petrack.cpp

    mControlWidget->fy->setValue(1000);
    mControlWidget->cx->setValue(960);
    mControlWidget->cx->setMinimum(0);
    mControlWidget->cx->setMaximum(mControlWidget->cx->value()*2);
    mControlWidget->cy->setValue(540);
    mControlWidget->cx->setMinimum(0);
    mControlWidget->cy->setMaximum(mControlWidget->cy->value()*2);
    mControlWidget->r2->setValue(0);
    mControlWidget->r4->setValue(0);
    mControlWidget->r6->setValue(0);
    mControlWidget->tx->setValue(0);
    mControlWidget->ty->setValue(0);
    //mControlWidget->k4->setValue(0);
    //mControlWidget->k5->setValue(0);
    //mControlWidget->k6->setValue(0);
    mControlWidget->quadAspectRatio->setCheckState(Qt::Unchecked);
    mControlWidget->fixCenter->setCheckState(Qt::Unchecked);
    mControlWidget->tangDist->setCheckState(Qt::Checked);
    getAutoCalib()->setBoardSizeX(6);
    getAutoCalib()->setBoardSizeY(8);
    getAutoCalib()->setSquareSize(5.0);
    getAutoCalib()->setCalibFiles(QStringList());

    /// extrinsic params
    mControlWidget->trans1->setValue(0);
    mControlWidget->trans2->setValue(0);
    mControlWidget->trans3->setValue(-500);
    mControlWidget->rot1->setValue(0);
    mControlWidget->rot2->setValue(0);
    mControlWidget->rot3->setValue(0);
    getExtrCalibration()->setExtrCalibFile(nullptr);

    /// coord system
    mControlWidget->coordShow->setCheckState(Qt::Unchecked);
    mControlWidget->coordFix->setCheckState(Qt::Unchecked);
    mControlWidget->coordTab->setCurrentIndex(0);
    // 3D
    mControlWidget->coord3DTransX->setValue(0);
    mControlWidget->coord3DTransY->setValue(0);
    mControlWidget->coord3DTransZ->setValue(0);
    mControlWidget->coord3DAxeLen->setValue(200);
    mControlWidget->coord3DSwapX->setCheckState(Qt::Unchecked);
    mControlWidget->coord3DSwapY->setCheckState(Qt::Unchecked);
    mControlWidget->coord3DSwapZ->setCheckState(Qt::Unchecked);
    mControlWidget->extCalibPointsShow->setCheckState(Qt::Unchecked);
    mControlWidget->extVanishPointsShow->setCheckState(Qt::Unchecked);
    // 2D
    mControlWidget->coordTransX->setValue(0);
    mControlWidget->coordTransY->setValue(0);
    mControlWidget->coordRotate->setValue(0);
    mControlWidget->coordScale->setValue(100);
    mControlWidget->coordAltitude->setValue(535);
    mControlWidget->coordUnit->setValue(100);
    mControlWidget->coordUseIntrinsic->setCheckState(Qt::Unchecked);

    /// alignment grid
    mControlWidget->gridShow->setCheckState(Qt::Unchecked);
    mControlWidget->gridFix->setCheckState(Qt::Unchecked);
    mControlWidget->gridTab->setCurrentIndex(0);
    // 3D
    mControlWidget->grid3DTransX->setValue(0);
    mControlWidget->grid3DTransY->setValue(0);
    mControlWidget->grid3DTransZ->setValue(0);
    mControlWidget->grid3DResolution->setValue(100);
    // 2D
    mControlWidget->gridTransX->setValue(0);
    mControlWidget->gridTransY->setValue(0);
    mControlWidget->gridRotate->setValue(0);
    mControlWidget->gridScale->setValue(100);

    ///
    /// recognition params
    ///
    mControlWidget->performRecognition->setCheckState(Qt::Unchecked);
    mControlWidget->recoStep->setValue(1);

    // region of interest
    mControlWidget->roiFix->setCheckState(Qt::Unchecked);
    mControlWidget->roiShow->setCheckState(Qt::Unchecked);
    getRecoRoiItem()->setRect(0,0,0,0);

    // marker
    mControlWidget->recoMethod->setCurrentIndex(5);
    mControlWidget->markerBrightness->setValue(100);
    mControlWidget->markerIgnoreWithout->setCheckState(Qt::Checked);

    // size and color
    mControlWidget->recoShowColor->setCheckState(Qt::Checked);
    mControlWidget->recoAutoWB->setCheckState(Qt::Checked);
    mControlWidget->recoColorX->setCurrentIndex(0);
    mControlWidget->recoColorY->setCurrentIndex(1);
    mControlWidget->recoColorZ->setValue(255);
    mControlWidget->recoGreyLevel->setValue(50);
    mControlWidget->recoSymbolSize->setValue(10);

    // map
    mControlWidget->recoColorModel->setCurrentIndex(0);
    mControlWidget->colorPlot->getMapItem()->delMaps();
    mControlWidget->mapNr->setValue(0);
    mControlWidget->mapNr->setMinimum(0);
    mControlWidget->mapNr->setMaximum(0);
    mControlWidget->mapX->setValue(0);
    mControlWidget->mapY->setValue(0);
    mControlWidget->mapW->setValue(0);
    mControlWidget->mapH->setValue(0);
    mControlWidget->mapColor->setCheckState(Qt::Checked);
    mControlWidget->mapHeight->setValue(180);
//    mControlWidget->colorPlot->replot();
    mControlWidget->mapDefaultHeight->setValue(180);

