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-rw-r--r--tracker-neuralnet/BUILD.md34
-rw-r--r--tracker-neuralnet/CMakeLists.txt23
-rw-r--r--tracker-neuralnet/ftnoir_tracker_neuralnet.cpp917
-rw-r--r--tracker-neuralnet/ftnoir_tracker_neuralnet.h231
-rw-r--r--tracker-neuralnet/images/neuralnet.pngbin0 -> 595 bytes
-rw-r--r--tracker-neuralnet/lang/nl_NL.ts91
-rw-r--r--tracker-neuralnet/lang/ru_RU.ts91
-rw-r--r--tracker-neuralnet/lang/stub.ts91
-rw-r--r--tracker-neuralnet/lang/zh_CN.ts91
-rw-r--r--tracker-neuralnet/models/head-localizer.onnxbin0 -> 279403 bytes
-rw-r--r--tracker-neuralnet/models/head-pose.onnxbin0 -> 13047683 bytes
-rw-r--r--tracker-neuralnet/neuralnet-tracker.qrc5
-rw-r--r--tracker-neuralnet/neuralnet-trackercontrols.ui375
13 files changed, 1949 insertions, 0 deletions
diff --git a/tracker-neuralnet/BUILD.md b/tracker-neuralnet/BUILD.md
new file mode 100644
index 00000000..8bb694dd
--- /dev/null
+++ b/tracker-neuralnet/BUILD.md
@@ -0,0 +1,34 @@
+ONNX Runtime
+------------
+
+Recommended approach on Windws: Build a shared library from sources. Use static MSVC
+runtime library. The v1.6.0 branch should work fine.
+
+Source location: https://github.com/microsoft/onnxruntime
+
+In order to build, execute `build.bat` as follows:
+
+```
+$ build.bat --config RelWithDebInfo --x86 --build_dir .\buildx86\ \
+ --enable_msvc_static_runtime --build_shared_lib --skip_tests \
+ --cmake_generator "Visual Studio 15 2017"
+```
+
+Replace the argument for `--cmake_generator` if needed.
+
+The result is a messy directory `buildx86\RelWithDebInfo\RelWithDebInfo`,
+but no proper distribution. However only a few files are needed. They can
+be copied manually and are listed in the following in their respective folders:
+
+```
+onnxruntime-x86-release/include:
+cpu_provider_factory.h onnxruntime_cxx_api.h
+experimental_onnxruntime_cxx_api.h onnxruntime_cxx_inline.h
+experimental_onnxruntime_cxx_inline.h onnxruntime_session_options_config_keys.h
+onnxruntime_c_api.h
+
+onnxruntime-x86-release/lib:
+onnxruntime.dll onnxruntime.exp onnxruntime.lib onnxruntime.pdb
+```
+
+See also https://www.onnxruntime.ai/docs/how-to/build.html
diff --git a/tracker-neuralnet/CMakeLists.txt b/tracker-neuralnet/CMakeLists.txt
new file mode 100644
index 00000000..d06f0c83
--- /dev/null
+++ b/tracker-neuralnet/CMakeLists.txt
@@ -0,0 +1,23 @@
+include(opentrack-opencv)
+find_package(OpenCV QUIET)
+find_package(OpenMP QUIET) # Used to control number of onnx threads.
+set(SDK_ONNX_LIBPATH "" CACHE FILEPATH "Full path of onnx library")
+
+if(OpenCV_FOUND AND SDK_ONNX_LIBPATH AND OpenMP_FOUND)
+ get_filename_component(ONNX_INCLUDE_DIR "${SDK_ONNX_LIBPATH}" DIRECTORY)
+ get_filename_component(ONNX_INCLUDE_DIR "${ONNX_INCLUDE_DIR}" ABSOLUTE)
+ set(ONNX_INCLUDE_DIR "${ONNX_INCLUDE_DIR}/../include")
+
+ otr_module(tracker-neuralnet)
+ target_include_directories(${self} SYSTEM PUBLIC
+ ${OpenCV_INCLUDE_DIRS} "${ONNX_INCLUDE_DIR}")
+ target_link_libraries(${self}
+ opentrack-cv "${SDK_ONNX_LIBPATH}" opencv_imgproc opencv_core
+ opencv_imgcodecs opencv_calib3d
+ OpenMP::OpenMP_C)
+
+ install(
+ FILES "models/head-localizer.onnx" "models/head-pose.onnx"
+ DESTINATION "${opentrack-libexec}/models"
+ PERMISSIONS ${opentrack-perms-file})
+endif() \ No newline at end of file
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
new file mode 100644
index 00000000..2fad17aa
--- /dev/null
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
@@ -0,0 +1,917 @@
+/* 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.
+ */
+
+#include "ftnoir_tracker_neuralnet.h"
+#include "compat/sleep.hpp"
+#include "compat/math-imports.hpp"
+#include "cv/init.hpp"
+#include <opencv2/core.hpp>
+#include <opencv2/core/hal/interface.h>
+#include <opencv2/core/types.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include "compat/timer.hpp"
+#include <omp.h>
+
+#ifdef _MSC_VER
+# pragma warning(disable : 4702)
+#endif
+
+#include <QMutexLocker>
+#include <QDebug>
+#include <QFile>
+
+#include <cstdio>
+#include <cmath>
+#include <algorithm>
+#include <chrono>
+
+// Some demo code for onnx
+// https://github.com/microsoft/onnxruntime/blob/master/csharp/test/Microsoft.ML.OnnxRuntime.EndToEndTests.Capi/C_Api_Sample.cpp
+// https://github.com/leimao/ONNX-Runtime-Inference/blob/main/src/inference.cpp
+
+namespace
+{
+
+using numeric_types::vec3;
+using numeric_types::vec2;
+using numeric_types::mat33;
+
+// Minimal difference if at all going from 1 to 2 threads.
