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Gaze estimation correction with offset, changing world coordinates to be default ones.

This commit is contained in:
Tadas Baltrusaitis 2017-10-20 21:59:10 +01:00
parent a47cbc5fd8
commit 1cfb765bb9
4 changed files with 13 additions and 13 deletions
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10
exe/FeatureExtraction/FeatureExtraction.cpp
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@ -232,9 +232,9 @@ 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_world_coordinates;
bool use_camera_coordinates;
string output_codec; //not used but should
LandmarkDetector::get_video_input_output_params(input_files, output_files, tracked_videos_output, use_world_coordinates, output_codec, arguments);
LandmarkDetector::get_video_input_output_params(input_files, output_files, tracked_videos_output, use_camera_coordinates, output_codec, arguments);
bool video_input = true;
bool images_as_video = false;
@ -584,13 +584,13 @@ int main (int argc, char **argv)
// Work out the pose of the head from the tracked model
cv::Vec6d pose_estimate;
if(use_world_coordinates)
if(use_camera_coordinates)
{
pose_estimate = LandmarkDetector::GetCorrectedPoseWorld(face_model, fx, fy, cx, cy);
pose_estimate = LandmarkDetector::GetCorrectedPoseCamera(face_model, fx, fy, cx, cy);
}
else
{
pose_estimate = LandmarkDetector::GetCorrectedPoseCamera(face_model, fx, fy, cx, cy);
pose_estimate = LandmarkDetector::GetCorrectedPoseWorld(face_model, fx, fy, cx, cy);
}
if (hog_output_file.is_open())

4
lib/local/FaceAnalyser/src/GazeEstimation.cpp
View File

@ -88,7 +88,7 @@ cv::Point3f GetPupilPosition(cv::Mat_<double> eyeLdmks3d){
void FaceAnalysis::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::GetPoseCamera(clnf_model, fx, fy, cx, cy);
cv::Vec6d headPose = LandmarkDetector::GetCorrectedPoseWorld(clnf_model, fx, fy, cx, cy);
cv::Vec3d eulerAngles(headPose(3), headPose(4), headPose(5));
cv::Matx33d rotMat = LandmarkDetector::Euler2RotationMatrix(eulerAngles);
@ -117,7 +117,7 @@ void FaceAnalysis::EstimateGaze(const LandmarkDetector::CLNF& clnf_model, cv::Po
cv::Mat faceLdmks3d = clnf_model.GetShape(fx, fy, cx, cy);
faceLdmks3d = faceLdmks3d.t();
cv::Mat offset = (cv::Mat_<double>(3, 1) << 0, -3.50, 0);
cv::Mat offset = (cv::Mat_<double>(3, 1) << 0, -3.50, 7.0);
int eyeIdx = 1;
if (left_eye)
{

2
lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp
View File

@ -111,7 +111,7 @@ cv::Vec6d LandmarkDetector::GetCorrectedPoseWorld(const CLNF& clnf_model, double
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
// 2D points

10
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& world_coordinates_pose, string& output_codec, vector<string> &arguments)
vector<string> &output_video_files, bool& camera_coordinates_pose, string& output_codec, vector<string> &arguments)
{
bool* valid = new bool[arguments.size()];
@ -106,8 +106,8 @@ void get_video_input_output_params(vector<string> &input_video_files, vector<str
valid[i] = true;
}
// By default use rotation with respect to camera (not world coordinates)
world_coordinates_pose = false;
// By default use world coordinate system
camera_coordinates_pose = false;
// By default use DIVX codec
output_codec = "DIVX";
@ -165,9 +165,9 @@ void get_video_input_output_params(vector<string> &input_video_files, vector<str
valid[i+1] = false;
i++;
}
else if (arguments[i].compare("-world_coord") == 0)
else if (arguments[i].compare("-camera_coord") == 0)
{
world_coordinates_pose = true;
camera_coordinates_pose = true;
}
else if (arguments[i].compare("-oc") == 0)
{