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Moving everything to world coordinate space to avoid confusion, it is still possible to call with respect to camera space through code though.

This commit is contained in:
Tadas Baltrusaitis 2017-10-24 16:26:08 +01:00
parent 863b62adb8
commit 790e10fdbd
10 changed files with 44 additions and 119 deletions
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8
exe/FaceLandmarkImg/FaceLandmarkImg.cpp
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@ -421,7 +421,7 @@ int main (int argc, char **argv)
bool success = LandmarkDetector::DetectLandmarksInImage(grayscale_image, face_detections[face], clnf_model, det_parameters);
// Estimate head pose and eye gaze
cv::Vec6d headPose = LandmarkDetector::GetCorrectedPoseWorld(clnf_model, fx, fy, cx, cy);
cv::Vec6d headPose = LandmarkDetector::GetPose(clnf_model, fx, fy, cx, cy);
// Gaze tracking, absolute gaze direction
cv::Point3f gazeDirection0(0, 0, -1);
@ -477,7 +477,7 @@ int main (int argc, char **argv)
if (det_parameters.track_gaze)
{
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetCorrectedPoseWorld(clnf_model, fx, fy, cx, cy);
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetPose(clnf_model, fx, fy, cx, cy);
// Draw it in reddish if uncertain, blueish if certain
LandmarkDetector::DrawBox(read_image, pose_estimate_to_draw, cv::Scalar(255.0, 0, 0), 3, fx, fy, cx, cy);
@ -538,7 +538,7 @@ int main (int argc, char **argv)
LandmarkDetector::DetectLandmarksInImage(grayscale_image, bounding_boxes[i], clnf_model, det_parameters);
// Estimate head pose and eye gaze
cv::Vec6d headPose = LandmarkDetector::GetCorrectedPoseWorld(clnf_model, fx, fy, cx, cy);
cv::Vec6d headPose = LandmarkDetector::GetPose(clnf_model, fx, fy, cx, cy);
// Gaze tracking, absolute gaze direction
cv::Point3f gazeDirection0(0, 0, -1);
@ -573,7 +573,7 @@ int main (int argc, char **argv)
if (det_parameters.track_gaze)
{
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetCorrectedPoseWorld(clnf_model, fx, fy, cx, cy);
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetPose(clnf_model, fx, fy, cx, cy);
// Draw it in reddish if uncertain, blueish if certain
LandmarkDetector::DrawBox(read_image, pose_estimate_to_draw, cv::Scalar(255.0, 0, 0), 3, fx, fy, cx, cy);

5
exe/FaceLandmarkVid/FaceLandmarkVid.cpp
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@ -112,7 +112,7 @@ void visualise_tracking(cv::Mat& captured_image, const LandmarkDetector::CLNF& f
// A rough heuristic for box around the face width
int thickness = (int)std::ceil(2.0* ((double)captured_image.cols) / 640.0);
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetCorrectedPoseWorld(face_model, fx, fy, cx, cy);
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetPose(face_model, fx, fy, cx, cy);
// Draw it in reddish if uncertain, blueish if certain
LandmarkDetector::DrawBox(captured_image, pose_estimate_to_draw, cv::Scalar((1 - vis_certainty)*255.0, 0, vis_certainty * 255), thickness, fx, fy, cx, cy);
@ -161,9 +161,8 @@ int main (int argc, char **argv)
// Get the input output file parameters
// Indicates that rotation should be with respect to world or camera coordinates
bool u;
string output_codec;
LandmarkDetector::get_video_input_output_params(files, out_dummy, output_video_files, u, output_codec, arguments);
LandmarkDetector::get_video_input_output_params(files, out_dummy, output_video_files, output_codec, arguments);
// The modules that are being used for tracking
LandmarkDetector::CLNF clnf_model(det_parameters.model_location);

5
exe/FaceLandmarkVidMulti/FaceLandmarkVidMulti.cpp
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@ -126,9 +126,8 @@ int main (int argc, char **argv)
det_parameters.push_back(det_params);
// Get the input output file parameters
bool u;
string output_codec;
LandmarkDetector::get_video_input_output_params(files, dummy_out, tracked_videos_output, u, output_codec, arguments);
LandmarkDetector::get_video_input_output_params(files, dummy_out, tracked_videos_output, output_codec, arguments);
// Get camera parameters
LandmarkDetector::get_camera_params(device, fx, fy, cx, cy, arguments);
@ -355,7 +354,7 @@ int main (int argc, char **argv)
int thickness = (int)std::ceil(2.0* ((double)captured_image.cols) / 640.0);
// Work out the pose of the head from the tracked model
cv::Vec6d pose_estimate = LandmarkDetector::GetCorrectedPoseWorld(clnf_models[model], fx, fy, cx, cy);
cv::Vec6d pose_estimate = LandmarkDetector::GetPose(clnf_models[model], fx, fy, cx, cy);
// Draw it in reddish if uncertain, blueish if certain
LandmarkDetector::DrawBox(disp_image, pose_estimate, cv::Scalar((1-detection_certainty)*255.0,0, detection_certainty*255), thickness, fx, fy, cx, cy);

