From fb0cd9401e26aaf610356ffe899af268012d18c3 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 22 Sep 2014 11:39:07 +0200
Subject: remove obsolete axis selector from trackers

---
 ftnoir_tracker_aruco/aruco-trackercontrols.ui | 449 +++++++++++---------------
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp |  24 +-
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.h   |   7 -
 3 files changed, 190 insertions(+), 290 deletions(-)

(limited to 'ftnoir_tracker_aruco')

diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index be237e3c..e5654bd5 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>636</width>
-    <height>346</height>
+    <height>368</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -19,243 +19,239 @@
     <verstretch>0</verstretch>
    </sizepolicy>
   </property>
-  <property name="maximumSize">
-   <size>
-    <width>6666</width>
-    <height>6666</height>
-   </size>
-  </property>
   <property name="windowTitle">
-   <string>HT tracker settings</string>
+   <string>Tracker settings</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <property name="spacing">
-    <number>7</number>
-   </property>
-   <item row="9" column="1" rowspan="3">
-    <widget class="QGroupBox" name="groupBox_2">
+  <layout class="QGridLayout" name="gridLayout_3">
+   <item row="0" column="0" rowspan="2" colspan="2">
+    <widget class="QGroupBox" name="groupBox">
      <property name="title">
-      <string>Head position</string>
+      <string/>
      </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
+     <property name="flat">
+      <bool>true</bool>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_7">
-        <property name="text">
-         <string>TY</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_5">
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
         <property name="text">
-         <string>TX</string>
+         <string>Horizontal FOV</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
-       <widget class="QDoubleSpinBox" name="cx">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+      <item row="0" column="1">
+       <widget class="QDoubleSpinBox" name="cameraFOV">
+        <property name="locale">
+         <locale language="English" country="UnitedStates"/>
         </property>
         <property name="minimum">
-         <double>-10000.000000000000000</double>
+         <double>35.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>10000.000000000000000</double>
+         <double>180.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>52.000000000000000</double>
         </property>
        </widget>
       </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_8">
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_2">
         <property name="text">
-         <string>TZ</string>
+         <string>Frames per second</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="1">
-       <widget class="QDoubleSpinBox" name="cz">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimum">
-         <double>-10000.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>10000.000000000000000</double>
-        </property>
+      <item row="1" column="1">
+       <widget class="QComboBox" name="cameraFPS">
+        <item>
+         <property name="text">
+          <string notr="true">Default</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>30</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>60</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>120</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>180</string>
+         </property>
+        </item>
        </widget>
       </item>
-      <item row="2" column="1">
-       <widget class="QDoubleSpinBox" name="cy">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimum">
-         <double>-10000.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>10000.000000000000000</double>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Camera name</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="1">
-       <widget class="QPushButton" name="btn_calibrate">
+      <item row="2" column="1">
+       <widget class="QComboBox" name="cameraName"/>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_4">
         <property name="text">
-         <string>Calibrate</string>
+         <string>Resolution</string>
         </property>
        </widget>
       </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="0" column="3" rowspan="3" colspan="2">
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Enable axes</string>
-     </property>
-     <layout class="QFormLayout" name="formLayout">
-      <property name="horizontalSpacing">
-       <number>7</number>
-      </property>
-      <property name="leftMargin">
-       <number>6</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="rightMargin">
-       <number>6</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QCheckBox" name="rx">
-        <property name="text">
-         <string>RX</string>
-        </property>
+      <item row="3" column="1">
+       <widget class="QComboBox" name="resolution">
+        <item>
+         <property name="text">
+          <string>640x480</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>320x240</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>320x200</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Default (not recommended!)</string>
+         </property>
+        </item>
        </widget>
       </item>
-      <item row="0" column="1">
-       <widget class="QCheckBox" name="tx">
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_10">
         <property name="text">
-         <string>TX</string>
+         <string>Red channel only</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QCheckBox" name="ry">
+      <item row="4" column="1">
+       <widget class="QCheckBox" name="red_only">
         <property name="text">
-         <string>RY</string>
+         <string>Mileage may vary</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
-       <widget class="QCheckBox" name="ty">
+      <item row="5" column="0">
+       <widget class="QLabel" name="label_9">
         <property name="text">
-         <string>TY</string>
+         <string>Marker pitch</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QCheckBox" name="rz">
-        <property name="text">
-         <string>RZ</string>
+      <item row="5" column="1">
+       <widget class="QDoubleSpinBox" name="marker_pitch">
+        <property name="minimum">
+         <double>-180.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>180.000000000000000</double>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
-       <widget class="QCheckBox" name="tz">
-        <property name="text">
-         <string>TZ</string>
+      <item row="6" column="1">
+       <widget class="QGroupBox" name="groupBox_2">
+        <property name="title">
+         <string>Head center</string>
         </property>
+        <layout class="QGridLayout" name="gridLayout_2">
+         <item row="4" column="1">
+          <widget class="QPushButton" name="btn_calibrate">
+           <property name="text">
+            <string>Calibrate</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_5">
+           <property name="text">
+            <string>TX</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QDoubleSpinBox" name="cy">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimum">
+            <double>-10000.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>10000.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QDoubleSpinBox" name="cx">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimum">
+            <double>-10000.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>10000.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="1">
+          <widget class="QDoubleSpinBox" name="cz">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimum">
+            <double>-10000.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>10000.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QLabel" name="label_8">
+           <property name="text">
+            <string>TZ</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_7">
+           <property name="text">
+            <string>TY</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
        </widget>
       </item>
      </layout>
     </widget>
    </item>
-   <item row="1" column="0">
-    <widget class="QLabel" name="label_2">
-     <property name="text">
-      <string>Frames per second</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="1" colspan="2">
-    <widget class="QComboBox" name="cameraName"/>
-   </item>
-   <item row="1" column="1" colspan="2">
-    <widget class="QComboBox" name="cameraFPS">
-     <item>
-      <property name="text">
-       <string notr="true">Default</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>30</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>60</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>120</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>180</string>
-      </property>
-     </item>
-    </widget>
-   </item>
-   <item row="7" column="1">
-    <widget class="QCheckBox" name="red_only">
-     <property name="text">
-      <string>Recommended!</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="label_3">
-     <property name="text">
-      <string>Camera name</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1" colspan="2">
-    <widget class="QDoubleSpinBox" name="cameraFOV">
-     <property name="locale">
-      <locale language="English" country="UnitedStates"/>
-     </property>
-     <property name="minimum">
-      <double>35.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>180.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>52.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="2" rowspan="5" colspan="3">
+   <item row="0" column="2">
     <widget class="QLabel" name="label_6">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
@@ -270,7 +266,7 @@
       <enum>Qt::RichText</enum>
      </property>
      <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
      </property>
      <property name="wordWrap">
       <bool>true</bool>
@@ -286,93 +282,16 @@
      </property>
     </widget>
    </item>
-   <item row="7" column="0">
-    <widget class="QLabel" name="label_10">
-     <property name="text">
-      <string>Red channel only</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="1">
-    <widget class="QComboBox" name="resolution">
-     <item>
-      <property name="text">
-       <string>640x480</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>320x240</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>320x200</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Default (not recommended!)</string>
-      </property>
-     </item>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>Horizontal FOV</string>
-     </property>
-    </widget>
-   </item>
-   <item row="11" column="4">
+   <item row="1" column="2">
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
      </property>
     </widget>
    </item>
-   <item row="8" column="1">
-    <widget class="QDoubleSpinBox" name="marker_pitch">
-     <property name="minimum">
-      <double>-180.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>180.000000000000000</double>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="0">
-    <widget class="QLabel" name="label_4">
-     <property name="text">
-      <string>Resolution</string>
-     </property>
-    </widget>
-   </item>
-   <item row="8" column="0">
-    <widget class="QLabel" name="label_9">
-     <property name="text">
-      <string>Marker pitch</string>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>cameraFOV</tabstop>
-  <tabstop>cameraFPS</tabstop>
-  <tabstop>cameraName</tabstop>
-  <tabstop>resolution</tabstop>
-  <tabstop>red_only</tabstop>
-  <tabstop>marker_pitch</tabstop>
-  <tabstop>cx</tabstop>
-  <tabstop>cy</tabstop>
-  <tabstop>cz</tabstop>
-  <tabstop>rx</tabstop>
-  <tabstop>ry</tabstop>
-  <tabstop>rz</tabstop>
-  <tabstop>tx</tabstop>
-  <tabstop>ty</tabstop>
-  <tabstop>tz</tabstop>
   <tabstop>buttonBox</tabstop>
  </tabstops>
  <resources/>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index b70bef09..f469c7a4 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -380,18 +380,12 @@ void Tracker::GetHeadPoseData(double *data)
 {
     QMutexLocker lck(&mtx);
     
