Merge branch 'develop' into feature/Windows-GUI

# Conflicts:
#	exe/FaceLandmarkVidMulti/FaceLandmarkVidMulti.cpp
#	lib/local/GazeAnalyser/src/GazeEstimation.cpp
#	lib/local/LandmarkDetector/include/LandmarkDetectorFunc.h
#	lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp

exe/FeatureExtraction/FeatureExtraction.cpp

@@ -224,10 +224,8 @@ int main (int argc, char **argv)
 	
 	// Get the input output file parameters
 	
-	// Indicates that rotation should be with respect to camera or world coordinates
-	bool use_camera_coordinates = false;
 	string output_codec; //not used but should
-	LandmarkDetector::get_video_input_output_params(input_files, output_files, tracked_videos_output, use_camera_coordinates, output_codec, arguments);
+	LandmarkDetector::get_video_input_output_params(input_files, output_files, tracked_videos_output, output_codec, arguments);
 
 	bool video_input = true;
 	bool images_as_video = false;
@@ -520,15 +518,7 @@ int main (int argc, char **argv)
 			}
 
 			// Work out the pose of the head from the tracked model
-			cv::Vec6d pose_estimate;
+			cv::Vec6d pose_estimate = LandmarkDetector::GetPose(face_model, fx, fy, cx, cy);
-			if(use_camera_coordinates)
-			{
-				pose_estimate = LandmarkDetector::GetCorrectedPoseCamera(face_model, fx, fy, cx, cy);
-			}
-			else
-			{
-				pose_estimate = LandmarkDetector::GetCorrectedPoseWorld(face_model, fx, fy, cx, cy);
-			}
 
 			if (hog_output_file.is_open())
 			{

lib/local/FaceAnalyser/CMakeLists.txt

@@ -1,5 +1,6 @@
 #TBB library
 include_directories(${TBB_ROOT_DIR}/include)
+include_directories(${BLAS_ROOT_DIR})
 
 include_directories(${BOOST_INCLUDE_DIR})
 

lib/local/GazeAnalyser/src/GazeEstimation.cpp

@@ -92,7 +92,6 @@ cv::Point3f GazeAnalysis::GetPupilPosition(cv::Mat_<double> eyeLdmks3d){
 void GazeAnalysis::EstimateGaze(const LandmarkDetector::CLNF& clnf_model, cv::Point3f& gaze_absolute, float fx, float fy, float cx, float cy, bool left_eye)
 {
 	cv::Vec6d headPose = LandmarkDetector::GetPose(clnf_model, fx, fy, cx, cy);
-
 	cv::Vec3d eulerAngles(headPose(3), headPose(4), headPose(5));
 	cv::Matx33d rotMat = LandmarkDetector::Euler2RotationMatrix(eulerAngles);
 

lib/local/LandmarkDetector/include/LandmarkDetectorFunc.h

@@ -70,10 +70,11 @@ namespace LandmarkDetector
 
 	// Return the current estimate of the head pose in world coordinates with camera at origin (0,0,0)
 	// The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-	cv::Vec6d GetPose(const CLNF& clnf_model, double fx, double fy, double cx, double cy);
+	cv::Vec6d GetPose(const CLNF& clnf_model, float fx, float fy, float cx, float cy);
 
 	// Return the current estimate of the head pose in world coordinates with camera at origin (0,0,0), but with rotation representing if the head is looking at the camera
 	// The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-	cv::Vec6d GetPoseWRTCamera(const CLNF& clnf_model, double fx, double fy, double cx, double cy);
+	cv::Vec6d GetPoseWRTCamera(const CLNF& clnf_model, float fx, float fy, float cx, float cy);
+
 }
 #endif

lib/local/LandmarkDetector/include/LandmarkDetectorUtils.h

@@ -53,7 +53,7 @@ namespace LandmarkDetector
 	// Helper functions for parsing the inputs
 	//=============================================================================================
 	void get_video_input_output_params(vector<string> &input_video_file, vector<string> &output_files,
-		vector<string> &output_video_files, bool& camera_coordinates_pose, string &output_codec, vector<string> &arguments);
+		vector<string> &output_video_files, string &output_codec, vector<string> &arguments);
 
 	void get_camera_params(int &device, float &fx, float &fy, float &cx, float &cy, vector<string> &arguments);
 

lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp

@@ -50,15 +50,15 @@ using namespace LandmarkDetector;
 // which is only correct close to the centre of the image
 // This method returns a corrected pose estimate with respect to world coordinates with camera at origin (0,0,0)
 // The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-cv::Vec6d LandmarkDetector::GetPose(const CLNF& clnf_model, double fx, double fy, double cx, double cy)
+cv::Vec6d LandmarkDetector::GetPose(const CLNF& clnf_model, float fx, float fy, float cx, float cy)
 {
-	if(!clnf_model.detected_landmarks.empty() && clnf_model.params_global[0] != 0)
+	if (!clnf_model.detected_landmarks.empty() && clnf_model.params_global[0] != 0)
 	{
 		// This is used as an initial estimate for the iterative PnP algorithm
 		double Z = fx / clnf_model.params_global[0];
 
-		double X = ((clnf_model.params_global[4] - cx) * (1.0/fx)) * Z;
+		double X = ((clnf_model.params_global[4] - cx) * (1.0 / fx)) * Z;
-		double Y = ((clnf_model.params_global[5] - cy) * (1.0/fy)) * Z;
+		double Y = ((clnf_model.params_global[5] - cy) * (1.0 / fy)) * Z;
 
 		// Correction for orientation
 
@@ -89,22 +89,22 @@ cv::Vec6d LandmarkDetector::GetPose(const CLNF& clnf_model, double fx, double fy
 	}
 	else
 	{
-		return cv::Vec6d(0,0,0,0,0,0);
+		return cv::Vec6d(0, 0, 0, 0, 0, 0);
 	}
 }
 
 // Getting a head pose estimate from the currently detected landmarks, with appropriate correction due to perspective projection
 // This method returns a corrected pose estimate with respect to a point camera (NOTE not the world coordinates), which is useful to find out if the person is looking at a camera
 // The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-cv::Vec6d LandmarkDetector::GetPoseWRTCamera(const CLNF& clnf_model, double fx, double fy, double cx, double cy)
+cv::Vec6d LandmarkDetector::GetPoseWRTCamera(const CLNF& clnf_model, float fx, float fy, float cx, float cy)
 {
-	if(!clnf_model.detected_landmarks.empty() && clnf_model.params_global[0] != 0)
+	if (!clnf_model.detected_landmarks.empty() && clnf_model.params_global[0] != 0)
 	{
 
 		double Z = fx / clnf_model.params_global[0];
 
-		double X = ((clnf_model.params_global[4] - cx) * (1.0/fx)) * Z;
+		double X = ((clnf_model.params_global[4] - cx) * (1.0 / fx)) * Z;
-		double Y = ((clnf_model.params_global[5] - cy) * (1.0/fy)) * Z;
+		double Y = ((clnf_model.params_global[5] - cy) * (1.0 / fy)) * Z;
 
 		// Correction for orientation
 
@@ -147,7 +147,7 @@ cv::Vec6d LandmarkDetector::GetPoseWRTCamera(const CLNF& clnf_model, double fx,
 	}
 	else
 	{
-		return cv::Vec6d(0,0,0,0,0,0);
+		return cv::Vec6d(0, 0, 0, 0, 0, 0);
 	}
 }
 

lib/local/LandmarkDetector/src/LandmarkDetectorUtils.cpp

@@ -97,7 +97,7 @@ void create_directories(string output_path)
 
 // Extracting the following command line arguments -f, -op, -of, -ov (and possible ordered repetitions)
 void get_video_input_output_params(vector<string> &input_video_files, vector<string> &output_files,
-	vector<string> &output_video_files, bool& camera_coordinates_pose, string& output_codec, vector<string> &arguments)
+	vector<string> &output_video_files, string& output_codec, vector<string> &arguments)
 {
 	bool* valid = new bool[arguments.size()];
 
@@ -106,9 +106,6 @@ void get_video_input_output_params(vector<string> &input_video_files, vector<str
 		valid[i] = true;
 	}
 
-	// By default use world coordinate system
-	camera_coordinates_pose = false;
-
     // By default use DIVX codec
 	output_codec = "DIVX";
 
@@ -165,10 +162,6 @@ void get_video_input_output_params(vector<string> &input_video_files, vector<str
 			valid[i+1] = false;
 			i++;
 		}		
-		else if (arguments[i].compare("-camera_coord") == 0)
-		{
-			camera_coordinates_pose = true;
-		}
 		else if (arguments[i].compare("-oc") == 0)
 		{
 			if(arguments[i + 1].length() == 4)