+static constexpr int num_threads = 1;
+
+
+#if _MSC_VER
+std::wstring convert(const QString &s) { return s.toStdWString(); }
+#else
+std::string convert(const QString &s) { return s.toStdString(); }
+#endif
+
+
+float sigmoid(float x)
+{
+ return 1.f/(1.f + std::exp(-x));
+}
+
+
+template<class T>
+cv::Rect_<T> squarize(const cv::Rect_<T> &r)
+{
+ cv::Point_<T> c{r.x + r.width/T(2), r.y + r.height/T(2)};
+ const T sz = std::max(r.height, r.width);
+ return {c.x - sz/T(2), c.y - sz/T(2), sz, sz};
+}
+
+
+int compute_padding(const cv::Rect &r, int w, int h)
+{
+ using std::max;
+ return max({
+ max(-r.x, 0),
+ max(-r.y, 0),
+ max(r.x+r.width-w, 0),
+ max(r.y+r.height-h, 0)
+ });
+}
+
+
+cv::Rect2f unnormalize(const cv::Rect2f &r, int h, int w)
+{
+ auto unnorm = [](float x) -> float { return 0.5*(x+1); };
+ auto tl = r.tl();
+ auto br = r.br();
+ auto x0 = unnorm(tl.x)*w;
+ auto y0 = unnorm(tl.y)*h;
+ auto x1 = unnorm(br.x)*w;
+ auto y1 = unnorm(br.y)*h;
+ return {
+ x0, y0, x1-x0, y1-y0
+ };
+}
+
+cv::Point2f normalize(const cv::Point2f &p, int h, int w)
+{
+ return {
+ p.x/w*2.f-1.f,
+ p.y/h*2.f-1.f
+ };
+}
+
+
+mat33 rotation_from_two_vectors(const vec3 &a, const vec3 &b)
+{
+ vec3 axis = a.cross(b);
+ const float len_a = cv::norm(a);
+ const float len_b = cv::norm(b);
+ const float len_axis = cv::norm(axis);
+ const float sin_angle = std::clamp(len_axis / (len_a * len_b), -1.f, 1.f);
+ const float angle = std::asin(sin_angle);
+ axis *= angle/(1.e-12 + len_axis);
+ mat33 out;
+ cv::Rodrigues(axis, out);
+ return out;
+}
+
+
+/* Computes correction due to head being off screen center.
+ x, y: In screen space, i.e. in [-1,1]
+ focal_length_x: In screen space
+*/
+mat33 compute_rotation_correction(const cv::Point2f &p, float focal_length_x)
+{
+ return rotation_from_two_vectors(
+ {1.f,0.f,0.f},
+ {focal_length_x, p.y, p.x});
+}
+
+
+mat33 quaternion_to_mat33(const std::array<float,4> quat)
+{
+ mat33 m;
+ const float w = quat[0];
+ const float i = quat[1];
+ const float j = quat[2];
+ const float k = quat[3];
+ m(0,0) = 1.f - 2.f*(j*j + k*k);
+ m(1,0) = 2.f*(i*j + k*w);
+ m(2,0) = 2.f*(i*k - j*w);
+ m(0,1) = 2.f*(i*j - k*w);
+ m(1,1) = 1.f - 2.f*(i*i + k*k);
+ m(2,1) = 2.f*(j*k + i*w);
+ m(0,2) = 2.f*(i*k + j*w);
+ m(1,2) = 2.f*(j*k - i*w);
+ m(2,2) = 1.f - 2.f*(i*i + j*j);
+ return m;
+}
+
+
+template<class T>
+T iou(const cv::Rect_<T> &a, const cv::Rect_<T> &b)
+{
+ auto i = a & b;
+ return double{i.area()} / (a.area()+b.area()-i.area());
+}
+
+
+} // namespace
+
+
+namespace neuralnet_tracker_ns
+{
+
+
+int enum_to_fps(int value)
+{
+ switch (value)
+ {
+ case fps_30: return 30;
+ case fps_60: return 60;
+ default: [[fallthrough]];
+ case fps_default: return 0;
+ }
+}
+
+
+Localizer::Localizer(Ort::MemoryInfo &allocator_info, Ort::Session &&session) :
+ session{std::move(session)},
+ scaled_frame(input_img_height, input_img_width, CV_8U),
+ input_mat(input_img_height, input_img_width, CV_32F)
+{
+ // Only works when input_mat does not reallocated memory ...which it should not.
+ // Non-owning memory reference to input_mat?
