diff options
Diffstat (limited to 'tracker-neuralnet/ftnoir_tracker_neuralnet.h')
| -rw-r--r-- | tracker-neuralnet/ftnoir_tracker_neuralnet.h | 27 |
1 files changed, 17 insertions, 10 deletions
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.h b/tracker-neuralnet/ftnoir_tracker_neuralnet.h index b6405d1a..25f1a0a2 100644 --- a/tracker-neuralnet/ftnoir_tracker_neuralnet.h +++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.h @@ -50,7 +50,7 @@ enum fps_choices }; -struct settings : opts { +struct Settings : opts { value<int> offset_fwd { b, "offset-fwd", 200 }, // Millimeters offset_up { b, "offset-up", 0 }, offset_right { b, "offset-right", 0 }; @@ -58,8 +58,11 @@ struct settings : opts { 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 }; + value<double> roi_filter_alpha{ b, "roi-filter-alpha", 1. }; + value<double> roi_zoom{ b, "roi-zoom", 1. }; value<bool> use_mjpeg { b, "use-mjpeg", false }; - settings(); + value<int> num_threads { b, "num-threads", 1 }; + Settings(); }; @@ -118,23 +121,26 @@ class PoseEstimator private: // Operates on the private image data members int find_input_intensity_90_pct_quantile() const; + + int64_t model_version = 0; Ort::Session session{nullptr}; + Ort::Allocator allocator; // Inputs cv::Mat scaled_frame{}, input_mat{}; - Ort::Value input_val{nullptr}; + std::vector<Ort::Value> input_val; + std::vector<const char*> input_names; // 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}}; + std::vector<Ort::Value> output_val; + std::vector<const char*> output_names; + size_t num_recurrent_states = 0; double last_inference_time = 0; - int64_t model_version = 0; }; + class neuralnet_tracker : protected virtual QThread, public ITracker { Q_OBJECT @@ -162,7 +168,7 @@ private: Affine compute_pose(const PoseEstimator::Face &face) const; - settings s; + Settings settings; std::optional<Localizer> localizer; std::optional<PoseEstimator> poseestimator; Ort::Env env{nullptr}; @@ -177,6 +183,7 @@ private: double fps = 0; double last_inference_time = 0; static constexpr double RC = .25; + int num_threads = 1; QMutex mtx; // Protects the pose Affine pose_; @@ -197,7 +204,7 @@ private: void make_fps_combobox(); Ui::Form ui; - settings s; + Settings settings; // Calibration code mostly taken from point tracker QTimer calib_timer; |