    ///
    /// tracking params
    ///
    mControlWidget->trackOnlineCalc->setCheckState(Qt::Checked);
    mControlWidget->trackRepeat->setCheckState(Qt::Checked);
    mControlWidget->trackRepeatQual->setValue(50);
    mControlWidget->trackExtrapolation->setCheckState(Qt::Checked);
    mControlWidget->trackMerge->setCheckState(Qt::Unchecked);
    mControlWidget->trackOnlyVisible->setCheckState(Qt::Checked);
    getTrackRoiItem()->setRect(0,0,0,0);

    // export options
    mControlWidget->trackMissingFrames->setCheckState(Qt::Checked);
    mControlWidget->trackRecalcHeight->setCheckState(Qt::Checked);
    mControlWidget->trackAlternateHeight->setCheckState(Qt::Unchecked);
    mControlWidget->exportElimTp->setCheckState(Qt::Unchecked);
    mControlWidget->exportElimTrj->setCheckState(Qt::Unchecked);
    mControlWidget->exportSmooth->setCheckState(Qt::Checked);
    mControlWidget->exportViewDir->setCheckState(Qt::Unchecked);
    mControlWidget->exportAngleOfView->setCheckState(Qt::Unchecked);
    mControlWidget->exportUseM->setCheckState(Qt::Unchecked);
    mControlWidget->exportComment->setCheckState(Qt::Unchecked);
    mControlWidget->exportMarkerID->setCheckState(Qt::Unchecked);

    // test options
    mControlWidget->testEqual->setCheckState(Qt::Checked);
    mControlWidget->testVelocity->setCheckState(Qt::Checked);
    mControlWidget->testInside->setCheckState(Qt::Checked);
    mControlWidget->testLength->setCheckState(Qt::Checked);
    setTrackFileName(nullptr);

    // search region
    mControlWidget->trackRegionScale->setValue(16);
    mControlWidget->trackRegionLevels->setValue(3);
    mControlWidget->trackErrorExponent->setValue(0);
    mControlWidget->trackShowSearchSize->setCheckState(Qt::Unchecked);

    // path params
    mControlWidget->trackShow->setCheckState(Qt::Checked);
    mControlWidget->trackFix->setCheckState(Qt::Unchecked);

    mControlWidget->trackShowOnlyVisible->setCheckState(Qt::Unchecked);
    mControlWidget->trackShowOnly->setCheckState(Qt::Unchecked);
    mControlWidget->trackShowOnlyNr->setValue(1);
    mControlWidget->trackShowOnlyList->setCheckState(Qt::Unchecked);
    mControlWidget->trackShowOnlyNrList->setEnabled(false);
    mControlWidget->trackShowOnlyListButton->setEnabled(false);

    mControlWidget->trackShowCurrentPoint->setCheckState(Qt::Checked);
    mControlWidget->trackShowPoints->setCheckState(Qt::Unchecked);
    mControlWidget->trackShowPath->setCheckState(Qt::Checked);
    mControlWidget->trackShowColColor->setCheckState(Qt::Checked);
    mControlWidget->trackShowColorMarker->setCheckState(Qt::Checked);
    mControlWidget->trackShowNumber->setCheckState(Qt::Checked);
    mControlWidget->trackShowGroundPosition->setCheckState(Qt::Unchecked);
    mControlWidget->trackShowGroundPath->setCheckState(Qt::Unchecked);

    mControlWidget->setTrackPathColor(Qt::red);
    mControlWidget->setTrackGroundPathColor(Qt::green);
    mControlWidget->trackHeadSized->setCheckState(Qt::Checked);
    mControlWidget->trackCurrentPointSize->setValue(60);
    mControlWidget->trackPointSize->setValue(7);
    mControlWidget->trackPathWidth->setValue(2);
    mControlWidget->trackColColorSize->setValue(11);
    mControlWidget->trackColorMarkerSize->setValue(14);
    mControlWidget->trackNumberSize->setValue(14);
    mControlWidget->trackGroundPositionSize->setValue(1);
    mControlWidget->trackGroundPathSize->setValue(1);

    mControlWidget->trackShowPointsColored->setCheckState(Qt::Checked);
    mControlWidget->trackNumberBold->setCheckState(Qt::Checked);
    mControlWidget->trackShowBefore->setValue(15);
    mControlWidget->trackShowAfter->setValue(15);

    /// analysis params
    mControlWidget->anaMissingFrames->setCheckState(Qt::Checked);
    mControlWidget->anaMarkAct->setCheckState(Qt::Unchecked);
    mControlWidget->anaStep->setValue(25);
    mControlWidget->anaConsiderX->setCheckState(Qt::Unchecked);
    mControlWidget->anaConsiderY->setCheckState(Qt::Checked);
    mControlWidget->anaConsiderAbs->setCheckState(Qt::Unchecked);
    mControlWidget->anaConsiderRev->setCheckState(Qt::Unchecked);
    mControlWidget->showVoronoiCells->setCheckState(Qt::Unchecked);

