1 files changed, 66 insertions, 5 deletions

diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
index 34368478..dfee19c8 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
@@ -28,6 +28,8 @@
 #include <QMutexLocker>
 #include <QDebug>
 #include <QFile>
+#include <QFileDialog>
+#include <QFileInfo>
 
 #include <cstdio>
 #include <cmath>
@@ -57,6 +59,12 @@ std::string convert(const QString &s) { return s.toStdString(); }
 #endif
 
 
+QDir get_default_model_directory()
+{
+    return QDir(OPENTRACK_BASE_PATH+ "/" OPENTRACK_LIBRARY_PATH "models");
+}
+
+
 int enum_to_fps(int value)
 {
     switch (value)
@@ -465,8 +473,7 @@ bool NeuralNetTracker::load_and_initialize_model()
 {
     const QString localizer_model_path_enc =
         OPENTRACK_BASE_PATH+"/" OPENTRACK_LIBRARY_PATH "/models/head-localizer.onnx";
-    const QString poseestimator_model_path_enc =
-        OPENTRACK_BASE_PATH+"/" OPENTRACK_LIBRARY_PATH "/models/head-pose.onnx";
+    const QString poseestimator_model_path_enc = get_posenet_filename();
 
     try
     {
@@ -486,6 +493,7 @@ bool NeuralNetTracker::load_and_initialize_model()
             allocator_info_, 
             Ort::Session{env_, convert(localizer_model_path_enc).c_str(), opts});
 
+        qDebug() << "Loading pose net " << poseestimator_model_path_enc;
         poseestimator_.emplace(
             allocator_info_,
             Ort::Session{env_, convert(poseestimator_model_path_enc).c_str(), opts});
@@ -496,6 +504,11 @@ bool NeuralNetTracker::load_and_initialize_model()
             << e.what();
         return false;
     }
+    catch (const std::exception &e)
+    {
+        qDebug() << "Failed to initialize the neural network models. Error message: " << e.what();
+        return false;
+    }
 
     return true;
 }
@@ -682,7 +695,7 @@ void NeuralNetTracker::data(double *data)
 
     const auto& mx = tmp.R.col(0);
     const auto& my = tmp.R.col(1);
-    const auto& mz = -tmp.R.col(2);
+    const auto& mz = tmp.R.col(2);
 
     const float yaw = std::atan2(mx(2), mx(0));
     const float pitch = -std::atan2(-mx(1), std::sqrt(mx(2)*mx(2)+mx(0)*mx(0)));
@@ -707,12 +720,31 @@ Affine NeuralNetTracker::pose()
     return last_pose_affine_ ? *last_pose_affine_ : Affine{};
 }
 
+
 std::tuple<cv::Size,double, double> NeuralNetTracker::stats() const
 {
     QMutexLocker lck(&stats_mtx_);
     return { resolution_, fps_, inference_time_ };
 }
 
+
+QString NeuralNetTracker::get_posenet_filename() const
+{
+    QString filename = settings_.posenet_file;
+    if (QFileInfo(filename).isRelative())
+        filename = get_default_model_directory().absoluteFilePath(filename);
+    return filename;
+}
+
+
+
+
+
+
+
+
+
+
 void NeuralNetDialog::make_fps_combobox()
 {
 #if 0
@@ -789,8 +821,7 @@ NeuralNetDialog::NeuralNetDialog() :
     connect(ui_.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui_.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
     connect(ui_.camera_settings, SIGNAL(clicked()), this, SLOT(camera_settings()));
-
-    connect(&settings_.camera_name, value_::value_changed<QString>(), this, &NeuralNetDialog::update_camera_settings_state);
+    //connect(ui_.posenetSelectButton, SIGNAL(clicked()), this, SLOT(onSelectPoseNetFile()));
 
     update_camera_settings_state(settings_.camera_name);
 
@@ -798,6 +829,11 @@ NeuralNetDialog::NeuralNetDialog() :
     calib_timer_.setInterval(35);
     connect(ui_.tcalib_button,SIGNAL(toggled(bool)), this, SLOT(startstop_trans_calib(bool)));
 
+    connect(&cs_.exposure, value_::value_changed<int>(), this, [this](int value) {
+        ui_.camera_settings->setEnabled(value == (int)exposure_preset::ignored);
+    });
+    ui_.camera_settings->setEnabled(cs_.exposure == exposure_preset::ignored);
+
     connect(&tracker_status_poll_timer_, &QTimer::timeout, this, &NeuralNetDialog::status_poll);
     tracker_status_poll_timer_.setInterval(250);
     tracker_status_poll_timer_.start();
@@ -958,6 +994,31 @@ void NeuralNetDialog::startstop_trans_calib(bool start)
 }
 
 
+void NeuralNetDialog::onSelectPoseNetFile()
+{
+    const auto root = get_default_model_directory();
+    // Start with the current setting
+    QString filename = settings_.posenet_file;
+    // If the filename is relative then assume that the file is located under the
+    // model directory. Under regular use this should always be the case.
+    if (QFileInfo(filename).isRelative())
+        filename = root.absoluteFilePath(filename);
+    filename = QFileDialog::getOpenFileName(this,
+        tr("Select Pose Net ONNX"), filename, tr("ONNX Files (*.onnx)"));
+    // In case the user aborted.
+    if (filename.isEmpty())
+        return;
+    // When a file under the model directory was selected we can get rid of the
+    // directory prefix. This is more robust than storing absolute paths, e.g.
+    // in case the user moves the opentrack install folder / reuses old settings.
+    // When the file is not in the model directory, we have to use the absolute path,
+    // which is also fine as developer feature.
+    if (filename.startsWith(root.absolutePath()))
+        filename = root.relativeFilePath(filename);
+    settings_.posenet_file = filename;
+}
+
+
 Settings::Settings() : opts("neuralnet-tracker") {}
 
 } // neuralnet_tracker_ns