tracker/pt: add color extraction modes

1 files changed, 219 insertions, 100 deletions

diff --git a/tracker-pt/FTNoIR_PT_Controls.ui b/tracker-pt/FTNoIR_PT_Controls.ui
index 8d044654..ea83a215 100644
--- a/tracker-pt/FTNoIR_PT_Controls.ui
+++ b/tracker-pt/FTNoIR_PT_Controls.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>424</width>
-    <height>588</height>
+    <width>412</width>
+    <height>616</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -36,20 +36,81 @@
    <property name="sizeConstraint">
     <enum>QLayout::SetFixedSize</enum>
    </property>
+   <item row="1" column="0" alignment="Qt::AlignVCenter">
+    <widget class="QGroupBox" name="groupBox_5">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>Status</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_10">
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Extracted Points:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_38">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Camera Info:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="pointinfo_label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="caminfo_label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
    <item row="0" column="0">
     <widget class="QTabWidget" name="tabWidget">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+      <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
      <property name="locale">
       <locale language="English" country="UnitedStates"/>
      </property>
@@ -63,6 +124,12 @@
       <layout class="QVBoxLayout" name="verticalLayout">
        <item>
         <widget class="QGroupBox" name="groupBox">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
          <property name="title">
           <string>Camera settings</string>
          </property>
@@ -70,7 +137,7 @@
           <item row="0" column="1">
            <widget class="QComboBox" name="camdevice_combo">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -82,6 +149,12 @@
           </item>
           <item row="4" column="1">
            <widget class="QSpinBox" name="fov">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="suffix">
              <string>°</string>
             </property>
@@ -99,7 +172,7 @@
           <item row="4" column="0">
            <widget class="QLabel" name="label_4">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -112,7 +185,7 @@
           <item row="1" column="0">
            <widget class="QLabel" name="label_36">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -125,7 +198,7 @@
           <item row="3" column="0">
            <widget class="QLabel" name="label_37">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -141,7 +214,7 @@
           <item row="2" column="1">
            <widget class="QSpinBox" name="res_y_spin">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -162,6 +235,12 @@
           </item>
           <item row="6" column="0">
            <widget class="QLabel" name="label_6">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Dynamic pose timeout</string>
             </property>
@@ -170,7 +249,7 @@
           <item row="3" column="1">
            <widget class="QSpinBox" name="fps_spin">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -188,6 +267,12 @@
           </item>
           <item row="5" column="1">
            <widget class="QCheckBox" name="dynamic_pose">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string/>
             </property>
@@ -196,7 +281,7 @@
           <item row="1" column="1">
            <widget class="QSpinBox" name="res_x_spin">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -218,7 +303,7 @@
           <item row="2" column="0">
            <widget class="QLabel" name="label_41">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -230,6 +315,12 @@
           </item>
           <item row="6" column="1">
            <widget class="QSpinBox" name="init_phase_timeout">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="suffix">
              <string> ms</string>
             </property>
@@ -242,9 +333,9 @@
            </widget>
           </item>
           <item row="5" column="0">
-           <widget class="QLabel" name="label_5">
+           <widget class="QLabel" name="label_13">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -257,7 +348,7 @@
           <item row="0" column="0">
            <widget class="QLabel" name="label_2">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -285,22 +376,91 @@
           </item>
           <item row="7" column="0">
            <widget class="QLabel" name="label_9">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Camera settings (when available)</string>
             </property>
            </widget>
           </item>
+          <item row="5" column="0">
+           <widget class="QLabel" name="label_511111">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>Dynamic pose (for caps only, never clips)</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="0">
+           <widget class="QLabel" name="label_12">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>Color channels used</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QComboBox" name="blob_color">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <item>
+             <property name="text">
+              <string>Normal</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Floppy filter</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Red</string>
+             </property>
+            </item>
+           </widget>
+          </item>
          </layout>
         </widget>
        </item>
        <item>
         <widget class="QGroupBox" name="groupBox_2">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
          <property name="title">
           <string>Point extraction</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_7">
           <item row="3" column="0">
            <widget class="QLabel" name="label_8">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Max size</string>
             </property>
@@ -311,6 +471,12 @@
           </item>
           <item row="1" column="0">
            <widget class="QLabel" name="label">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Threshold</string>
             </property>
@@ -321,6 +487,12 @@
           </item>
           <item row="2" column="0">
            <widget class="QLabel" name="label_7">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Min size</string>
             </property>
@@ -332,7 +504,7 @@
           <item row="1" column="1" colspan="2">
            <widget class="QSlider" name="threshold_slider">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
@@ -362,6 +534,12 @@
           </item>
           <item row="0" column="0">
            <widget class="QLabel" name="label_11">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Automatic threshold</string>
             </property>
@@ -369,6 +547,12 @@
           </item>
           <item row="0" column="1">
            <widget class="QCheckBox" name="auto_threshold">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="text">
              <string>Enable, slider sets point size</string>
             </property>
@@ -376,6 +560,12 @@
           </item>
           <item row="3" column="1">
            <widget class="QDoubleSpinBox" name="maxdiam_spin">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="toolTip">
              <string>Maximum point diameter</string>
             </property>
@@ -392,6 +582,12 @@
           </item>
           <item row="2" column="1">
            <widget class="QDoubleSpinBox" name="mindiam_spin">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
             <property name="toolTip">
              <string>Minimum point diameter</string>
             </property>
@@ -1147,91 +1343,14 @@ Don't roll or change position.</string>
      </widget>
     </widget>
    </item>
-   <item row="2" column="0" alignment="Qt::AlignVCenter">
-    <widget class="QGroupBox" name="groupBox_5">
+   <item row="2" column="0">
+    <widget class="QDialogButtonBox" name="buttonBox">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="title">
-      <string>Status</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_10">
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_3">
-        <property name="text">
-         <string>Extracted Points:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_38">
-        <property name="text">
-         <string>Camera Info:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QLabel" name="pointinfo_label">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>120</width>
-          <height>15</height>
-         </size>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="caminfo_label">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>120</width>
-          <height>15</height>
-         </size>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <spacer name="verticalSpacer">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Expanding</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>0</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="3" column="0">
-    <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
      </property>