16
exe/FeatureExtraction/FeatureExtraction.cpp
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@ -169,7 +169,7 @@ void visualise_tracking(cv::Mat& captured_image, const LandmarkDetector::CLNF& f
// A rough heuristic for box around the face width
int thickness = (int)std::ceil(2.0* ((double)captured_image.cols) / 640.0);
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetCorrectedPoseWorld(face_model, fx, fy, cx, cy);
cv::Vec6d pose_estimate_to_draw = LandmarkDetector::GetPose(face_model, fx, fy, cx, cy);
// Draw it in reddish if uncertain, blueish if certain
LandmarkDetector::DrawBox(captured_image, pose_estimate_to_draw, cv::Scalar((1 - vis_certainty)*255.0, 0, vis_certainty * 255), thickness, fx, fy, cx, cy);
@ -223,10 +223,8 @@ 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;
@ -517,15 +515,7 @@ 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
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@ -1,5 +1,6 @@
#TBB library
include_directories(${TBB_ROOT_DIR}/include)
include_directories(${BLAS_ROOT_DIR})
include_directories(${BOOST_INCLUDE_DIR})

2
lib/local/FaceAnalyser/src/GazeEstimation.cpp
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@ -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::GetCorrectedPoseWorld(clnf_model, fx, fy, cx, cy);
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);

15
lib/local/LandmarkDetector/include/LandmarkDetectorFunc.h
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@ -68,18 +68,13 @@ namespace LandmarkDetector
//================================================================
// Helper function for getting head pose from CLNF parameters
// Return the current estimate of the head pose, this can be either in camera or world coordinate space
// 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 GetPoseCamera(const CLNF& clnf_model, double fx, double fy, double cx, double cy);
cv::Vec6d GetPoseWorld(const CLNF& clnf_model, double fx, double fy, double cx, double cy);
// Getting a head pose estimate from the currently detected landmarks, with appropriate correction for perspective
// This is because rotation estimate under orthographic assumption is only correct close to the centre of the image
// These methods attempt to correct for that
// The pose returned can be either in camera or world coordinates
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 GetCorrectedPoseCamera(const CLNF& clnf_model, double fx, double fy, double cx, double cy);
cv::Vec6d GetCorrectedPoseWorld(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);
//===========================================================================

2
lib/local/LandmarkDetector/include/LandmarkDetectorUtils.h
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@ -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);

100
lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp
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@ -46,71 +46,19 @@
using namespace LandmarkDetector;
// Getting a head pose estimate from the currently detected landmarks (rotation with respect to point camera)
// Getting a head pose estimate from the currently detected landmarks, with appropriate correction due to the PDM assuming an orthographic camera
// 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::GetPoseCamera(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)
{
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;
return cv::Vec6d(X, Y, Z, clnf_model.params_global[1], clnf_model.params_global[2], clnf_model.params_global[3]);
}
else
{
return cv::Vec6d(0,0,0,0,0,0);
}
}
// Getting a head pose estimate from the currently detected landmarks (rotation in world coordinates)
// The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
cv::Vec6d LandmarkDetector::GetPoseWorld(const CLNF& clnf_model, double fx, double fy, double cx, double cy)
{
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;
// Here we correct for the camera orientation, for this need to determine the angle the camera makes with the head pose
double z_x = cv::sqrt(X * X + Z * Z);
double eul_x = atan2(Y, z_x);
double z_y = cv::sqrt(Y * Y + Z * Z);
double eul_y = -atan2(X, z_y);
cv::Matx33d camera_rotation = LandmarkDetector::Euler2RotationMatrix(cv::Vec3d(eul_x, eul_y, 0));
cv::Matx33d head_rotation = LandmarkDetector::AxisAngle2RotationMatrix(cv::Vec3d(clnf_model.params_global[1], clnf_model.params_global[2], clnf_model.params_global[3]));
cv::Matx33d corrected_rotation = camera_rotation.t() * head_rotation;
cv::Vec3d euler_corrected = LandmarkDetector::RotationMatrix2Euler(corrected_rotation);
return cv::Vec6d(X, Y, Z, euler_corrected[0], euler_corrected[1], euler_corrected[2]);
}
else
{
return cv::Vec6d(0,0,0,0,0,0);
}
}
// Getting a head pose estimate from the currently detected landmarks, with appropriate correction due to orthographic camera issue
// This is because rotation estimate under orthographic assumption is only correct close to the centre of the image
// This method returns a corrected pose estimate with respect to world coordinates (Experimental)
// The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
cv::Vec6d LandmarkDetector::GetCorrectedPoseWorld(const CLNF& clnf_model, double fx, double fy, double cx, double 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
@ -129,35 +77,35 @@ cv::Vec6d LandmarkDetector::GetCorrectedPoseWorld(const CLNF& clnf_model, double
// 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) (Experimental)
// 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::GetCorrectedPoseCamera(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
@ -168,17 +116,17 @@ cv::Vec6d LandmarkDetector::GetCorrectedPoseCamera(const CLNF& clnf_model, doubl
// 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
@ -194,12 +142,12 @@ cv::Vec6d LandmarkDetector::GetCorrectedPoseCamera(const CLNF& clnf_model, doubl
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)