//    updateImage();

}

void Petrack::setStatusStereo(float x, float y, float z)
{
    if (mStatusLabelStereo)
    {
        if (z<0)
            mStatusLabelStereo->setText(QString("x= novalue  y= novalue  z= novalue  "));
        else
            mStatusLabelStereo->setText(QString("x=%1cm  y=%2cm  z=%3cm  ").arg(x, 6, 'f', 1).arg(y, 6, 'f', 1).arg(z, 6, 'f', 1));
    }
}

void Petrack::setStatusTime()
{
    if (mStatusLabelTime)
        mStatusLabelTime->setText(mAnimation->getTimeString());
}

void Petrack::setStatusFPS()
{
    if (mStatusLabelFPS)
    {
        mStatusLabelFPS->setText(QString("%1fps  ").arg(mShowFPS, 5, 'f', 1));

        QPalette pal = mStatusLabelFPS->palette(); // static moeglich?
        QColor color;//(qRed(col), qGreen(col), qBlue(col));

        double diff = mShowFPS-mAnimation->getFPS();
        int opacity = mPlayerWidget->getPlayerSpeedLimited() ? 128 : 20;

        if( diff < -6 ) // very slow ==> red
            color.setRgb(200,0,0,opacity);//mStatusLabelFPS->setStyleSheet("background-color: rgba(200,0,0,20);");// border-style: outset; border-width: 1px; border-color: yellow;");//, qRgba(250,0,0,50));//Qt::yellow);
        else if( diff < -2 ) // better ==> yellow
            color.setRgb(200,200,0,opacity);//mStatusLabelFPS->setStyleSheet("background-color: rgba(200,200,0,20);");// border-style: outset; border-width: 1px; border-color: yellow;");//, qRgba(250,0,0,50));//Qt::yellow);
        else if (diff > -2) // nearly ok ==> green
            color.setRgb(0,200,0,opacity);//mStatusLabelFPS->setStyleSheet("background-color: rgba(0,200,0,20);");// border-style: outset; border-width: 1px; border-color: red;");//, qRgba(250,0,0,50));//Qt::yellow);

        pal.setColor(QPalette::Window, color);
//        pal.setColor(QPalette::WindowText,mPlayerWidget->getPlayerSpeedFixed() ? QColor(100,100,100) : QColor(0,0,0));
        //        pal.setBrush(QPalette::WindowText, mPlayerWidget->getPlayerSpeedFixed() ? QBrush(QColor(50,50,50),Qt::Dense2Pattern) : QBrush(QColor(0,0,0),Qt::SolidPattern));

        mStatusLabelFPS->setPalette(pal);
    }
}
void Petrack::setShowFPS(double fps)
{
    if ((fps == 0.) || (mShowFPS == 0))
        mShowFPS = fps;
    else
        mShowFPS = mShowFPS*.9+fps*.1; // glaetten durch Hinzunahme des alten Wertes
    setStatusFPS();
}

/**
 * @brief Updates the FPS shown to the User
 *
 * This method calculates the FPS by remembering how long
 * it has been since it was called last time. If skipped is
 * true, it doesn't directly update the FPS since 2
 * skipped frames have essentially a time delay of 0 between
 * them, which would make calculations wonky.
 *
 * @param skipped True, if this is a skipped frame; default false
 */
void Petrack::updateShowFPS(bool skipped) {
    static QElapsedTimer lastTime;
    static int skippedFrames = 0;

    if(skipped){
        skippedFrames++;
        return;
    }

    if (mPlayerWidget->getPaused())
    {
        setShowFPS(0.);
        lastTime.invalidate();
    }
    else
    {
        if (lastTime.isValid())
        {
            if (lastTime.elapsed() > 0)
            {
                int numFrames = skippedFrames > 0 ? skippedFrames+1 : 1;
                setShowFPS(numFrames*1000./lastTime.elapsed());
                skippedFrames = 0;
            }
        }
        lastTime.start();
    }
}

// ohne neue positionsangabe, sinnvoll, wenn berechnungsweise sich in getPosReal geaendert hat
// gebraucht in control.cpp
void Petrack::setStatusPosReal() // pos in cm
{
    if (mImageItem)
        setStatusPosReal(mImageItem->getPosReal(mMousePosOnImage, getStatusPosRealHeight()));
}

void Petrack::setStatusPosReal(const QPointF &pos) // pos in cm
{
    if (mStatusLabelPosReal)
    {
        QChar deg(0xB0);
        QString labelText = QString(" cm from ground:%1cm,%2cm,%3").arg(pos.x(), 6, 'f', 1).arg(pos.y(), 6, 'f', 1).arg(
                                    getImageItem()->getAngleToGround(mMousePosOnImage.x(), mMousePosOnImage.y(), getStatusPosRealHeight()), 5, 'f', 1);
        labelText.append(deg);
        mStatusLabelPosReal->setText(labelText);
    }
}