+ // Note: shape = (bach x channels x h x w)
+ const std::int64_t input_shape[4] = { 1, 1, input_img_height, input_img_width };
+ input_val = Ort::Value::CreateTensor<float>(allocator_info, input_mat.ptr<float>(0), input_mat.total(), input_shape, 4);
+
+ const std::int64_t output_shape[2] = { 1, 5 };
+ output_val = Ort::Value::CreateTensor<float>(allocator_info, results.data(), results.size(), output_shape, 2);
+}
+
+
+std::pair<float, cv::Rect2f> Localizer::run(
+ const cv::Mat &frame)
+{
+ auto p = input_mat.ptr(0);
+
+ cv::resize(frame, scaled_frame, { input_img_width, input_img_height }, 0, 0, cv::INTER_AREA);
+ scaled_frame.convertTo(input_mat, CV_32F, 1./255., -0.5);
+
+ assert (input_mat.ptr(0) == p);
+ assert (!input_mat.empty() && input_mat.isContinuous());
+ assert (input_mat.cols == input_img_width && input_mat.rows == input_img_height);
+
+ const char* input_names[] = {"x"};
+ const char* output_names[] = {"logit_box"};
+
+ //Timer t_; t_.start();
+
+ const auto nt = omp_get_num_threads();
+ omp_set_num_threads(num_threads);
+ session.Run(Ort::RunOptions{nullptr}, input_names, &input_val, 1, output_names, &output_val, 1);
+ omp_set_num_threads(nt);
+
+ //qDebug() << "localizer: " << t_.elapsed_ms() << " ms\n";
+
+ const cv::Rect2f roi = unnormalize(cv::Rect2f{
+ results[1],
+ results[2],
+ results[3]-results[1], // Width
+ results[4]-results[2] // Height
+ }, frame.rows, frame.cols);
+ const float score = sigmoid(results[0]);
+
+ return { score, roi };
+}
+
+
+PoseEstimator::PoseEstimator(Ort::MemoryInfo &allocator_info, Ort::Session &&session) :
+ session{std::move(session)},
+ scaled_frame(input_img_height, input_img_width, CV_8U),
+ input_mat(input_img_height, input_img_width, CV_32F)
+{
+ {
+ const std::int64_t input_shape[4] = { 1, 1, input_img_height, input_img_width };
+ input_val = Ort::Value::CreateTensor<float>(allocator_info, input_mat.ptr<float>(0), input_mat.total(), input_shape, 4);
+ }
+
+ {
+ const std::int64_t output_shape[2] = { 1, 3 };
+ output_val[0] = Ort::Value::CreateTensor<float>(
+ allocator_info, &output_coord[0], output_coord.rows, output_shape, 2);
+ }
+
+ {
+ const std::int64_t output_shape[2] = { 1, 4 };
+ output_val[1] = Ort::Value::CreateTensor<float>(
+ allocator_info, &output_quat[0], output_quat.rows, output_shape, 2);
+ }
+
+ {
+ const std::int64_t output_shape[2] = { 1, 4 };
+ output_val[2] = Ort::Value::CreateTensor<float>(
+ allocator_info, &output_box[0], output_box.rows, output_shape, 2);
+ }
+}
+
+
+int PoseEstimator::find_input_intensity_90_pct_quantile() const
+{
+ const int channels[] = { 0 };
+ const int hist_size[] = { 255 };
+ float range[] = { 0, 256 };
+ const float* ranges[] = { range };
+ cv::Mat hist;
+ cv::calcHist(&scaled_frame, 1, channels, cv::Mat(), hist, 1, hist_size, ranges, true, false);
+ int gray_level = 0;
+ const int num_pixels_quantile = scaled_frame.total()*0.9f;
+ int num_pixels_accum = 0;
+ for (int i=0; i<hist_size[0]; ++i)
+ {
+ num_pixels_accum += hist.at<float>(i);
+ if (num_pixels_accum > num_pixels_quantile)
+ {
+ gray_level = i;
+ break;
+ }
+ }
+ return gray_level;
+}
+
+
+std::optional<PoseEstimator::Face> PoseEstimator::run(
+ const cv::Mat &frame, const cv::Rect &box)
+{
+ cv::Mat cropped;
+
+ const int patch_size = std::max(box.width, box.height)*1.05;
+ const cv::Point2f patch_center = {
+ std::clamp<float>(box.x + 0.5f*box.width, 0.f, frame.cols),
+ std::clamp<float>(box.y + 0.5f*box.height, 0.f, frame.rows)
+ };
+ cv::getRectSubPix(frame, {patch_size, patch_size}, patch_center, cropped);
+
+ // Will get failure if patch_center is outside image boundaries.
+ // Have to catch this case.
+ if (cropped.rows != patch_size || cropped.cols != patch_size)
+ return {};
+
+ auto p = input_mat.ptr(0);
+
+ cv::resize(cropped, scaled_frame, { input_img_width, input_img_height }, 0, 0, cv::INTER_AREA);
+
+ // Automatic brightness amplification.
