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

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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 "PAW.h"
// OpenCV includes
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc.hpp>
#include "LandmarkDetectorUtils.h"
using namespace LandmarkDetector;
// Copy constructor
PAW::PAW(const PAW& other) : destination_landmarks(other.destination_landmarks.clone()), source_landmarks(other.source_landmarks.clone()), triangulation(other.triangulation.clone()),
triangle_id(other.triangle_id.clone()), pixel_mask(other.pixel_mask.clone()), coefficients(other.coefficients.clone()), alpha(other.alpha.clone()), beta(other.beta.clone()), map_x(other.map_x.clone()), map_y(other.map_y.clone())
{
this->number_of_pixels = other.number_of_pixels;
this->min_x = other.min_x;
this->min_y = other.min_y;
}
// A constructor from destination shape and triangulation
PAW::PAW(const cv::Mat_<double>& destination_shape, const cv::Mat_<int>& triangulation)
{
// Initialise some variables directly
this->destination_landmarks = destination_shape;
this->triangulation = triangulation;
int num_points = destination_shape.rows/2;
int num_tris = triangulation.rows;
// Pre-compute the rest
alpha = cv::Mat_<double>(num_tris, 3);
beta = cv::Mat_<double>(num_tris, 3);
cv::Mat_<double> xs = destination_shape(cv::Rect(0, 0, 1, num_points));
cv::Mat_<double> ys = destination_shape(cv::Rect(0, num_points, 1, num_points));
// Create a vector representation of the control points
vector<vector<double>> destination_points;
for (int tri = 0; tri < num_tris; ++tri)
{
int j = triangulation.at<int>(tri, 0);
int k = triangulation.at<int>(tri, 1);
int l = triangulation.at<int>(tri, 2);
double c1 = ys.at<double>(l) - ys.at<double>(j);
double c2 = xs.at<double>(l) - xs.at<double>(j);
double c4 = ys.at<double>(k) - ys.at<double>(j);
double c3 = xs.at<double>(k) - xs.at<double>(j);
double c5 = c3*c1 - c2*c4;
alpha.at<double>(tri, 0) = (ys.at<double>(j) * c2 - xs.at<double>(j) * c1) / c5;
alpha.at<double>(tri, 1) = c1/c5;
alpha.at<double>(tri, 2) = -c2/c5;
beta.at<double>(tri, 0) = (xs.at<double>(j) * c4 - ys.at<double>(j) * c3)/c5;
beta.at<double>(tri, 1) = -c4/c5;
beta.at<double>(tri, 2) = c3/c5;
// Add points corresponding to triangles as optimisation
vector<double> triangle_points(10);
triangle_points[0] = xs.at<double>(j);
triangle_points[1] = ys.at<double>(j);
triangle_points[2] = xs.at<double>(k);
triangle_points[3] = ys.at<double>(k);
triangle_points[4] = xs.at<double>(l);
triangle_points[5] = ys.at<double>(l);
cv::Vec3d xs_three(triangle_points[0], triangle_points[2], triangle_points[4]);
cv::Vec3d ys_three(triangle_points[1], triangle_points[3], triangle_points[5]);
double min_x, max_x, min_y, max_y;
cv::minMaxIdx(xs_three, &min_x, &max_x);
cv::minMaxIdx(ys_three, &min_y, &max_y);
triangle_points[6] = max_x;
triangle_points[7] = max_y;
triangle_points[8] = min_x;
triangle_points[9] = min_y;
destination_points.push_back(triangle_points);
}
double max_x;
double max_y;
minMaxLoc(xs, &min_x, &max_x);
minMaxLoc(ys, &min_y, &max_y);
int w = (int)(max_x - min_x + 1.5);
int h = (int)(max_y - min_y + 1.5);
// Round the min_x and min_y for simplicity?