void Petrack::setStatusPos(const QPoint &pos) // pos in pixel
{
    mStatusLabelPos->setText(QString("%1x%2").arg(pos.x(), 4).arg(pos.y(), 4));
}

void Petrack::setStatusColor(const QRgb &col)
{
    QString s("#%1%2%3"); // static moeglich?
    s = s.arg(qRed(col), 2, 16, QChar('0')).arg(qGreen(col), 2, 16, QChar('0')).arg(qBlue(col), 2, 16, QChar('0'));
    if ((qRed(col)+qGreen(col)+qBlue(col))/3 < 128)
        mStatusLabelColor->setText(QString("<font color=\"#ffffff\">&nbsp;%1</font>").arg(s));
    else
        mStatusLabelColor->setText(QString("<font color=\"#000000\">&nbsp;%1</font>").arg(s));

    //     mStatusLabelColor->setBackgroundRole(QPalette::Text);
    QPalette pal = mStatusLabelColor->palette(); // static moeglich?
    QColor color(qRed(col), qGreen(col), qBlue(col));

    pal.setColor(QPalette::Window, color);
    mStatusLabelColor->setPalette(pal);

    mControlWidget->getColorPlot()->setCursor(color);
    mControlWidget->getColorPlot()->replot();

    //debout << "QColor: " << color << " height: " << mControlWidget->getColorPlot()->map(color) << endl;
}

void Petrack::setStatusColor()
{
    QPointF pos = getMousePosOnImage();
    if (pos.x() >= 0 && pos.x() < mImage->width() && pos.y() > 0 && pos.y() < mImage->height())
    {
        setStatusColor(mImage->pixel(pos.toPoint()));
    }
}

double Petrack::getStatusPosRealHeight()
{
    if (mStatusPosRealHeight)
        return mStatusPosRealHeight->value();
    else
        return 0.;
}

/**
 * @brief Reads (and applies) settings form platform-independent persistent storage
 *
 * The saved size and position of the application window get reconstructed. As well as
 * the options about antialiasing and the usage of OpenGL.
 * mSeqFileName and mProFileName get set, so the "Open Project" and "Open Sequence"
 * dialogues start at correct folder. The old project/sequence is NOT actually loaded.
 */
void Petrack::readSettings()
{
    QSettings settings("Forschungszentrum Juelich GmbH", "PeTrack by Maik Boltes, Daniel Salden");
    QPoint pos = settings.value("pos", QPoint(200, 200)).toPoint();
    QSize size = settings.value("size", QSize(400, 400)).toSize();
    mAntialiasAct->setChecked(settings.value("antialias", false).toBool());
    mOpenGLAct->setChecked(settings.value("opengl", false).toBool());
    mSeqFileName = settings.value("seqFileName", QDir::currentPath()).toString();
    mProFileName = settings.value("proFilePath", QDir::currentPath()).toString();
    // nicht ganz sauber, da so immer schon zu anfang in calib file list etwas drin steht und somit auto ausgefuehrt werden kann
    // wird aber beim ersten openCalib... ueberschrieben
    mAutoCalib.addCalibFile(settings.value("calibFile", QDir::currentPath()).toString());
    resize(size);
    move(pos);
    antialias();
    opengl();
    mSplitter->restoreState(settings.value("controlSplitterSizes").toByteArray());
}

/**
 * @brief Writes persistent setting.
 * @see Petrack::readSettings
 */
void Petrack::writeSettings()
{
    QSettings settings("Forschungszentrum Juelich GmbH", "PeTrack by Maik Boltes, Daniel Salden");
    settings.setValue("pos", pos());
    settings.setValue("size", size());
    settings.setValue("antialias", mAntialiasAct->isChecked());
    settings.setValue("opengl", mOpenGLAct->isChecked());
    settings.setValue("seqFileName", mSeqFileName);
    settings.setValue("proFilePath", QFileInfo(mProFileName).path()); // nur path, damit bei saveCurrentProject
    if (!mAutoCalib.isEmptyCalibFiles()) //!mCalibFiles.isEmpty()
        settings.setValue("calibFile", mAutoCalib.getCalibFile(0));
    settings.setValue("controlSplitterSizes", mSplitter->saveState());
}

bool Petrack::maybeSave()
{
    int ret = PWarning(this, tr("PeTrack"),
                                   tr("Do you want to save "
                                      "the current project?\n"
                                      "Be sure to save trajectories, background "
                                      "and 3D calibration point separately!"),
                                   PMessageBox::StandardButton::Yes |
                                    PMessageBox::StandardButton::No |
                                    PMessageBox::StandardButton::Cancel,
                                   PMessageBox::StandardButton::Yes);

    if (ret == PMessageBox::StandardButton::Yes)
    {
        if (saveSameProject())
            return true;
        else
            return false;
    }
    else if (ret == PMessageBox::StandardButton::Cancel)
        return false;
    else
        return true;
}

void Petrack::closeEvent(QCloseEvent *event)
{

    if (maybeSave())
    {
        writeSettings();
        event->accept();
    }
    else
        event->ignore();

