Adding visualization utilities files.
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Tadas Baltrusaitis
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///////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2017, Tadas Baltrusaitis all rights reserved.
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//
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// ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY
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//
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// BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT.
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// IF YOU DO NOT AGREE WITH THESE TERMS, YOU MAY NOT USE OR DOWNLOAD THE SOFTWARE.
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//
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// License can be found in OpenFace-license.txt
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//
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// * Any publications arising from the use of this software, including but
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// not limited to academic journal and conference publications, technical
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// reports and manuals, must cite at least one of the following works:
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//
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// OpenFace: an open source facial behavior analysis toolkit
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// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency
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// in IEEE Winter Conference on Applications of Computer Vision, 2016
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//
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// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
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// Erroll Wood, Tadas Baltrušaitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
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// in IEEE International. Conference on Computer Vision (ICCV), 2015
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//
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// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
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// Tadas Baltrušaitis, Marwa Mahmoud, and Peter Robinson
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// in Facial Expression Recognition and Analysis Challenge,
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// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
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//
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// Constrained Local Neural Fields for robust facial landmark detection in the wild.
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// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency.
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// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
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//
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///////////////////////////////////////////////////////////////////////////////
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#ifndef __VISUALIZATION_UTILS_h_
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#define __VISUALIZATION_UTILS_h_
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#include <opencv2/core/core.hpp>
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#include <vector>
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namespace Utilities
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{
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void DrawLandmarkDetResults(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& visibilities);
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void DrawPoseDetResults(cv::Mat image, cv::Vec6d pose, double confidence, float fx, float fy, float cx, float cy);
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void DrawEyeTrackResults(cv::Mat image, const cv::Mat_<double>& eye_landmarks, cv::Point3f gazeVecAxisLeft, cv::Point3f gazeVecAxisRight, float fx, float fy, float cx, float cy);
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// TODO draw AU results
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// Helper utilities
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void Project(cv::Mat_<double>& dest, const cv::Mat_<double>& mesh, double fx, double fy, double cx, double cy);
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// Drawing a bounding box around the face in an image
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void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, float fx, float fy, float cx, float cy);
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void DrawBox(std::vector<std::pair<cv::Point, cv::Point>> lines, cv::Mat image, cv::Scalar color, int thickness);
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// Computing a bounding box to be drawn
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std::vector<std::pair<cv::Point2d, cv::Point2d>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy);
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}
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#endif
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///////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2017, Tadas Baltrusaitis, all rights reserved.
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//
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// ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY
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//
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// BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT.
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// IF YOU DO NOT AGREE WITH THESE TERMS, YOU MAY NOT USE OR DOWNLOAD THE SOFTWARE.
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//
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// License can be found in OpenFace-license.txt
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//
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// * Any publications arising from the use of this software, including but
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// not limited to academic journal and conference publications, technical
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// reports and manuals, must cite at least one of the following works:
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//
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// OpenFace: an open source facial behavior analysis toolkit
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// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency
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// in IEEE Winter Conference on Applications of Computer Vision, 2016
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//
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// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
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// Erroll Wood, Tadas Baltrušaitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
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// in IEEE International. Conference on Computer Vision (ICCV), 2015
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//
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// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
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// Tadas Baltrušaitis, Marwa Mahmoud, and Peter Robinson
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// in Facial Expression Recognition and Analysis Challenge,
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// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
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//
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// Constrained Local Neural Fields for robust facial landmark detection in the wild.
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// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency.