+ const int brightness = find_input_intensity_90_pct_quantile();
+ const double alpha = brightness<127 ? 0.5/std::max(5,brightness) : 1./255;
+ const double beta = -0.5;
+
+ scaled_frame.convertTo(input_mat, CV_32F, alpha, beta);
+
+ assert (input_mat.ptr(0) == p);
+ assert (!input_mat.empty() && input_mat.isContinuous());
+ assert (input_mat.cols == input_img_width && input_mat.rows == input_img_height);
+
+ const char* input_names[] = {"x"};
+ const char* output_names[] = {"pos_size", "quat", "box"};
+
+ //Timer t_; t_.start();
+
+ const auto nt = omp_get_num_threads();
+ omp_set_num_threads(num_threads);
+ session.Run(Ort::RunOptions{nullptr}, input_names, &input_val, 1, output_names, output_val, 3);
+ omp_set_num_threads(nt);
+
+ // FIXME: Execution time fluctuates wildly. 19 to 26 ms. Why???
+ // The instructions are always the same. Maybe a memory allocation
+ // issue. The ONNX api suggests that tensor are allocated in an
+ // arena. Does that matter? Maybe the issue is something else?
+
+ //qDebug() << "pose net: " << t_.elapsed_ms() << " ms\n";
+
+ // Perform coordinate transformation.
+ // From patch-local normalized in [-1,1] to
+ // frame unnormalized pixel coordinates.
+
+ const cv::Point2f center = patch_center +
+ (0.5f*patch_size)*cv::Point2f{output_coord[0], output_coord[1]};
+
+ const float size = patch_size*0.5f*output_coord[2];
+
+ // Following Eigen which uses quat components in the order w, x, y, z.
+ const std::array<float,4> rotation = {
+ output_quat[3],
+ output_quat[0],
+ output_quat[1],
+ output_quat[2] };
+
+ const cv::Rect2f outbox = {
+ patch_center.x + (0.5f*patch_size)*output_box[0],
+ patch_center.y + (0.5f*patch_size)*output_box[1],
+ 0.5f*patch_size*(output_box[2]-output_box[0]),
+ 0.5f*patch_size*(output_box[3]-output_box[1])
+ };
+
+ return std::optional<Face>({
+ rotation, outbox, center, size
+ });
+}
+
+
+cv::Mat PoseEstimator::last_network_input() const
+{
+ cv::Mat ret;
+ if (!input_mat.empty())
+ {
+ input_mat.convertTo(ret, CV_8U, 255., 127.);
+ cv::cvtColor(ret, ret, cv::COLOR_GRAY2RGB);
+ }
+ return ret;
+}
+
+
+bool neuralnet_tracker::detect()
+{
+ // Note: BGR colors!
+ if (!last_localizer_roi || !last_roi ||
+ iou(*last_localizer_roi,*last_roi)<0.25)
+ {
+ auto [p, rect] = localizer->run(grayscale);
+ if (p > 0.5)
+ {
+ last_localizer_roi = rect;
+ last_roi = rect;
+ }
+ }
+
+ if (!last_roi)
+ return false;
+
+ auto face = poseestimator->run(grayscale, *last_roi);
+
+ if (!face)
+ {
+ last_roi.reset();
+ return false;
+ }
+
+ last_roi = face->box;
+
+ Affine pose = compute_pose(*face);
+
+ draw_gizmos(frame, *face, pose);
+
+ {
+ QMutexLocker lck(&mtx);
+ this->pose_ = pose;
+ }
+
+ return true;
+}
+
+
+Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
+{
+ const mat33 rot_correction = compute_rotation_correction(
+ normalize(face.center, frame.rows, frame.cols),
+ intrinsics.focal_length_w);
+
+ const mat33 m = rot_correction * quaternion_to_mat33(face.rotation);
+
+ /*
+
+ hhhhhh <- head size (meters)
+ \ | -----------------------
+ \ | \
+ \ | |
+ \ | |- tz (meters)
+ ____ <- face.size / width |
+ \ | | |
+ \| |- focal length /
+ ------------------------
+ */
+
+ // Compute the location the network outputs in 3d space.
+ const vec3 face_world_pos = image_to_world(face.center.x, face.center.y, face.size, head_size_mm);
+
+ // But this is in general not the location of the rotation joint in the neck.