}

/**
 * @brief Sets the mMousePosOnImage member variable and displayed pixel/real coordinates
 *
 * Gets called from ImageItem::hoverMoveEvent() and enables an easy access
 * to the mouse position.
 * @param pos Position of mouse cursor in image pixel coordinates
 */
void Petrack::setMousePosOnImage(QPointF pos)
{
    if (mImage)
    {
        mMousePosOnImage = pos;
        // real coordinate
        setStatusPosReal(mImageItem->getPosReal(pos, getStatusPosRealHeight()));

        // pixel coordinate
        QPoint pos1((int)(pos.x())+1, (int)(pos.y())+1);
        setStatusPos(pos1);
        
        // pixel color
        setStatusColor();
    }
}

void Petrack::keyPressEvent(QKeyEvent * event)
{
    switch (event->key()) {
    case Qt::Key_Left:
        mPlayerWidget->frameBackward();
        break;
    case Qt::Key_Right:
        mPlayerWidget->frameForward();
        break;
    case Qt::Key_Down:
        mViewWidget->zoomOut(1);
        break;
    case Qt::Key_Up:
        mViewWidget->zoomIn(1);
        break;
    case Qt::Key_Space:
        // space wird von buttons, wenn focus drauf ist als Aktivierung vorher abgegriffen und nicht durchgereicht
        mPlayerWidget->togglePlayPause();
        break;
    case Qt::Key_D:
//        debout << "test Key_D" << endl;
        break;
    default:
        ;
    }
//    QMainWindow::keyPressEvent(event);
}

void Petrack::mousePressEvent(QMouseEvent *event)
{
    // mouse click in fps status label ?
    if( event->pos().x() >= mStatusLabelFPS->pos().x() && event->pos().x() <= mStatusLabelFPS->pos().x()+mStatusLabelFPS->width() )
    {
        mPlayerWidget->togglePlayerSpeedLimited();
        setStatusFPS();
    }
}

/// update control widget, if image size changed (especially because of changing border)
void Petrack::updateControlImage(Mat &img)
{

    // auch moeglich hoehe und breite von bild stat border veraenderungen zu checken
    static int lastBorderSize = -1;

    if( isLoading() )
        lastBorderSize = -1;

    int diffBorderSize=0;
    int iW = img.cols;
    int iH = img.rows;

    // wird auch nochmal in ImageWidget gemacht, aber ist hier frueher noetig
    double cX = mControlWidget->getCalibCxValue(); // merken, da min/max value verandernkann wenn aus dem rahmen
    double cY = mControlWidget->getCalibCyValue();

    mControlWidget->setCalibCxMin(0  /*iW/2.-50.*/);
    mControlWidget->setCalibCxMax(iW /*iW/2.+50.*/);
    mControlWidget->setCalibCyMin(0  /*iH/2.-50.*/);
    mControlWidget->setCalibCyMax(iH /*iH/2.+50.*/);

    if (mControlWidget->fixCenter->checkState() == Qt::Checked)
    {
        mControlWidget->setCalibCxValue((iW-1)/2.);
        mControlWidget->setCalibCyValue((iH-1)/2.);
    }
    else
    {
        if (lastBorderSize != -1)
            diffBorderSize = getImageBorderSize()-lastBorderSize;
        lastBorderSize = getImageBorderSize();

        mControlWidget->setCalibCxValue(cX+diffBorderSize);
        mControlWidget->setCalibCyValue(cY+diffBorderSize);
    }
}

void Petrack::importTracker(QString dest) //default = ""
{
    static QString lastFile;

    if (lastFile == "")
        lastFile = mTrcFileName;

    // if no destination file or folder is given
    if (dest.isEmpty())
    {
        dest = QFileDialog::getOpenFileName(this, tr("Select file for importing tracking pathes"), lastFile,
                                            tr("PeTrack tracker (*.trc *.txt);;All files (*.*)"));
    }
    // in control
    //     else
    //         dest = getExistingFile(dest); // ueberprueft die ;-getrennten Dateinamen auf existenz und gibt ersten zurueck - interessant fuer relativen und absoluten pfad

    if (!dest.isEmpty())
    {
        if (dest.right(4) == ".trc")
        {
            QFile file(dest);
            int i, sz;

            if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
            {
                // errorstring ist je nach Betriebssystem in einer anderen Sprache!!!!
                PCritical(this, tr("PeTrack"), tr("Cannot open %1:\n%2").arg(dest).arg(file.errorString()));
                return;
            }

            setTrackChanged(true);// flag changes of track parameters
            mTracker->reset();

            QTextStream in(&file);
            TrackPerson tp;
            QString comment;

            bool ok; // shows if int stands in first line - that was in the first version of trc file
            QString firstLine = in.readLine();
            sz = firstLine.toInt(&ok);
            if (!ok)
            {
                if (firstLine.contains("version 4",Qt::CaseInsensitive))
                {
                    trcVersion = 4;
                }
                else if (firstLine.contains("version 3",Qt::CaseInsensitive))
                {
                    trcVersion = 3;
                }
                else if(firstLine.contains("version 2",Qt::CaseInsensitive))
                {
                    trcVersion = 2;
                }
                else
                {
                    debout << "Error: wrong header while reading TRC file." << endl;
                    QMessageBox::critical(this, tr("PeTrack"), tr("Could not import tracker:\nNot supported trc version in file: %1.").arg(dest));
                    return;
                }
                in >> sz;
            }
            else
                trcVersion = 1;

            if ((sz > 0) && (mTracker->size() != 0))
                debout << "Warning: Overlapping trajectories will be joined not until tracking adds new trackpoints." << endl;
            for (i = 0; i < sz; ++i)
            {
                if( trcVersion == 2)
                {
                    in >> tp;
                }else if( trcVersion >= 3)
                {