pixel_mask = cv::Mat_<uchar>(h, w, (uchar)0);
triangle_id = cv::Mat_<int>(h, w, -1);
int curr_tri = -1;
for(int y = 0; y < pixel_mask.rows; y++)
{
for(int x = 0; x < pixel_mask.cols; x++)
{
curr_tri = findTriangle(cv::Point_<double>(x + min_x, y + min_y), destination_points, curr_tri);
// If there is a triangle at this location
if(curr_tri != -1)
{
triangle_id.at<int>(y, x) = curr_tri;
pixel_mask.at<uchar>(y, x) = 1;
}
}
}
// Preallocate maps and coefficients
coefficients.create(num_tris, 6);
map_x.create(pixel_mask.rows,pixel_mask.cols);
map_y.create(pixel_mask.rows,pixel_mask.cols);
}
// Manually define min and max values
PAW::PAW(const cv::Mat_<double>& destination_shape, const cv::Mat_<int>& triangulation, double in_min_x, double in_min_y, double in_max_x, double in_max_y)
{
// Initialise some variables directly
this->destination_landmarks = destination_shape;
this->triangulation = triangulation;
int num_points = destination_shape.rows/2;
int num_tris = triangulation.rows;
// Pre-compute the rest
alpha = cv::Mat_<double>(num_tris, 3);
beta = cv::Mat_<double>(num_tris, 3);
cv::Mat_<double> xs = destination_shape(cv::Rect(0, 0, 1, num_points));
cv::Mat_<double> ys = destination_shape(cv::Rect(0, num_points, 1, num_points));
// Create a vector representation of the control points
vector<vector<double>> destination_points;
for (int tri = 0; tri < num_tris; ++tri)
{
int j = triangulation.at<int>(tri, 0);
int k = triangulation.at<int>(tri, 1);
int l = triangulation.at<int>(tri, 2);
double c1 = ys.at<double>(l) - ys.at<double>(j);
double c2 = xs.at<double>(l) - xs.at<double>(j);
double c4 = ys.at<double>(k) - ys.at<double>(j);
double c3 = xs.at<double>(k) - xs.at<double>(j);
double c5 = c3*c1 - c2*c4;
alpha.at<double>(tri, 0) = (ys.at<double>(j) * c2 - xs.at<double>(j) * c1) / c5;
alpha.at<double>(tri, 1) = c1/c5;
alpha.at<double>(tri, 2) = -c2/c5;
beta.at<double>(tri, 0) = (xs.at<double>(j) * c4 - ys.at<double>(j) * c3)/c5;
beta.at<double>(tri, 1) = -c4/c5;
beta.at<double>(tri, 2) = c3/c5;
// Add points corresponding to triangles as optimisation
vector<double> triangle_points(10);
triangle_points[0] = xs.at<double>(j);
triangle_points[1] = ys.at<double>(j);
triangle_points[2] = xs.at<double>(k);
triangle_points[3] = ys.at<double>(k);
triangle_points[4] = xs.at<double>(l);
triangle_points[5] = ys.at<double>(l);
cv::Vec3d xs_three(triangle_points[0], triangle_points[2], triangle_points[4]);
cv::Vec3d ys_three(triangle_points[1], triangle_points[3], triangle_points[5]);
double min_x, max_x, min_y, max_y;
cv::minMaxIdx(xs_three, &min_x, &max_x);
cv::minMaxIdx(ys_three, &min_y, &max_y);
triangle_points[6] = max_x;
triangle_points[7] = max_y;
triangle_points[8] = min_x;
triangle_points[9] = min_y;
destination_points.push_back(triangle_points);
}
double max_x;
double max_y;
min_x = in_min_x;
min_y = in_min_y;
max_x = in_max_x;
max_y = in_max_y;
int w = (int)(max_x - min_x + 1.5);
int h = (int)(max_y - min_y + 1.5);
// Round the min_x and min_y for simplicity?