+ // So we need an extra offset. Which we determine by solving
+ // z,y,z-pos = head_joint_loc + R_face * offset
+
+ const vec3 pos = face_world_pos
+ + m * vec3{
+ static_cast<float>(s.offset_fwd),
+ static_cast<float>(s.offset_up),
+ static_cast<float>(s.offset_right)};
+
+ return { m, pos };
+}
+
+
+void neuralnet_tracker::draw_gizmos(
+ cv::Mat frame,
+ const PoseEstimator::Face &face,
+ const Affine& pose) const
+{
+ if (last_roi)
+ {
+ const int col = 255;
+ cv::rectangle(frame, *last_roi, cv::Scalar(0, 255, 0), /*thickness=*/1);
+ }
+ if (last_localizer_roi)
+ {
+ const int col = 255;
+ cv::rectangle(frame, *last_localizer_roi, cv::Scalar(col, 0, 255-col), /*thickness=*/1);
+ }
+
+ if (face.size>=1.f)
+ cv::circle(frame, static_cast<cv::Point>(face.center), int(face.size), cv::Scalar(255,255,255), 2);
+ cv::circle(frame, static_cast<cv::Point>(face.center), 3, cv::Scalar(255,255,255), -1);
+
+ auto draw_coord_line = [&](int i, const cv::Scalar& color)
+ {
+ const float vx = -pose.R(2,i);
+ const float vy = -pose.R(1,i);
+ static constexpr float len = 100.f;
+ cv::Point q = face.center + len*cv::Point2f{vx, vy};
+ cv::line(frame, static_cast<cv::Point>(face.center), static_cast<cv::Point>(q), color, 2);
+ };
+ draw_coord_line(0, {0, 0, 255});
+ draw_coord_line(1, {0, 255, 0});
+ draw_coord_line(2, {255, 0, 0});
+
+ if (s.show_network_input)
+ {
+ cv::Mat netinput = poseestimator->last_network_input();
+ if (!netinput.empty())
+ {
+ const int w = std::min(netinput.cols, frame.cols);
+ const int h = std::min(netinput.rows, frame.rows);
+ cv::Rect roi(0, 0, w, h);
+ netinput(roi).copyTo(frame(roi));
+ }
+ }
+ {
+ // Draw the computed joint position
+ auto xy = world_to_image(pose.t);
+ cv::circle(frame, cv::Point(xy[0],xy[1]), 5, cv::Scalar(0,0,255), -1);
+ }
+
+ char buf[128];
+ ::snprintf(buf, sizeof(buf), "%d Hz, Max: %d ms", clamp(int(fps), 0, 9999), int(max_frame_time*1000.));
+ cv::putText(frame, buf, cv::Point(10, frame.rows-10), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 255, 0), 1);
+}
+
+
+neuralnet_tracker::neuralnet_tracker()
+{
+ opencv_init();
+ cv::setNumThreads(num_threads);
+}
+
+
+neuralnet_tracker::~neuralnet_tracker()
+{
+ requestInterruption();
+ wait();
+ // fast start/stop causes breakage
+ portable::sleep(1000);
+}
+
+
+module_status neuralnet_tracker::start_tracker(QFrame* videoframe)
+{
+ videoframe->show();
+ videoWidget = std::make_unique<cv_video_widget>(videoframe);
+ layout = std::make_unique<QHBoxLayout>();
+ layout->setContentsMargins(0, 0, 0, 0);
+ layout->addWidget(videoWidget.get());
+ videoframe->setLayout(layout.get());
+ videoWidget->show();
+ start();
+ return status_ok();
+}
+
+
+bool neuralnet_tracker::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";
+
+ try
+ {
+ env = Ort::Env{
+ OrtLoggingLevel::ORT_LOGGING_LEVEL_ERROR,
+ "tracker-neuralnet"
+ };
+ auto opts = Ort::SessionOptions{};
+ // Do thread settings here do anything?
+ // There is a warning which says to control number of threads via
+ // openmp settings. Which is what we do. omp_set_num_threads directly
+ // before running the inference pass.
+ opts.SetIntraOpNumThreads(num_threads);
+ opts.SetInterOpNumThreads(num_threads);
+ opts.SetGraphOptimizationLevel(
+ GraphOptimizationLevel::ORT_ENABLE_EXTENDED);
+
+ opts.EnableCpuMemArena();
+ allocator_info = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault);
+
+ localizer.emplace(
+ allocator_info,
+ Ort::Session{env, convert(localizer_model_path_enc).c_str(), opts});
+
+ poseestimator.emplace(
+ allocator_info,
+ Ort::Session{env, convert(poseestimator_model_path_enc).c_str(), opts});
+ }
+ catch (const Ort::Exception &e)
+ {
+ qDebug() << "Failed to initialize the neural network models. ONNX error message: "
+ << e.what();
+ return false;
+ }
+ return true;
+}
+
+
+bool neuralnet_tracker::open_camera()
+{
+ int fps = enum_to_fps(s.force_fps);
+
+ QMutexLocker l(&camera_mtx);
+
+ camera = video::make_camera(s.camera_name);
+
+ if (!camera)
+ return false;
+
+ video::impl::camera::info args {};
+
+ args.width = 320;
+ args.height = 240;
+
+ if (fps)
+ args.fps = fps;
+
+ if (!camera->start(args))
+ {
+ qDebug() << "neuralnet tracker: can't open camera";
+ return false;
+ }
+ return true;
+}
+
+
+void neuralnet_tracker::set_intrinsics()
+{
+ const int w = grayscale.cols, h = grayscale.rows;
+ const double diag_fov = s.fov * M_PI / 180.;
+ const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
+ const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
+ const double focal_length_w = 1. / tan(.5 * fov_w);
+ const double focal_length_h = 1. / tan(.5 * fov_h);
+
+ intrinsics.fov_h = fov_h;
+ intrinsics.fov_w = fov_w;
+ intrinsics.focal_length_w = focal_length_w;
+ intrinsics.focal_length_h = focal_length_h;
+}
+
+
+vec3 neuralnet_tracker::image_to_world(float x, float y, float size, float real_size) const
+{
+ // Compute the location the network outputs in 3d space.
