rect());

-    }

-

-private:

-    QMutex mtx;

-    QPixmap pixmap;

-};

-

-#endif // VIDEOWIDGET_H

+/* 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 VIDEOWIDGET_H
+#define VIDEOWIDGET_H
+
+#include <QTime>
+#include <opencv2/opencv.hpp>
+#include <memory>
+#include <QWidget>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QLabel>
+#include <QPainter>
+#include <QPaintEvent>
+
+// ----------------------------------------------------------------------------
+class VideoWidget : public QWidget
+{
+	Q_OBJECT
+
+public:
+    VideoWidget(QWidget *parent) : QWidget(parent), mtx() {
+	}
+    void update_image(cv::Mat frame, std::auto_ptr< std::vector<cv::Vec2f> >);
+protected slots:
+    void paintEvent( QPaintEvent* e ) {
+        QMutexLocker foo(&mtx);
+        QPainter painter(this);
+        painter.drawPixmap(e->rect(), pixmap, e->rect());
+    }
+
+private:
+    QMutex mtx;
+    QPixmap pixmap;
+};
+
+#endif // VIDEOWIDGET_H