//                    in.skipWhiteSpace(); // skip white spaces for reading the comment line without this the reading makes some problems
//                    // Kommentarzeile lesen
//                    comment = in.readLine();
//                    // Kommentarzeichen entfernen - wird beim exportieren wieder hinzugefuegt
//                    if( comment.startsWith("#"))
//                    {
//                        comment = comment.remove(0,2);
//                    }
                    in >> tp;
//                    tp.setComment(comment);

                }
                mTracker->append(tp);
                tp.clear();  // loeschen, sonst immer weitere pfade angehangen werden
            }

            mControlWidget->trackNumberAll->setText(QString("%1").arg(mTracker->size()));
            mControlWidget->trackShowOnlyNr->setMaximum(MAX(mTracker->size(),1));
            mControlWidget->trackNumberVisible->setText(QString("%1").arg(mTracker->visible(mAnimation->getCurrentFrameNum())));
            mControlWidget->colorPlot->replot();
            file.close();
            debout << "import " << dest << " (" << sz << " person(s), file version " << trcVersion << ")" << endl;
            mTrcFileName = dest; // fuer Project-File, dann koennte track path direkt mitgeladen werden, wenn er noch da ist
        }else
        if (dest.right(4) == ".txt") // 3D Koordinaten als Tracking-Daten importieren Zeilenformat: Personennr, Framenr, x, y, z
        {
            PWarning(this,tr("PeTrack"), tr("Are you sure you want to import 3D data from TXT-File? You have to make sure that the coordinate system now is exactly at the same position and orientation than at export time!"));

            QFile file(dest);
            // size of person list
            int sz = 0;

            if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
            {
                // errorstring ist je nach Betriebssystem in einer anderen Sprache!!!!
                PCritical(this, tr("PeTrack"), tr("Cannot open %1:\n%2").arg(dest).arg(file.errorString()));
                return;
            }

            setTrackChanged(true);// flag changes of track parameters
            mTracker->reset();

            //mTrackerReal->reset(); ???

            QTextStream in(&file);
            TrackPerson tp;
            TrackPoint tPoint;
            Point2f p2d;

            QString line;
            QString headerline;
            bool exec_once_flag = false;
            double conversionFactorTo_cm = 1.0;
            int personNr = -1, frameNr = -1, current_personNr = 1;
            float x, y ,z;

            while( 1 )
            {

                // Falls Datei am Ende letzte Person abspeichern und Lese-Schleife beenden
                if( in.atEnd() )
                {
                    tp.setLastFrame(frameNr);
                    mTracker->append(tp);
                    ++sz;
                    tp.clear();
                    break;
                }

                line = in.readLine();

                // Kommentare ueberlesen
                if( line.startsWith("#",Qt::CaseInsensitive) )
                {
                    headerline = line;
                    continue;
                }

                // Test-Ausgabe
                //debout << line << endl;

                if ((!exec_once_flag) && (!headerline.contains("cm")))
                {
                    conversionFactorTo_cm = 100.0;
                    exec_once_flag = true;
                    PWarning(this,tr("PeTrack"), tr("PeTrack will interpret position data as unit [m]. No header with [cm] found."));
                }

                QTextStream stream(&line);

                // Zeile als Stream einlesen Format: [id frame x y z]
                stream >> personNr
                       >> frameNr
                       >> x
                       >> y
                       >> z;

                // convert data to cm
                x = x * conversionFactorTo_cm;
                y = y * conversionFactorTo_cm;
                z = z * conversionFactorTo_cm;

                // 3-dimensionale Berechnung/Anzeige des Punktes
                if( mControlWidget->getCalibCoordDimension() == 0 )
                {
                    p2d = mExtrCalibration.getImagePoint(Point3f(x,y,z));
                }
                // 2-dimensionale Berechnung/Anzeige des Punktes
                else
                {
                    QPointF pos = mImageItem->getPosImage(QPointF(x,y),z);
                    p2d.x = pos.x();
                    p2d.y = pos.y();
                }

                tPoint = TrackPoint(Vec2F(p2d.x,p2d.y),100);
                tPoint.setSp(x,y,-mControlWidget->getCalibExtrTrans3()-z); // fuer den Abstand zur Kamera in z-Richtung wie bei einer Stereokamera
                //tPoint.setSp(x,y,z); // Eigentlich bisher nur fuer Stereodaten verwendet

                // Neue ID ? ==> letzte Person beendet ==> abspeichern
                if( personNr > current_personNr )
                {
                    mTracker->append(tp);
                    ++sz;
                    current_personNr++;
                    tp.clear();
                }