+ const float xpos = -(intrinsics.focal_length_w * frame.cols * 0.5f) / size * real_size;
+ const float zpos = (x / frame.cols * 2.f - 1.f) * xpos / intrinsics.focal_length_w;
+ const float ypos = (y / frame.rows * 2.f - 1.f) * xpos / intrinsics.focal_length_h;
+ return {xpos, ypos, zpos};
+}
+
+
+vec2 neuralnet_tracker::world_to_image(const vec3& pos) const
+{
+ const float xscr = pos[2] / pos[0] * intrinsics.focal_length_w;
+ const float yscr = pos[1] / pos[0] * intrinsics.focal_length_h;
+ const float x = (xscr+1.)*0.5f*frame.cols;
+ const float y = (yscr+1.)*0.5f*frame.rows;
+ return {x, y};
+}
+
+
+void neuralnet_tracker::run()
+{
+ if (!open_camera())
+ return;
+
+ if (!load_and_initialize_model())
+ return;
+
+ std::chrono::high_resolution_clock clk;
+
+ while (!isInterruptionRequested())
+ {
+ auto t = clk.now();
+ {
+ QMutexLocker l(&camera_mtx);
+
+ auto [ img, res ] = camera->get_frame();
+
+ if (!res)
+ {
+ l.unlock();
+ portable::sleep(100);
+ continue;
+ }
+
+ auto color = cv::Mat(img.height, img.width, CV_8UC(img.channels), (void*)img.data, img.stride);
+ color.copyTo(frame);
+
+ switch (img.channels)
+ {
+ case 1:
+ grayscale.setTo(color);
+ break;
+ case 3:
+ cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
+ break;
+ default:
+ qDebug() << "Can't handle" << img.channels << "color channels";
+ return;
+ }
+ }
+
+ set_intrinsics();
+
+ detect();
+
+ if (frame.rows > 0)
+ videoWidget->update_image(frame);
+
+ update_fps(
+ std::chrono::duration_cast<std::chrono::milliseconds>(
+ clk.now() - t).count()*1.e-3);
+ }
+}
+
+
+void neuralnet_tracker::update_fps(double dt)
+{
+ const double alpha = dt/(dt + RC);
+
+ if (dt > 1e-6)
+ {
+ fps *= 1 - alpha;
+ fps += alpha * 1./dt;
+ }
+
+ max_frame_time = std::max(max_frame_time, dt);
+}
+
+
+void neuralnet_tracker::data(double *data)
+{
+ Affine tmp = [&]()
+ {
+ QMutexLocker lck(&mtx);
+ return pose_;
+ }();
+
+ const auto& mx = tmp.R.col(0);
+ const auto& my = tmp.R.col(1);
+ 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)));
+ const float roll = std::atan2(-my(2), mz(2));
+ {
+ constexpr double rad2deg = 180/M_PI;
+ data[Yaw] = rad2deg * yaw;
+ data[Pitch] = rad2deg * pitch;
+ data[Roll] = rad2deg * roll;
+
+ // convert to cm
+ data[TX] = -tmp.t[2] * 0.1;
+ data[TY] = tmp.t[1] * 0.1;
+ data[TZ] = -tmp.t[0] * 0.1;
+ }
+}
+
+
+Affine neuralnet_tracker::pose()
+{
+ QMutexLocker lck(&mtx);
+ return pose_;
+}
+
+
+void neuralnet_dialog::make_fps_combobox()
+{
+ for (int k = 0; k < fps_MAX; k++)
+ {
+ const int hz = enum_to_fps(k);
+ const QString name = (hz == 0) ? tr("Default") : QString::number(hz);
+ ui.cameraFPS->addItem(name, k);
+ }
+}
+
+
+neuralnet_dialog::neuralnet_dialog() :
+ trans_calib(1, 2)
+{
+ ui.setupUi(this);
+
+ make_fps_combobox();
+ tie_setting(s.force_fps, ui.cameraFPS);
+
+ for (const auto& str : video::camera_names())
+ ui.cameraName->addItem(str);
+
+ tie_setting(s.camera_name, ui.cameraName);
+ tie_setting(s.fov, ui.cameraFOV);
+ tie_setting(s.offset_fwd, ui.tx_spin);
+ tie_setting(s.offset_up, ui.ty_spin);
+ tie_setting(s.offset_right, ui.tz_spin);
+ tie_setting(s.show_network_input, ui.showNetworkInput);
+
+ 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(&s.camera_name, value_::value_changed<QString>(), this, &neuralnet_dialog::update_camera_settings_state);
+
+ update_camera_settings_state(s.camera_name);
+
+ connect(&calib_timer, &QTimer::timeout, this, &neuralnet_dialog::trans_calib_step);
+ calib_timer.setInterval(35);
+ connect(ui.tcalib_button,SIGNAL(toggled(bool)), this, SLOT(startstop_trans_calib(bool)));
+}
+
+
+void neuralnet_dialog::doOK()
+{
+ s.b->save();
+ close();
+}
+
+
+void neuralnet_dialog::doCancel()
+{
+ close();
+}
+
+
+void neuralnet_dialog::camera_settings()
+{
+ if (tracker)
+ {
+ QMutexLocker l(&tracker->camera_mtx);
+ (void)tracker->camera->show_dialog();
+ }
+ else
+ (void)video::show_dialog(s.camera_name);
+}
+
+
+void neuralnet_dialog::update_camera_settings_state(const QString& name)
+{
+ (void)name;
+ ui.camera_settings->setEnabled(true);
+}
+
+
+void neuralnet_dialog::register_tracker(ITracker * x)
+{
+ tracker = static_cast<neuralnet_tracker*>(x);
+ ui.tcalib_button->setEnabled(true);
+}
+
+
+void neuralnet_dialog::unregister_tracker()
+{
+ tracker = nullptr;
+ ui.tcalib_button->setEnabled(false);
+}
+
+
+void neuralnet_dialog::trans_calib_step()
+{
+ if (tracker)
+ {
+ const Affine X_CM = [&]() {
+ QMutexLocker l(&calibrator_mutex);
+ return tracker->pose();
+ }();
+ trans_calib.update(X_CM.R, X_CM.t);
+ auto [_, nsamples] = trans_calib.get_estimate();
+
+ constexpr int min_yaw_samples = 15;
+ constexpr int min_pitch_samples = 12;
+ constexpr int min_samples = min_yaw_samples+min_pitch_samples;
+
+ // Don't bother counting roll samples. Roll calibration is hard enough
+ // that it's a hidden unsupported feature anyway.