pixel_mask = cv::Mat_<uchar>(h, w, (uchar)0);
triangle_id = cv::Mat_<int>(h, w, -1);
int curr_tri = -1;
for(int y = 0; y < pixel_mask.rows; y++)
{
for(int x = 0; x < pixel_mask.cols; x++)
{
curr_tri = findTriangle(cv::Point_<double>(x + min_x, y + min_y), destination_points, curr_tri);
// If there is a triangle at this location
if(curr_tri != -1)
{
triangle_id.at<int>(y, x) = curr_tri;
pixel_mask.at<uchar>(y, x) = 1;
}
}
}
// Preallocate maps and coefficients
coefficients.create(num_tris, 6);
map_x.create(pixel_mask.rows,pixel_mask.cols);
map_y.create(pixel_mask.rows,pixel_mask.cols);
}
//===========================================================================
void PAW::Read(std::ifstream& stream)
{
stream.read ((char*)&number_of_pixels, 4);
stream.read ((char*)&min_x, 8);
stream.read ((char*)&min_y, 8);
LandmarkDetector::ReadMatBin(stream, destination_landmarks);
LandmarkDetector::ReadMatBin(stream, triangulation);
LandmarkDetector::ReadMatBin(stream, triangle_id);
cv::Mat tmpMask;
LandmarkDetector::ReadMatBin(stream, tmpMask);
tmpMask.convertTo(pixel_mask, CV_8U);
LandmarkDetector::ReadMatBin(stream, alpha);
LandmarkDetector::ReadMatBin(stream, beta);
map_x.create(pixel_mask.rows,pixel_mask.cols);
map_y.create(pixel_mask.rows,pixel_mask.cols);
coefficients.create(this->NumberOfTriangles(),6);
source_landmarks = destination_landmarks;
}
//=============================================================================
// cropping from the source image to the destination image using the shape in s, used to determine if shape fitting converged successfully
void PAW::Warp(const cv::Mat& image_to_warp, cv::Mat& destination_image, const cv::Mat_<double>& landmarks_to_warp)
{
// set the current shape
source_landmarks = landmarks_to_warp.clone();
// prepare the mapping coefficients using the current shape
this->CalcCoeff();
// Do the actual mapping computation (where to warp from)
this->WarpRegion(map_x, map_y);
// Do the actual warp (with bi-linear interpolation)
remap(image_to_warp, destination_image, map_x, map_y, CV_INTER_LINEAR);
}
//=============================================================================
// Calculate the warping coefficients
void PAW::CalcCoeff()
{
int p = this->NumberOfLandmarks();
for(int l = 0; l < this->NumberOfTriangles(); l++)
{
int i = triangulation.at<int>(l,0);
int j = triangulation.at<int>(l,1);
int k = triangulation.at<int>(l,2);
double c1 = source_landmarks.at<double>(i , 0);
double c2 = source_landmarks.at<double>(j , 0) - c1;
double c3 = source_landmarks.at<double>(k , 0) - c1;
double c4 = source_landmarks.at<double>(i + p, 0);
double c5 = source_landmarks.at<double>(j + p, 0) - c4;
double c6 = source_landmarks.at<double>(k + p, 0) - c4;
// Get a pointer to the coefficient we will be precomputing
double *coeff = coefficients.ptr<double>(l);
// Extract the relevant alphas and betas
double *c_alpha = alpha.ptr<double>(l);
double *c_beta = beta.ptr<double>(l);
coeff[0] = c1 + c2 * c_alpha[0] + c3 * c_beta[0];
coeff[1] = c2 * c_alpha[1] + c3 * c_beta[1];
coeff[2] = c2 * c_alpha[2] + c3 * c_beta[2];
coeff[3] = c4 + c5 * c_alpha[0] + c6 * c_beta[0];
coeff[4] = c5 * c_alpha[1] + c6 * c_beta[1];
coeff[5] = c5 * c_alpha[2] + c6 * c_beta[2];
}
}
//======================================================================
// Compute the mapping coefficients
void PAW::WarpRegion(cv::Mat_<float>& mapx, cv::Mat_<float>& mapy)
