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Merge branch 'develop' into feature/Windows-GUI

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# Conflicts:
#	exe/FaceLandmarkVidMulti/FaceLandmarkVidMulti.cpp
#	lib/local/GazeAnalyser/src/GazeEstimation.cpp
#	lib/local/LandmarkDetector/include/LandmarkDetectorFunc.h
#	lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp
This commit is contained in:
Tadas Baltrusaitis 2017-10-25 17:21:47 +01:00
commit 038ce5823d
7 changed files with 28 additions and 44 deletions
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14
exe/FeatureExtraction/FeatureExtraction.cpp
View file

@ -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;
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);
}
cv::Vec6d pose_estimate = LandmarkDetector::GetPose(face_model, fx, fy, cx, cy);
if (hog_output_file.is_open())
{

1
lib/local/FaceAnalyser/CMakeLists.txt
View file

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

1
lib/local/GazeAnalyser/src/GazeEstimation.cpp
View file

@ -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);

5
lib/local/LandmarkDetector/include/LandmarkDetectorFunc.h
View file

@ -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

2
lib/local/LandmarkDetector/include/LandmarkDetectorUtils.h
View file

@ -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);

40
lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp
View file

@ -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 Y = ((clnf_model.params_global[5] - cy) * (1.0/fy)) * 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;
// Correction for orientation
@ -77,35 +77,35 @@ cv::Vec6d LandmarkDetector::GetPose(const CLNF& clnf_model, double fx, double fy
// The camera matrix
cv::Matx33d camera_matrix(fx, 0, cx, 0, fy, cy, 0, 0, 1);
cv::Vec3d vec_trans(X, Y, Z);
cv::Vec3d vec_rot(clnf_model.params_global[1], clnf_model.params_global[2], clnf_model.params_global[3]);
cv::solvePnP(landmarks_3D, landmarks_2D, camera_matrix, cv::Mat(), vec_rot, vec_trans, true);
cv::Vec3d euler = LandmarkDetector::AxisAngle2Euler(vec_rot);
return cv::Vec6d(vec_trans[0], vec_trans[1], vec_trans[2], euler[0], euler[1], euler[2]);
}
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 Y = ((clnf_model.params_global[5] - cy) * (1.0/fy)) * 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;
// Correction for orientation
// 3D points
@ -116,17 +116,17 @@ cv::Vec6d LandmarkDetector::GetPoseWRTCamera(const CLNF& clnf_model, double fx,
// 2D points
cv::Mat_<double> landmarks_2D = clnf_model.detected_landmarks;
landmarks_2D = landmarks_2D.reshape(1, 2).t();
// Solving the PNP model
// The camera matrix
cv::Matx33d camera_matrix(fx, 0, cx, 0, fy, cy, 0, 0, 1);
cv::Vec3d vec_trans(X, Y, Z);
cv::Vec3d vec_rot(clnf_model.params_global[1], clnf_model.params_global[2], clnf_model.params_global[3]);
cv::solvePnP(landmarks_3D, landmarks_2D, camera_matrix, cv::Mat(), vec_rot, vec_trans, true);
// Here we correct for the camera orientation, for this need to determine the angle the camera makes with the head pose
@ -142,12 +142,12 @@ cv::Vec6d LandmarkDetector::GetPoseWRTCamera(const CLNF& clnf_model, double fx,
cv::Matx33d corrected_rotation = camera_rotation * head_rotation;
cv::Vec3d euler_corrected = LandmarkDetector::RotationMatrix2Euler(corrected_rotation);
return cv::Vec6d(vec_trans[0], vec_trans[1], vec_trans[2], euler_corrected[0], euler_corrected[1], euler_corrected[2]);
}
else
{
return cv::Vec6d(0,0,0,0,0,0);
return cv::Vec6d(0, 0, 0, 0, 0, 0);
}
}

9
lib/local/LandmarkDetector/src/LandmarkDetectorUtils.cpp
View file

@ -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)