+
+ QString sample_feedback;
+ if (nsamples[0] < min_yaw_samples)
+ sample_feedback = tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.").arg(nsamples[0]).arg(min_yaw_samples);
+ else if (nsamples[1] < min_pitch_samples)
+ sample_feedback = tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.").arg(nsamples[1]).arg(min_pitch_samples);
+ else
+ {
+ const int nsamples_total = nsamples[0] + nsamples[1];
+ sample_feedback = tr("%1 samples. Over %2, good!").arg(nsamples_total).arg(min_samples);
+ }
+ ui.sample_count_display->setText(sample_feedback);
+ }
+ else
+ startstop_trans_calib(false);
+}
+
+
+void neuralnet_dialog::startstop_trans_calib(bool start)
+{
+ QMutexLocker l(&calibrator_mutex);
+ // FIXME: does not work ...
+ if (start)
+ {
+ qDebug() << "pt: starting translation calibration";
+ calib_timer.start();
+ trans_calib.reset();
+ ui.sample_count_display->setText(QString());
+ // Tracker must run with zero'ed offset for calibration.
+ s.offset_fwd = 0;
+ s.offset_up = 0;
+ s.offset_right = 0;
+ }
+ else
+ {
+ calib_timer.stop();
+ qDebug() << "pt: stopping translation calibration";
+ {
+ auto [tmp, nsamples] = trans_calib.get_estimate();
+ s.offset_fwd = int(tmp[0]);
+ s.offset_up = int(tmp[1]);
+ s.offset_right = int(tmp[2]);
+ }
+ }
+ ui.tx_spin->setEnabled(!start);
+ ui.ty_spin->setEnabled(!start);
+ ui.tz_spin->setEnabled(!start);
+
+ if (start)
+ ui.tcalib_button->setText(tr("Stop calibration"));
+ else
+ ui.tcalib_button->setText(tr("Start calibration"));
+}
+
+
+settings::settings() : opts("neuralnet-tracker") {}
+
+} // neuralnet_tracker_ns
+
+OPENTRACK_DECLARE_TRACKER(neuralnet_tracker, neuralnet_dialog, neuralnet_metadata)
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.h b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
new file mode 100644
index 00000000..e26689a4
--- /dev/null
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
@@ -0,0 +1,231 @@
+/* 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_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);
+
+ 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;
+};
+
+
+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;
+
+ 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}};
+};
+
+
+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 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 max_frame_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; \ No newline at end of file
diff --git a/tracker-neuralnet/images/neuralnet.png b/tracker-neuralnet/images/neuralnet.png
new file mode 100644
index 00000000..1a10c53c
--- /dev/null
+++ b/tracker-neuralnet/images/neuralnet.png
Binary files differ
diff --git a/tracker-neuralnet/lang/nl_NL.ts b/tracker-neuralnet/lang/nl_NL.ts
new file mode 100644
index 00000000..fb6c3348
--- /dev/null
+++ b/tracker-neuralnet/lang/nl_NL.ts
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="nl_NL">
+<context>
+ <name>Form</name>
+ <message>
+ <source>Tracker settings</source>
+ <translation>Tracker-instellingen</translation>
+ </message>
+ <message>
+ <source>Frames per second</source>
+ <translation>Frames per seconde</translation>
+ </message>
+ <message>
+ <source>Camera name</source>
+ <translation>Cameranaam</translation>
+ </message>
+ <message>
+ <source>Diagonal FOV</source>
+ <translation>Diagonale FOV</translation>
+ </message>
+ <message>
+ <source>Camera settings</source>
+ <translation>Camera-instellingen</translation>
+ </message>
+ <message>
+ <source>Camera Configuration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Head Center Offset</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source> mm</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Use only yaw and pitch while calibrating.
+Don&apos;t roll or change position.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Forward</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Up</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Show Network Input</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+<context>
+ <name>neuralnet_tracker_ns::neuralnet_dialog</name>
+ <message>
+ <source>Default</source>
+ <translation type="unfinished">Standaard</translation>
+ </message>
+ <message>
+ <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 samples. Over %2, good!</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Stop calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+</TS>
diff --git a/tracker-neuralnet/lang/ru_RU.ts b/tracker-neuralnet/lang/ru_RU.ts
new file mode 100644
index 00000000..f1ba9a92
--- /dev/null
+++ b/tracker-neuralnet/lang/ru_RU.ts
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ru_RU">
+<context>
+ <name>Form</name>
+ <message>
+ <source>Tracker settings</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Diagonal FOV</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera settings</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Frames per second</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera name</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera Configuration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Head Center Offset</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source> mm</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Use only yaw and pitch while calibrating.
