sustaining_gazes/lib/local/LandmarkDetector/src/Patch_experts.cpp

437 lines
14 KiB
C++
Raw Normal View History

2016-04-28 19:40:36 +00:00
///////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2017, Carnegie Mellon University and University of Cambridge,
2016-04-28 19:40:36 +00:00
// all rights reserved.
//
// ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY
//
// BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT.
// IF YOU DO NOT AGREE WITH THESE TERMS, YOU MAY NOT USE OR DOWNLOAD THE SOFTWARE.
//
// License can be found in OpenFace-license.txt
2016-04-28 19:40:36 +00:00
//
// * Any publications arising from the use of this software, including but
// not limited to academic journal and conference publications, technical
// reports and manuals, must cite at least one of the following works:
//
// OpenFace: an open source facial behavior analysis toolkit
// Tadas Baltru<72>aitis, Peter Robinson, and Louis-Philippe Morency
// in IEEE Winter Conference on Applications of Computer Vision, 2016
//
// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
// Erroll Wood, Tadas Baltru<72>aitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
// in IEEE International. Conference on Computer Vision (ICCV), 2015
//
// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
// Tadas Baltru<72>aitis, Marwa Mahmoud, and Peter Robinson
// in Facial Expression Recognition and Analysis Challenge,
// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
//
// Constrained Local Neural Fields for robust facial landmark detection in the wild.
// Tadas Baltru<72>aitis, Peter Robinson, and Louis-Philippe Morency.
// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
//
///////////////////////////////////////////////////////////////////////////////
#include "stdafx.h"
#include "Patch_experts.h"
// OpenCV includes
#include <opencv2/core/core_c.h>
#include <opencv2/imgproc/imgproc_c.h>
// TBB includes
#include <tbb/tbb.h>
// Math includes
#define _USE_MATH_DEFINES
#include <cmath>
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#include "LandmarkDetectorUtils.h"
using namespace LandmarkDetector;
// A copy constructor
Patch_experts::Patch_experts(const Patch_experts& other) : patch_scaling(other.patch_scaling), centers(other.centers), svr_expert_intensity(other.svr_expert_intensity), ccnf_expert_intensity(other.ccnf_expert_intensity)
2016-04-28 19:40:36 +00:00
{
// Make sure the matrices are allocated properly
this->sigma_components.resize(other.sigma_components.size());
for (size_t i = 0; i < other.sigma_components.size(); ++i)
{
this->sigma_components[i].resize(other.sigma_components[i].size());
for (size_t j = 0; j < other.sigma_components[i].size(); ++j)
{
// Make sure the matrix is copied.
this->sigma_components[i][j] = other.sigma_components[i][j].clone();
}
}
// Make sure the matrices are allocated properly
this->visibilities.resize(other.visibilities.size());
for (size_t i = 0; i < other.visibilities.size(); ++i)
{
this->visibilities[i].resize(other.visibilities[i].size());
for (size_t j = 0; j < other.visibilities[i].size(); ++j)
{
// Make sure the matrix is copied.
this->visibilities[i][j] = other.visibilities[i][j].clone();
}
}
}
// Returns the patch expert responses given a grayscale image.
2016-04-28 19:40:36 +00:00
// Additionally returns the transform from the image coordinates to the response coordinates (and vice versa).
// The computation also requires the current landmark locations to compute response around, the PDM corresponding to the desired model, and the parameters describing its instance
// Also need to provide the size of the area of interest and the desired scale of analysis
void Patch_experts::Response(vector<cv::Mat_<float> >& patch_expert_responses, cv::Matx22f& sim_ref_to_img, cv::Matx22d& sim_img_to_ref, const cv::Mat_<uchar>& grayscale_image,
2016-04-28 19:40:36 +00:00
const PDM& pdm, const cv::Vec6d& params_global, const cv::Mat_<double>& params_local, int window_size, int scale)
{
int view_id = GetViewIdx(params_global, scale);
int n = pdm.NumberOfPoints();
// Compute the current landmark locations (around which responses will be computed)
cv::Mat_<double> landmark_locations;
pdm.CalcShape2D(landmark_locations, params_local, params_global);
cv::Mat_<double> reference_shape;
// Initialise the reference shape on which we'll be warping
cv::Vec6d global_ref(patch_scaling[scale], 0, 0, 0, 0, 0);
// Compute the reference shape
pdm.CalcShape2D(reference_shape, params_local, global_ref);
// similarity and inverse similarity transform to and from image and reference shape
cv::Mat_<double> reference_shape_2D = (reference_shape.reshape(1, 2).t());