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// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
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//
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///////////////////////////////////////////////////////////////////////////////
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#include "VisualizationUtils.h"
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using namespace Utilities;
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void Project(cv::Mat_<double>& dest, const cv::Mat_<double>& mesh, double fx, double fy, double cx, double cy)
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{
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dest = cv::Mat_<double>(mesh.rows, 2, 0.0);
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int num_points = mesh.rows;
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double X, Y, Z;
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cv::Mat_<double>::const_iterator mData = mesh.begin();
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cv::Mat_<double>::iterator projected = dest.begin();
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for (int i = 0; i < num_points; i++)
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{
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// Get the points
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X = *(mData++);
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Y = *(mData++);
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Z = *(mData++);
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double x;
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double y;
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// if depth is 0 the projection is different
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if (Z != 0)
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{
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x = ((X * fx / Z) + cx);
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y = ((Y * fy / Z) + cy);
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}
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else
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{
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x = X;
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y = Y;
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}
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// Project and store in dest matrix
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(*projected++) = x;
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(*projected++) = y;
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}
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}
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void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, float fx, float fy, float cx, float cy)
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{
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auto edge_lines = CalculateBox(pose, fx, fy, cx, cy);
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DrawBox(edge_lines, image, color, thickness);
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}
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std::vector<std::pair<cv::Point2d, cv::Point2d>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy)
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{
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double boxVerts[] = { -1, 1, -1,
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1, 1, -1,
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1, 1, 1,
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-1, 1, 1,
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1, -1, 1,
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1, -1, -1,
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-1, -1, -1,
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-1, -1, 1 };
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std::vector<std::pair<int, int>> edges;
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edges.push_back(std::pair<int, int>(0, 1));
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edges.push_back(std::pair<int, int>(1, 2));
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edges.push_back(std::pair<int, int>(2, 3));
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edges.push_back(std::pair<int, int>(0, 3));
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edges.push_back(std::pair<int, int>(2, 4));
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edges.push_back(std::pair<int, int>(1, 5));
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edges.push_back(std::pair<int, int>(0, 6));
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edges.push_back(std::pair<int, int>(3, 7));
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edges.push_back(std::pair<int, int>(6, 5));
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edges.push_back(std::pair<int, int>(5, 4));
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edges.push_back(std::pair<int, int>(4, 7));
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edges.push_back(std::pair<int, int>(7, 6));
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// The size of the head is roughly 200mm x 200mm x 200mm
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cv::Mat_<double> box = cv::Mat(8, 3, CV_64F, boxVerts).clone() * 100;
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cv::Matx33d rot = LandmarkDetector::Euler2RotationMatrix(cv::Vec3d(pose[3], pose[4], pose[5]));
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cv::Mat_<double> rotBox;
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// Rotate the box
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rotBox = cv::Mat(rot) * box.t();
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rotBox = rotBox.t();
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// Move the bounding box to head position
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rotBox.col(0) = rotBox.col(0) + pose[0];
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rotBox.col(1) = rotBox.col(1) + pose[1];
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rotBox.col(2) = rotBox.col(2) + pose[2];
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// draw the lines
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cv::Mat_<double> rotBoxProj;
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Project(rotBoxProj, rotBox, fx, fy, cx, cy);
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std::vector<std::pair<cv::Point2d, cv::Point2d>> lines;
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for (size_t i = 0; i < edges.size(); ++i)
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{
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cv::Mat_<double> begin;
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cv::Mat_<double> end;
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rotBoxProj.row(edges[i].first).copyTo(begin);
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rotBoxProj.row(edges[i].second).copyTo(end);
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cv::Point2d p1(begin.at<double>(0), begin.at<double>(1));
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cv::Point2d p2(end.at<double>(0), end.at<double>(1));
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lines.push_back(std::pair<cv::Point2d, cv::Point2d>(p1, p2));
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}
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return lines;
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}
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void DrawBox(std::vector<std::pair<cv::Point, cv::Point>> lines, cv::Mat image, cv::Scalar color, int thickness)
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{
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cv::Rect image_rect(0, 0, image.cols, image.rows);
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for (size_t i = 0; i < lines.size(); ++i)
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{
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cv::Point p1 = lines.at(i).first;
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cv::Point p2 = lines.at(i).second;
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// Only draw the line if one of the points is inside the image
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if (p1.inside(image_rect) || p2.inside(image_rect))
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{
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cv::line(image, p1, p2, color, thickness, CV_AA);
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}
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}
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}
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