+Don&apos;t roll or change position.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Forward</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Up</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Show Network Input</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+<context>
+ <name>neuralnet_tracker_ns::neuralnet_dialog</name>
+ <message>
+ <source>Default</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 samples. Over %2, good!</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Stop calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+</TS>
diff --git a/tracker-neuralnet/lang/stub.ts b/tracker-neuralnet/lang/stub.ts
new file mode 100644
index 00000000..52b8aded
--- /dev/null
+++ b/tracker-neuralnet/lang/stub.ts
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1">
+<context>
+ <name>Form</name>
+ <message>
+ <source>Tracker settings</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Diagonal FOV</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera settings</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Frames per second</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera name</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera Configuration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Head Center Offset</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source> mm</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Use only yaw and pitch while calibrating.
+Don&apos;t roll or change position.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Forward</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Up</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Show Network Input</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+<context>
+ <name>neuralnet_tracker_ns::neuralnet_dialog</name>
+ <message>
+ <source>Default</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 samples. Over %2, good!</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Stop calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+</TS>
diff --git a/tracker-neuralnet/lang/zh_CN.ts b/tracker-neuralnet/lang/zh_CN.ts
new file mode 100644
index 00000000..2d0dd8ff
--- /dev/null
+++ b/tracker-neuralnet/lang/zh_CN.ts
@@ -0,0 +1,91 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1">
+<context>
+ <name>Form</name>
+ <message>
+ <source>Tracker settings</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Diagonal FOV</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera name</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Frames per second</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera settings</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Camera Configuration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Head Center Offset</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source> mm</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Use only yaw and pitch while calibrating.
+Don&apos;t roll or change position.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Forward</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Up</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Show Network Input</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+<context>
+ <name>neuralnet_tracker_ns::neuralnet_dialog</name>
+ <message>
+ <source>Default</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1 samples. Over %2, good!</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Stop calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Start calibration</source>
+ <translation type="unfinished"></translation>
+ </message>
+</context>
+</TS>
diff --git a/tracker-neuralnet/models/head-localizer.onnx b/tracker-neuralnet/models/head-localizer.onnx
new file mode 100644
index 00000000..c128f89d
--- /dev/null
+++ b/tracker-neuralnet/models/head-localizer.onnx
Binary files differ
diff --git a/tracker-neuralnet/models/head-pose.onnx b/tracker-neuralnet/models/head-pose.onnx
new file mode 100644
index 00000000..dcb55dcc
--- /dev/null
+++ b/tracker-neuralnet/models/head-pose.onnx
Binary files differ
diff --git a/tracker-neuralnet/neuralnet-tracker.qrc b/tracker-neuralnet/neuralnet-tracker.qrc
new file mode 100644
index 00000000..d30ec313
--- /dev/null
+++ b/tracker-neuralnet/neuralnet-tracker.qrc
@@ -0,0 +1,5 @@
+<RCC>
+ <qresource prefix="/">
+ <file>images/neuralnet.png</file>
+ </qresource>
+</RCC>
diff --git a/tracker-neuralnet/neuralnet-trackercontrols.ui b/tracker-neuralnet/neuralnet-trackercontrols.ui
new file mode 100644
index 00000000..f16b5807
--- /dev/null
+++ b/tracker-neuralnet/neuralnet-trackercontrols.ui
@@ -0,0 +1,375 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+ <property name="windowModality">
+ <enum>Qt::NonModal</enum>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>727</width>
+ <height>202</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Tracker settings</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="5" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QFrame" name="frame_3">
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="title">
+ <string>Camera Configuration</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <item row="2" column="1">
+ <widget class="QComboBox" name="cameraName">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="cameraFOV">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="minimum">
+ <number>35</number>
+ </property>
+ <property name="maximum">
+ <number>90</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_12">
+ <property name="text">
+ <string>Frames per second</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>Camera name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Diagonal FOV</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QComboBox" name="cameraFPS">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QPushButton" name="camera_settings">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Camera settings</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_10">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="title">
+ <string>Head Center Offset</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="0" column="0">
+ <widget class="QFrame" name="frame_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_11">
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="ty_spin">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="suffix">
+ <string> mm</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_66">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Right</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="tz_spin">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="suffix">
+ <string> mm</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_61">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Forward</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="tx_spin">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="suffix">
+ <string> mm</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_62">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Up</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QFrame" name="frame_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>260</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QLabel" name="label_59">
+ <property name="text">
+ <string>Use only yaw and pitch while calibrating.
+Don't roll or change position.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ <property name="openExternalLinks">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="sample_count_display">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="tcalib_button">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Start calibration</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QCheckBox" name="showNetworkInput">
+ <property name="text">
+ <string>Show Network Input</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+ <designerdata>
+ <property name="gridDeltaX">
+ <number>10</number>
+ </property>
+ <property name="gridDeltaY">
+ <number>10</number>
+ </property>
+ <property name="gridSnapX">
+ <bool>false</bool>
+ </property>
+ <property name="gridSnapY">
+ <bool>false</bool>
+ </property>
+ <property name="gridVisible">
+ <bool>true</bool>
+ </property>
+ </designerdata>
+</ui>
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-31 21:32:11 +0000