-    if (s.eyaw)
-        data[Yaw] = pose[Yaw];
-    if (s.epitch)
-        data[Pitch] = pose[Pitch];
-    if (s.eroll)
-        data[Roll] = pose[Roll];
-    if (s.ex)
-        data[TX] = pose[TX] * .1;
-    if (s.ey)
-        data[TY] = pose[TY] * .1;
-    if (s.ez)
-        data[TZ] = pose[TZ] * .1;
+    data[Yaw] = pose[Yaw];
+    data[Pitch] = pose[Pitch];
+    data[Roll] = pose[Roll];
+    data[TX] = pose[TX] * .1;
+    data[TY] = pose[TY] * .1;
+    data[TZ] = pose[TZ] * .1;
 }
 
 class TrackerDll : public Metadata
@@ -456,12 +450,6 @@ TrackerControls::TrackerControls()
 	tie_setting(s.resolution, ui.resolution);
     tie_setting(s.force_fps, ui.cameraFPS);
     tie_setting(s.fov, ui.cameraFOV);
-    tie_setting(s.eyaw, ui.rx);
-    tie_setting(s.epitch, ui.ry);
-    tie_setting(s.eroll, ui.rz);
-    tie_setting(s.ex, ui.tx);
-    tie_setting(s.ey, ui.ty);
-    tie_setting(s.ez, ui.tz);
     tie_setting(s.headpos_x, ui.cx);
     tie_setting(s.headpos_y, ui.cy);
     tie_setting(s.headpos_z, ui.cz);
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index f2207aef..c431d27a 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -28,7 +28,6 @@ struct settings {
     value<double> fov, headpos_x, headpos_y, headpos_z;
     value<int> camera_index, force_fps, resolution;
     value<bool> red_only;
-    value<bool> eyaw, epitch, eroll, ex, ey, ez;
     value<double> marker_pitch;
     settings() :
         b(bundle("aruco-tracker")),
@@ -40,12 +39,6 @@ struct settings {
         force_fps(b, "force-fps", 0),
         resolution(b, "force-resolution", 0),
         red_only(b, "red-only", false),
-        eyaw(b, "enable-y", true),
-        epitch(b, "enable-p", true),
-        eroll(b, "enable-r", true),
-        ex(b, "enable-x", true),
-        ey(b, "enable-y", true),
-        ez(b, "enable-z", true),
         marker_pitch(b, "marker-pitch", 0)
     {}
 };
-- 
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