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Reporting a gaze angle that makes more sense.

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This commit is contained in:
Tadas Baltrusaitis 2017-10-22 10:03:23 +01:00
parent f6f0d6201c
commit 4b85fe21ac
5 changed files with 11 additions and 18 deletions
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2
exe/FeatureExtraction/FeatureExtraction.cpp
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@ -496,7 +496,7 @@ int main (int argc, char **argv)
{ {
GazeAnalysis::EstimateGaze(face_model, gazeDirection0, fx, fy, cx, cy, true); GazeAnalysis::EstimateGaze(face_model, gazeDirection0, fx, fy, cx, cy, true);
GazeAnalysis::EstimateGaze(face_model, gazeDirection1, fx, fy, cx, cy, false); GazeAnalysis::EstimateGaze(face_model, gazeDirection1, fx, fy, cx, cy, false);
gazeAngle = GazeAnalysis::GetGazeAngle(gazeDirection0, gazeDirection1, pose_estimate); gazeAngle = GazeAnalysis::GetGazeAngle(gazeDirection0, gazeDirection1);
} }
// Do face alignment // Do face alignment

4
gui/OpenFaceOffline/Recorder.cs
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@ -200,7 +200,7 @@ namespace OpenFaceOffline
List<double> pose = new List<double>(); List<double> pose = new List<double>();
clnf_model.GetPose(pose, fx, fy, cx, cy); clnf_model.GetPose(pose, fx, fy, cx, cy);
output_features_file.Write(String.Format("{0}, {1}, {2:F3}, {3}", frame_ind, time_stamp, confidence, success ? 1 : 0)); output_features_file.Write(String.Format("{0}, {1}, {2:F3}, {3}", frame_ind, time_stamp, confidence, success ? 1 : 0));
if (output_gaze) if (output_gaze)
@ -222,7 +222,7 @@ namespace OpenFaceOffline
} }
if (output_pose) if (output_pose)
output_features_file.Write(String.Format(", {0:F3}, {1:F3}, {2:F3}, {3:F3}, {4:F3}, {5:F3}", pose[0], pose[1], pose[2], pose[3], pose[4], pose[5])); output_features_file.Write(String.Format(", {0:F4}, {1:F4}, {2:F4}, {3:F4}, {4:F4}, {5:F4}", pose[0], pose[1], pose[2], pose[3], pose[4], pose[5]));
if (output_2D_landmarks) if (output_2D_landmarks)
{ {

4
lib/local/CppInerop/GazeAnalyserInterop.h
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@ -109,10 +109,8 @@ namespace GazeAnalyser_Interop {
// Estimate the gaze angle WRT to head pose here // Estimate the gaze angle WRT to head pose here
System::Collections::Generic::List<double>^ pose_list = gcnew System::Collections::Generic::List<double>(); System::Collections::Generic::List<double>^ pose_list = gcnew System::Collections::Generic::List<double>();
clnf->GetPose(pose_list, fx, fy, cx, cy);
cv::Vec6d pose(pose_list[0], pose_list[1], pose_list[2], pose_list[3], pose_list[4], pose_list[5]);
*gazeAngle = GazeAnalysis::GetGazeAngle(*gazeDirection0, *gazeDirection1, pose); *gazeAngle = GazeAnalysis::GetGazeAngle(*gazeDirection0, *gazeDirection1);
// Grab pupil locations // Grab pupil locations
int part_left = -1; int part_left = -1;

6
lib/local/GazeAnalyser/include/GazeEstimation.h
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@ -45,9 +45,9 @@ namespace GazeAnalysis
void EstimateGaze(const LandmarkDetector::CLNF& clnf_model, cv::Point3f& gaze_absolute, float fx, float fy, float cx, float cy, bool left_eye); void EstimateGaze(const LandmarkDetector::CLNF& clnf_model, cv::Point3f& gaze_absolute, float fx, float fy, float cx, float cy, bool left_eye);
void DrawGaze(cv::Mat img, const LandmarkDetector::CLNF& clnf_model, cv::Point3f gazeVecAxisLeft, cv::Point3f gazeVecAxisRight, float fx, float fy, float cx, float cy); void DrawGaze(cv::Mat img, const LandmarkDetector::CLNF& clnf_model, cv::Point3f gazeVecAxisLeft, cv::Point3f gazeVecAxisRight, float fx, float fy, float cx, float cy);
// Getting the gaze angle in radians with respect to head pose (need to call EstimateGaze first) // Getting the gaze angle in radians with respect to the world coordinates (camera plane), when looking ahead straight at camera plane the gaze angle will be (0,0)
cv::Vec2d GetGazeAngle(cv::Point3f& gaze_vector_1, cv::Point3f& gaze_vector_2, cv::Vec6d head_pose); cv::Vec2d GetGazeAngle(cv::Point3f& gaze_vector_1, cv::Point3f& gaze_vector_2);
// Some utilities // Some utilities
cv::Point3f GetPupilPosition(cv::Mat_<double> eyeLdmks3d); cv::Point3f GetPupilPosition(cv::Mat_<double> eyeLdmks3d);

13
lib/local/GazeAnalyser/src/GazeEstimation.cpp
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@ -136,18 +136,13 @@ void GazeAnalysis::EstimateGaze(const LandmarkDetector::CLNF& clnf_model, cv::Po
gaze_absolute = gazeVecAxis / norm(gazeVecAxis); gaze_absolute = gazeVecAxis / norm(gazeVecAxis);
} }
cv::Vec2d GazeAnalysis::GetGazeAngle(cv::Point3f& gaze_vector_1, cv::Point3f& gaze_vector_2, cv::Vec6d head_pose) cv::Vec2d GazeAnalysis::GetGazeAngle(cv::Point3f& gaze_vector_1, cv::Point3f& gaze_vector_2)
{ {
cv::Vec3d eulerAngles(head_pose(3), head_pose(4), head_pose(5)); cv::Point3f gaze_vector = (gaze_vector_1 + gaze_vector_2) / 2;
cv::Matx33d rotMat = LandmarkDetector::Euler2RotationMatrix(eulerAngles);
cv::Point3f gaze_point = (gaze_vector_1 + gaze_vector_2) / 2;
cv::Vec3d gaze(gaze_point.x, gaze_point.y, gaze_point.z);
gaze = rotMat * gaze; double x_angle = atan2(gaze_vector.x, -gaze_vector.z);
double y_angle = atan2(gaze_vector.y, -gaze_vector.z);
double x_angle = atan2(gaze[0], -gaze[2]);
double y_angle = atan2(gaze[1], -gaze[2]);
return cv::Vec2d(x_angle, y_angle); return cv::Vec2d(x_angle, y_angle);