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/* Copyright (c) 2021 Michael Welter <michael@welter-4d.de>
*
* 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.
*/
#pragma once
#include "options/options.hpp"
#include "api/plugin-api.hpp"
#include "cv/video-widget.hpp"
#include "cv/translation-calibrator.hpp"
#include "cv/numeric.hpp"
#include "compat/timer.hpp"
#include "video/camera.hpp"
#include "cv/affine.hpp"
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#include <QTimer>
#include <memory>
#include <cinttypes>
#include <onnxruntime/core/session/onnxruntime_cxx_api.h>
#include <opencv2/core.hpp>
#include <opencv2/core/types.hpp>
#include <opencv2/imgproc.hpp>
#include "ui_neuralnet-trackercontrols.h"
namespace neuralnet_tracker_ns
{
using namespace options;
enum fps_choices
{
fps_default = 0,
fps_30 = 1,
fps_60 = 2,
fps_MAX = 3
};
struct settings : opts {
value<int> offset_fwd { b, "offset-fwd", 200 }, // Millimeters
offset_up { b, "offset-up", 0 },
offset_right { b, "offset-right", 0 };
value<QString> camera_name { b, "camera-name", ""};
value<int> fov { b, "field-of-view", 56 };
value<fps_choices> force_fps { b, "force-fps", fps_default };
value<bool> show_network_input { b, "show-network-input", false };
settings();
};
struct CamIntrinsics
{
float focal_length_w;
float focal_length_h;
float fov_w;
float fov_h;
};
class Localizer
{
public:
Localizer(Ort::MemoryInfo &allocator_info,
Ort::Session &&session);
// Returns bounding wrt image coordinate of the input image
// The preceeding float is the score for being a face normalized to [0,1].
std::pair<float, cv::Rect2f> run(
const cv::Mat &frame);
double last_inference_time_millis() const;
private:
inline static constexpr int input_img_width = 288;
inline static constexpr int input_img_height = 224;
Ort::Session session{nullptr};
// Inputs / outputs
cv::Mat scaled_frame{}, input_mat{};
Ort::Value input_val{nullptr}, output_val{nullptr};
std::array<float, 5> results;
double last_inference_time = 0;
};
class PoseEstimator
{
public:
struct Face
{
std::array<float,4> rotation; // Quaternion, (w, x, y, z)
// The following quantities are defined wrt the image space of the input
cv::Rect2f box;
cv::Point2f center;
float size;
};
PoseEstimator(Ort::MemoryInfo &allocator_info,
Ort::Session &&session);
// Inference
std::optional<Face> run(const cv::Mat &frame, const cv::Rect &box);
// Returns an image compatible with the 'frame' image for displaying.
cv::Mat last_network_input() const;
double last_inference_time_millis() const;
private:
// Operates on the private image data members
int find_input_intensity_90_pct_quantile() const;
inline static constexpr int input_img_width = 129;
inline static constexpr int input_img_height = 129;
Ort::Session session{nullptr};
// Inputs
cv::Mat scaled_frame{}, input_mat{};
Ort::Value input_val{nullptr};
// Outputs
cv::Vec<float, 3> output_coord{};
cv::Vec<float, 4> output_quat{};
cv::Vec<float, 4> output_box{};
Ort::Value output_val[3] = {
Ort::Value{nullptr},
Ort::Value{nullptr},
Ort::Value{nullptr}};
double last_inference_time = 0;
};
class neuralnet_tracker : protected virtual QThread, public ITracker
{
Q_OBJECT
public:
neuralnet_tracker();
~neuralnet_tracker() override;
module_status start_tracker(QFrame* frame) override;
void data(double *data) override;
void run() override;
Affine pose();
QMutex camera_mtx;
std::unique_ptr<video::impl::camera> camera;
private:
bool detect();
bool open_camera();
void set_intrinsics();
bool load_and_initialize_model();
void draw_gizmos(
cv::Mat frame,
const std::optional<PoseEstimator::Face> &face,
const Affine& pose) const;
void update_fps(double dt);
Affine compute_pose(const PoseEstimator::Face &face) const;
numeric_types::vec3 image_to_world(float x, float y, float size, float real_size) const;
numeric_types::vec2 world_to_image(const numeric_types::vec3& p) const;
settings s;
std::optional<Localizer> localizer;
std::optional<PoseEstimator> poseestimator;
Ort::Env env{nullptr};
Ort::MemoryInfo allocator_info{nullptr};
CamIntrinsics intrinsics{};
cv::Mat frame, grayscale;
std::optional<cv::Rect2f> last_localizer_roi;
std::optional<cv::Rect2f> last_roi;
static constexpr float head_size_mm = 200.f;
double fps = 0;
double last_inference_time = 0;
static constexpr double RC = .25;
QMutex mtx; // Protects the pose
Affine pose_;
std::unique_ptr<cv_video_widget> videoWidget;
std::unique_ptr<QHBoxLayout> layout;
};
class neuralnet_dialog : public ITrackerDialog
{
Q_OBJECT
public:
neuralnet_dialog();
void register_tracker(ITracker * x) override;
void unregister_tracker() override;
private:
void make_fps_combobox();
Ui::Form ui;
settings s;
// Calibration code mostly taken from point tracker
QTimer calib_timer;
TranslationCalibrator trans_calib;
QMutex calibrator_mutex;
neuralnet_tracker* tracker = nullptr;
private Q_SLOTS:
void doOK();
void doCancel();
void camera_settings();
void update_camera_settings_state(const QString& name);
void startstop_trans_calib(bool start);
void trans_calib_step();
};
class neuralnet_metadata : public Metadata
{
Q_OBJECT
QString name() override { return QString("neuralnet tracker"); }
QIcon icon() override { return QIcon(":/images/neuralnet.png"); }
};
} // neuralnet_tracker_ns
using neuralnet_tracker_ns::neuralnet_tracker;
using neuralnet_tracker_ns::neuralnet_dialog;
using neuralnet_tracker_ns::neuralnet_metadata;
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