                // TrackPerson leer ? ==> Neue TrackPerson erstellen
                if ( tp.isEmpty() )
                {
                    tp = TrackPerson(personNr, frameNr, tPoint);
                    tp.setFirstFrame(frameNr);
                    tp.setHeight(z);
                }
                // TrackPoint an TrackPerson anhaengen
                else
                {
                    tp.setLastFrame(frameNr);
                    tp.append(tPoint);
                }

                // Test-Ausgabe
                //debout << "Person: " << personNr << " at Frame: " << frameNr << " at 2D-Position: (" << p2d.x << ", " << p2d.y << ") and 3D-Position: (" << x << ", " << y << ", " << z << ")" << endl;

            }

            mControlWidget->trackNumberAll->setText(QString("%1").arg(mTracker->size()));
            mControlWidget->trackShowOnlyNr->setMaximum(MAX(mTracker->size(),1));
            mControlWidget->trackNumberVisible->setText(QString("%1").arg(mTracker->visible(mAnimation->getCurrentFrameNum())));
            mControlWidget->colorPlot->replot();
            file.close();
            debout << "import " << dest << " (" << sz << " person(s) )" << endl;
            mTrcFileName = dest; // fuer Project-File, dann koennte track path direkt mitgeladen werden, wenn er noch da ist
        }
        else
        {
            PCritical(this, tr("PeTrack"), tr("Cannot load %1 maybe because of wrong file extension.").arg(dest));
        }
        lastFile = dest;
    }
}

void Petrack::testTracker()
{
    static int idx=0; // index in Fehlerliste, die als letztes angesprungen wurde
    QList<int> pers, frame;

    mTracker->checkPlausibility(pers, frame,
                                mControlWidget->testEqual->isChecked(),
                                mControlWidget->testVelocity->isChecked(),
                                mControlWidget->testInside->isChecked(),
                                mControlWidget->testLength->isChecked());
    if (pers.length()<=idx)
        idx=0;
    if (pers.length()>idx)
    {
        mControlWidget->trackShowOnly->setCheckState(Qt::Checked);
        mControlWidget->trackShowOnlyNr->setValue(pers[idx]);
//        mControlWidget->trackShowOnlyNr->setValue(pers[idx]);
        mPlayerWidget->skipToFrame(frame[idx]); // QString().number(mAnimation->getCurrentFrameNum())
        //mControlWidget->trackGotoNr->click();

        ++idx;
    }

}

int Petrack::calculateRealTracker()
{
    bool autoCorrectOnlyExport = (mControlWidget->getRecoMethod() == 5) && // multicolor
            mMultiColorMarkerWidget->autoCorrect->isChecked() &&
            mMultiColorMarkerWidget->autoCorrectOnlyExport->isChecked();
    //int anz = mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(), mControlWidget->anaMissingFrames->checkState());
    int anz = mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(),
                            mControlWidget->anaMissingFrames->checkState(), //mControlWidget->trackMissingFrames->checkState(),
                            mStereoWidget->stereoUseForExport->isChecked(),
                            mControlWidget->trackAlternateHeight->checkState(), mControlWidget->coordAltitude->value(), mStereoWidget->stereoUseCalibrationCenter->isChecked(),
                            mControlWidget->exportElimTp->isChecked(), mControlWidget->exportElimTrj->isChecked(), mControlWidget->exportSmooth->isChecked(),
                            mControlWidget->exportViewDir->isChecked(), mControlWidget->exportAngleOfView->isChecked(), mControlWidget->exportMarkerID->isChecked(),
                            autoCorrectOnlyExport);

    mTrackerReal->calcMinMax();
    return anz;
}


// Veraltet wird in extCalibration gemacht!
//void Petrack::load3DCalibPoints(QString src) // default = ""
//{

//    bool all_ok = true;

//    vector<Point3f> list3D;
//    vector<Point2f> list2D;

//    if( !src.isEmpty() )
//    {
//        if( src.right(4) == ".3dc" )
//        {
//            //mExtrCalibration->setExtrCalibFile(src);
//            QFile file(src);
//            if( !file.open(QIODevice::ReadOnly | QIODevice::Text) )
//            {
//                QMessageBox::critical(this, tr("PeTrack"), tr("Error: Cannot open %1:\n%2.").arg(src).arg(file.errorString()));
//                return;
//            }

//            debout << "reading 3D calibration data from " << src << "..." << endl;

//            QTextStream in(&file);
//            QString line;
//            int lineCount = 0;
//            QStringList values;

//            line = in.readLine();
//            lineCount++;
//            int sz_3d = line.toInt(&all_ok);
//            if( !all_ok ){
//                QMessageBox::critical(this, tr("PeTrack"), tr("Error: First line of 3D point file should only contain the number of listed 3D-Points."));
//                return;
//            }

//            bool withImageData = false;
//            double coords[5];
//            while( !in.atEnd() )
//            {
//                line = in.readLine();

//                lineCount++;
//                // comment lines
//                if( line.startsWith("#") || line.startsWith(";;") || line.startsWith("//") || line.startsWith("!") )
//                    continue;

//                //QStream stream(line);

//                //stream >> x_3d >> y_3d << z_3d
//                //       >> x_2d << y_2d;