{
cv::MatIterator_<float> xp = mapx.begin();
cv::MatIterator_<float> yp = mapy.begin();
cv::MatIterator_<uchar> mp = pixel_mask.begin();
cv::MatIterator_<int> tp = triangle_id.begin();
// The coefficients corresponding to the current triangle
double * a;
// Current triangle being processed
int k=-1;
for(int y = 0; y < pixel_mask.rows; y++)
{
double yi = double(y) + min_y;
for(int x = 0; x < pixel_mask.cols; x++)
{
double xi = double(x) + min_x;
if(*mp == 0)
{
*xp = -1;
*yp = -1;
}
else
{
// triangle corresponding to the current pixel
int j = *tp;
// If it is different from the previous triangle point to new coefficients
// This will always be the case in the first iteration, hence a will not point to nothing
if(j != k)
{
// Update the coefficient pointer if a new triangle is being processed
a = coefficients.ptr<double>(j);
k = j;
}
//ap is now the pointer to the coefficients
double *ap = a;
//look at the first coefficient (and increment). first coefficient is an x offset
double xo = *ap++;
//second coefficient is an x scale as a function of x
xo += *ap++ * xi;
//third coefficient ap(2) is an x scale as a function of y
*xp = float(xo + *ap++ * yi);
//then fourth coefficient ap(3) is a y offset
double yo = *ap++;
//fifth coeff adds coeff[4]*x to y
yo += *ap++ * xi;
//final coeff adds coeff[5]*y to y
*yp = float(yo + *ap++ * yi);
}
mp++; tp++; xp++; yp++;
}
}
}
// ============================================================
// Helper functions to determine which point a triangle lies in
// ============================================================
// Is the point (x0,y0) on same side as a half-plane defined by (x1,y1), (x2, y2), and (x3, y3)
bool sameSide(double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3)
{
double x = (x3-x2)*(y0-y2) - (x0-x2)*(y3-y2);
double y = (x3-x2)*(y1-y2) - (x1-x2)*(y3-y2);
return x*y >= 0;
}
// if point (x0, y0) is on same side for all three half-planes it is in a triangle
bool pointInTriangle(double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3)
{
bool same_1 = sameSide(x0, y0, x1, y1, x2, y2, x3, y3);
bool same_2 = sameSide(x0, y0, x2, y2, x1, y1, x3, y3);
bool same_3 = sameSide(x0, y0, x3, y3, x1, y1, x2, y2);
return same_1 && same_2 && same_3;
}
// Find if a given point lies in the triangles
int PAW::findTriangle(const cv::Point_<double>& point, const std::vector<vector<double>>& control_points, int guess) const
{
int num_tris = control_points.size();
int tri = -1;
double x0 = point.x;
double y0 = point.y;
// Allow a guess for speed (so as not to go through all triangles)
if(guess != -1)
{
bool in_triangle = pointInTriangle(x0, y0, control_points[guess][0], control_points[guess][1], control_points[guess][2], control_points[guess][3], control_points[guess][4], control_points[guess][5]);
if(in_triangle)
{
return guess;
}
}
for (int i = 0; i < num_tris; ++i)
{
double max_x = control_points[i][6];
double max_y = control_points[i][7];
double min_x = control_points[i][8];
double min_y = control_points[i][9];
// Skip the check if the point is outside the bounding box of the triangle
if( max_x < x0 || min_x > x0 || max_y < y0 || min_y > y0)
{
continue;
}
bool in_triangle = pointInTriangle(x0, y0,
control_points[i][0], control_points[i][1],
control_points[i][2], control_points[i][3],
control_points[i][4], control_points[i][5]);
if(in_triangle)
{
tri = i;
break;
}
}
return tri;
}