cv::Mat_<double> image_shape_2D = landmark_locations.reshape(1, 2).t();
sim_img_to_ref = AlignShapesWithScale(image_shape_2D, reference_shape_2D);
cv::Matx22d sim_ref_to_img_d = sim_img_to_ref.inv(cv::DECOMP_LU);
double a1 = sim_ref_to_img_d(0,0);
double b1 = -sim_ref_to_img_d(0,1);
sim_ref_to_img(0,0) = (float)sim_ref_to_img_d(0,0);
sim_ref_to_img(0,1) = (float)sim_ref_to_img_d(0,1);
sim_ref_to_img(1,0) = (float)sim_ref_to_img_d(1,0);
sim_ref_to_img(1,1) = (float)sim_ref_to_img_d(1,1);
bool use_ccnf = !this->ccnf_expert_intensity.empty();
// If using CCNF patch experts might need to precalculate Sigmas
if(use_ccnf)
{
vector<cv::Mat_<float> > sigma_components;
// Retrieve the correct sigma component size
for( size_t w_size = 0; w_size < this->sigma_components.size(); ++w_size)
{
if(!this->sigma_components[w_size].empty())
{
if(window_size*window_size == this->sigma_components[w_size][0].rows)
{
sigma_components = this->sigma_components[w_size];
}
}
}
// Go through all of the landmarks and compute the Sigma for each
for( int lmark = 0; lmark < n; lmark++)
{
// Only for visible landmarks
if(visibilities[scale][view_id].at<int>(lmark,0))
{
// Precompute sigmas if they are not computed yet
ccnf_expert_intensity[scale][view_id][lmark].ComputeSigmas(sigma_components, window_size);
}
}
}
// calculate the patch responses for every landmark, Actual work happens here. If openMP is turned on it is possible to do this in parallel,
// this might work well on some machines, while potentially have an adverse effect on others
#ifdef _OPENMP
#pragma omp parallel for
#endif
tbb::parallel_for(0, (int)n, [&](int i){
//for(int i = 0; i < n; i++)
{
if(visibilities[scale][view_id].rows == n)
{
if(visibilities[scale][view_id].at<int>(i,0) != 0)
{
// Work out how big the area of interest has to be to get a response of window size
int area_of_interest_width;
int area_of_interest_height;
if(use_ccnf)
{
area_of_interest_width = window_size + ccnf_expert_intensity[scale][view_id][i].width - 1;
area_of_interest_height = window_size + ccnf_expert_intensity[scale][view_id][i].height - 1;
}
else
{
area_of_interest_width = window_size + svr_expert_intensity[scale][view_id][i].width - 1;
area_of_interest_height = window_size + svr_expert_intensity[scale][view_id][i].height - 1;
}
// scale and rotate to mean shape to reference frame
cv::Mat sim = (cv::Mat_<float>(2,3) << a1, -b1, landmark_locations.at<double>(i,0), b1, a1, landmark_locations.at<double>(i+n,0));
// Extract the region of interest around the current landmark location
cv::Mat_<float> area_of_interest(area_of_interest_height, area_of_interest_width);
// Using C style openCV as it does what we need
CvMat area_of_interest_o = area_of_interest;
CvMat sim_o = sim;
IplImage im_o = grayscale_image;
cvGetQuadrangleSubPix(&im_o, &area_of_interest_o, &sim_o);
// get the correct size response window
patch_expert_responses[i] = cv::Mat_<float>(window_size, window_size);
// Get intensity response either from the SVR or CCNF patch experts (prefer CCNF)
if(!ccnf_expert_intensity.empty())
{
ccnf_expert_intensity[scale][view_id][i].Response(area_of_interest, patch_expert_responses[i]);
}
else
{
svr_expert_intensity[scale][view_id][i].Response(area_of_interest, patch_expert_responses[i]);
}
}
}
}
});
}
//=============================================================================
// Getting the closest view center based on orientation
int Patch_experts::GetViewIdx(const cv::Vec6d& params_global, int scale) const
{
int idx = 0;
double dbest;
for(int i = 0; i < this->nViews(scale); i++)
{
double v1 = params_global[1] - centers[scale][i][0];
double v2 = params_global[2] - centers[scale][i][1];
double v3 = params_global[3] - centers[scale][i][2];
double d = v1*v1 + v2*v2 + v3*v3;
if(i == 0 || d < dbest)
{
dbest = d;
idx = i;
}
}
return idx;
}
//===========================================================================
void Patch_experts::Read(vector<string> intensity_svr_expert_locations, vector<string> intensity_ccnf_expert_locations)
2016-04-28 19:40:36 +00:00
{
// initialise the SVR intensity patch expert parameters
int num_intensity_svr = intensity_svr_expert_locations.size();
centers.resize(num_intensity_svr);
visibilities.resize(num_intensity_svr);
patch_scaling.resize(num_intensity_svr);
svr_expert_intensity.resize(num_intensity_svr);
// Reading in SVR intensity patch experts for each scales it is defined in
for(int scale = 0; scale < num_intensity_svr; ++scale)
{
string location = intensity_svr_expert_locations[scale];
cout << "Reading the intensity SVR patch experts from: " << location << "....";