//                values = line.split(" ");
//                //cout << line << " (" << values.size() << ")" << endl;
//                if( lineCount == 2 && values.size() == 5 )
//                {
//                    withImageData = true;
//                }
//                if( values.size() == 3 || values.size() == 5 )
//                {
//                    //debout << values.at(0) << ", " << values.at(1) << ", " << values.at(2) << endl;
//                    for(int i=0; i<3; i++)
//                    {
//                        coords[i] = values.at(i).toDouble(&all_ok);
//                        if(!all_ok)
//                        {
//                            QMessageBox::critical(this, tr("PeTrack"), tr("Error: Reading Float-Value in line %1 column %2 crashed: %3 (File: %4)").arg(lineCount).arg(i).arg(values.at(i)).arg(src));
//                            return;
//                        }
//                    }
//                    list3D.push_back( Point3f( coords[0], coords[1], coords[2] ) );
//                    if (values.size() == 5)
//                    {
//                        if( !withImageData ){
//                            QMessageBox::critical(this, tr("PeTrack"), tr("Error: Unsupported File Format in: %1 (Only 3D-Points or 3D-Points and 2D-Points, but no mix)").arg(src));
//                            return;
//                        }
//                        for(int i=3; i<5; i++)
//                        {
//                            coords[i] = values.at(i).toDouble(&all_ok);
//                            if(!all_ok)
//                            {
//                                QMessageBox::critical(this, tr("PeTrack"), tr("Error: Reading Float-Value in line %1 column %2 crashed: %3 (File: %4)").arg(lineCount).arg(i).arg(values.at(i)).arg(src));
//                                return;
//                            }
//                        }
//                        list2D.push_back( Point2f( coords[3], coords[4] ) );

//                    }else if( withImageData )
//                    {
//                        QMessageBox::critical(this, tr("PeTrack"), tr("Error: Unsupported File Format in: %1 (Only 3D-Points or 3D-Points and 2D-Points, but no mix)").arg(src));
//                        return;
//                    }
//                }else
//                {
//                    QMessageBox::critical(this, tr("PeTrack"), tr("Error: Unsupported File Format in: %1").arg(src));
//                    return;
//                }


//            }
//            file.close();
//            all_ok = true;
//            int sz_2d = 0;
//            if( !mTracker || mTracker->size() < 4 )
//            {
//                if( !withImageData )
//                {
//                    QMessageBox::critical(this, tr("PeTrack"), tr("Error: At minimum four 3D calibration points needed for 3D calibration."));
//                }
//            }else
//            {
//                sz_2d = mTracker->size();
//                list2D.clear();

//                if( sz_2d != sz_3d ){
//                    if( !withImageData )
//                    {
//                        QMessageBox::critical(this, tr("PeTrack"), tr("Count of 2D-Points (%1) and 3D-Points (%2) disagree").arg(sz_2d).arg(sz_3d));
//                        all_ok = false;
//                    }
//                }
//                //debout << "Marked 2D-Image-Points: " << endl;
//                if( all_ok )
//                {
//                    for(int i = 0; i < sz_2d; i++)
//                    {
//                        //debout << "[" << i << "]: (" << mTracker->at(i).at(0).x() << ", " << mTracker->at(i).at(0).y() << ")" << endl;
//                        // Info: Tracker->TrackPerson->TrackPoint->Vec2F
//                        list2D.push_back(Point2f(mTracker->at(i).at(0).x(),mTracker->at(i).at(0).y()));
//                    }
//                }
//            }


//            //            mExtrCalibration->set3DList(list3D);
//            //            mExtrCalibration->set2DList(list2D);
//            //debout << "3D.x " << "3D.y " << "3D.z " << "2D.x " << "2D.y " << endl;
//            for( int i=0; i<sz_3d; i++ )
//            {
//                //                debout << ((Point3f) mExtrCalibration->get3DList().at(i)).x << " "
//                //                       << ((Point3f) mExtrCalibration->get3DList().at(i)).y << " "
//                //                       << ((Point3f) mExtrCalibration->get3DList().at(i)).z << " "
//                //                       << ((Point2f) mExtrCalibration->get2DList().at(i)).x << " "
//                //                       << ((Point2f) mExtrCalibration->get2DList().at(i)).y << endl;
//            }

//            if( !withImageData )
//            {
//                // Save corresponding image-points,
//                QFile file(src);
//                int i;

//                if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
//                {
//                    QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(src).arg(file.errorString()));
//                    return;
//                }

//                QTextStream out(&file);

//                out << sz_3d << endl;
//                for (i = 0; i < sz_3d; ++i)
//                {
//                    out << list3D.at(i).x << " " << list3D.at(i).y << " " << list3D.at(i).z << " " << list2D.at(i).x << " " << list2D.at(i).y << endl;
//                }

//                file.close();

//            }

//            //            mExtrCalibration->calibExtrinsicParams();
//        }else // is 3dc-File ?
//        {
//            QMessageBox::critical(this, tr("PeTrack"), tr("File format is not supported for 3D calibration input files: %1 (supported: .3dc ").arg(src.right(4)));
//            return;
//        }
//    }else // src empty ?
//    {