sustaining_gazes/lib/local/LandmarkDetector/include/PDM.h

127 lines
7 KiB
C
Raw Normal View History

2016-04-28 19:40:36 +00:00
///////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2016, Carnegie Mellon University and University of Cambridge,
// all rights reserved.
//
// THIS SOFTWARE IS PROVIDED <20>AS IS<49> FOR ACADEMIC USE ONLY AND ANY EXPRESS
// OR IMPLIED WARRANTIES WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
// THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS
// BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY.
// OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
// STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Notwithstanding the license granted herein, Licensee acknowledges that certain components
// of the Software may be covered by so-called <20>open source<63> software licenses (<28>Open Source
// Components<74>), which means any software licenses approved as open source licenses by the
// Open Source Initiative or any substantially similar licenses, including without limitation any
// license that, as a condition of distribution of the software licensed under such license,
// requires that the distributor make the software available in source code format. Licensor shall
// provide a list of Open Source Components for a particular version of the Software upon
// Licensee<65>s request. Licensee will comply with the applicable terms of such licenses and to
// the extent required by the licenses covering Open Source Components, the terms of such
// licenses will apply in lieu of the terms of this Agreement. To the extent the terms of the
// licenses applicable to Open Source Components prohibit any of the restrictions in this
// License Agreement with respect to such Open Source Component, such restrictions will not
// apply to such Open Source Component. To the extent the terms of the licenses applicable to
// Open Source Components require Licensor to make an offer to provide source code or
// related information in connection with the Software, such offer is hereby made. Any request
// for source code or related information should be directed to cl-face-tracker-distribution@lists.cam.ac.uk
// Licensee acknowledges receipt of notices for the Open Source Components for the initial
// delivery of the Software.
// * 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.
//
///////////////////////////////////////////////////////////////////////////////
#ifndef __PDM_h_
#define __PDM_h_
// OpenCV includes
#include <opencv2/core/core.hpp>
#include "LandmarkDetectorParameters.h"
namespace LandmarkDetector
{
//===========================================================================
// A linear 3D Point Distribution Model (constructed using Non-Rigid structure from motion or PCA)
// Only describes the model but does not contain an instance of it (no local or global parameters are stored here)
// Contains the utility functions to help manipulate the model
class PDM{
public:
// The 3D mean shape vector of the PDM [x1,..,xn,y1,...yn,z1,...,zn]
cv::Mat_<double> mean_shape;
// Principal components or variation bases of the model,
cv::Mat_<double> princ_comp;
// Eigenvalues (variances) corresponding to the bases
cv::Mat_<double> eigen_values;
PDM(){;}
// A copy constructor
PDM(const PDM& other);
void Read(string location);
// Number of vertices
inline int NumberOfPoints() const {return mean_shape.rows/3;}
// Listing the number of modes of variation
inline int NumberOfModes() const {return princ_comp.cols;}
void Clamp(cv::Mat_<float>& params_local, cv::Vec6d& params_global, const FaceModelParameters& params);
// Compute shape in object space (3D)
void CalcShape3D(cv::Mat_<double>& out_shape, const cv::Mat_<double>& params_local) const;
// Compute shape in image space (2D)
void CalcShape2D(cv::Mat_<double>& out_shape, const cv::Mat_<double>& params_local, const cv::Vec6d& params_global) const;
// provided the bounding box of a face and the local parameters (with optional rotation), generates the global parameters that can generate the face with the provided bounding box
void CalcParams(cv::Vec6d& out_params_global, const cv::Rect_<double>& bounding_box, const cv::Mat_<double>& params_local, const cv::Vec3d rotation = cv::Vec3d(0.0));
// Provided the landmark location compute global and local parameters best fitting it (can provide optional rotation for potentially better results)
void CalcParams(cv::Vec6d& out_params_global, const cv::Mat_<double>& out_params_local, const cv::Mat_<double>& landmark_locations, const cv::Vec3d rotation = cv::Vec3d(0.0));
// provided the model parameters, compute the bounding box of a face
void CalcBoundingBox(cv::Rect& out_bounding_box, const cv::Vec6d& params_global, const cv::Mat_<double>& params_local);
// Helpers for computing Jacobians, and Jacobians with the weight matrix
void ComputeRigidJacobian(const cv::Mat_<float>& params_local, const cv::Vec6d& params_global, cv::Mat_<float> &Jacob, const cv::Mat_<float> W, cv::Mat_<float> &Jacob_t_w);
void ComputeJacobian(const cv::Mat_<float>& params_local, const cv::Vec6d& params_global, cv::Mat_<float> &Jacobian, const cv::Mat_<float> W, cv::Mat_<float> &Jacob_t_w);
// Given the current parameters, and the computed delta_p compute the updated parameters
void UpdateModelParameters(const cv::Mat_<float>& delta_p, cv::Mat_<float>& params_local, cv::Vec6d& params_global);
};
//===========================================================================
}
#endif