Read_SVR_patch_experts(location, centers[scale], visibilities[scale], svr_expert_intensity[scale], patch_scaling[scale]);
}
// Initialise and read CCNF patch experts (currently only intensity based),
int num_intensity_ccnf = intensity_ccnf_expert_locations.size();
// CCNF experts override the SVR ones
if(num_intensity_ccnf > 0)
{
centers.resize(num_intensity_ccnf);
visibilities.resize(num_intensity_ccnf);
patch_scaling.resize(num_intensity_ccnf);
ccnf_expert_intensity.resize(num_intensity_ccnf);
}
for(int scale = 0; scale < num_intensity_ccnf; ++scale)
{
string location = intensity_ccnf_expert_locations[scale];
cout << "Reading the intensity CCNF patch experts from: " << location << "....";
Read_CCNF_patch_experts(location, centers[scale], visibilities[scale], ccnf_expert_intensity[scale], patch_scaling[scale]);
}
}
//======================= Reading the SVR patch experts =========================================//
void Patch_experts::Read_SVR_patch_experts(string expert_location, std::vector<cv::Vec3d>& centers, std::vector<cv::Mat_<int> >& visibility, std::vector<std::vector<Multi_SVR_patch_expert> >& patches, double& scale)
{
ifstream patchesFile(expert_location.c_str(), ios_base::in);
if(patchesFile.is_open())
{
LandmarkDetector::SkipComments(patchesFile);
patchesFile >> scale;
LandmarkDetector::SkipComments(patchesFile);
int numberViews;
patchesFile >> numberViews;
// read the visibility
centers.resize(numberViews);
visibility.resize(numberViews);
patches.resize(numberViews);
LandmarkDetector::SkipComments(patchesFile);
// centers of each view (which view corresponds to which orientation)
for(size_t i = 0; i < centers.size(); i++)
{
cv::Mat center;
LandmarkDetector::ReadMat(patchesFile, center);
center.copyTo(centers[i]);
centers[i] = centers[i] * M_PI / 180.0;
}
LandmarkDetector::SkipComments(patchesFile);
// the visibility of points for each of the views (which verts are visible at a specific view
for(size_t i = 0; i < visibility.size(); i++)
{
LandmarkDetector::ReadMat(patchesFile, visibility[i]);
}
int numberOfPoints = visibility[0].rows;
LandmarkDetector::SkipComments(patchesFile);
// read the patches themselves
for(size_t i = 0; i < patches.size(); i++)
{
// number of patches for each view
patches[i].resize(numberOfPoints);
// read in each patch
for(int j = 0; j < numberOfPoints; j++)
{
patches[i][j].Read(patchesFile);
}
}
cout << "Done" << endl;
}
else
{
cout << "Can't find/open the patches file" << endl;
}
}
//======================= Reading the CCNF patch experts =========================================//
void Patch_experts::Read_CCNF_patch_experts(string patchesFileLocation, std::vector<cv::Vec3d>& centers, std::vector<cv::Mat_<int> >& visibility, std::vector<std::vector<CCNF_patch_expert> >& patches, double& patchScaling)
{
ifstream patchesFile(patchesFileLocation.c_str(), ios::in | ios::binary);
if(patchesFile.is_open())
{
patchesFile.read ((char*)&patchScaling, 8);
int numberViews;
patchesFile.read ((char*)&numberViews, 4);
// read the visibility
centers.resize(numberViews);
visibility.resize(numberViews);
patches.resize(numberViews);
// centers of each view (which view corresponds to which orientation)
for(size_t i = 0; i < centers.size(); i++)
{
cv::Mat center;
LandmarkDetector::ReadMatBin(patchesFile, center);
center.copyTo(centers[i]);
centers[i] = centers[i] * M_PI / 180.0;
}
// the visibility of points for each of the views (which verts are visible at a specific view
for(size_t i = 0; i < visibility.size(); i++)
{
LandmarkDetector::ReadMatBin(patchesFile, visibility[i]);
}
int numberOfPoints = visibility[0].rows;
// Read the possible SigmaInvs (without beta), this will be followed by patch reading (this assumes all of them have the same type, and number of betas)
int num_win_sizes;
int num_sigma_comp;
patchesFile.read ((char*)&num_win_sizes, 4);
vector<int> windows;
windows.resize(num_win_sizes);
vector<vector<cv::Mat_<float> > > sigma_components;
sigma_components.resize(num_win_sizes);
for (int w=0; w < num_win_sizes; ++w)
{
patchesFile.read ((char*)&windows[w], 4);
patchesFile.read ((char*)&num_sigma_comp, 4);
sigma_components[w].resize(num_sigma_comp);
for(int s=0; s < num_sigma_comp; ++s)
{
LandmarkDetector::ReadMatBin(patchesFile, sigma_components[w][s]);
}
}
this->sigma_components = sigma_components;
// read the patches themselves
for(size_t i = 0; i < patches.size(); i++)
{
// number of patches for each view
patches[i].resize(numberOfPoints);
// read in each patch
for(int j = 0; j < numberOfPoints; j++)
{
patches[i][j].Read(patchesFile, windows, sigma_components);
}
}
cout << "Done" << endl;
}
else
{
cout << "Can't find/open the patches file" << endl;
}
}