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Simplifying head pose estimation.

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This commit is contained in:
Tadas Baltrusaitis 2016-11-23 17:17:26 -05:00
parent 6eb46088f8
commit 9900e8b0de
14 changed files with 50 additions and 113 deletions
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8
exe/FaceLandmarkImg/FaceLandmarkImg.cpp
View file

@ -466,7 +466,7 @@ int main (int argc, char **argv)
bool success = LandmarkDetector::DetectLandmarksInImage(grayscale_image, depth_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);
@ -521,7 +521,7 @@ 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);
@ -582,7 +582,7 @@ 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);
@ -615,7 +615,7 @@ 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
View file

@ -136,7 +136,7 @@ void visualise_tracking(cv::Mat& captured_image, cv::Mat_<float>& depth_image, c
// 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);
@ -192,9 +192,8 @@ 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, depth_directories, out_dummy, output_video_files, u, output_codec, arguments);
LandmarkDetector::get_video_input_output_params(files, depth_directories, 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
View file

@ -150,9 +150,8 @@ 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, depth_directories, dummy_out, tracked_videos_output, u, output_codec, arguments);
LandmarkDetector::get_video_input_output_params(files, depth_directories, dummy_out, tracked_videos_output, output_codec, arguments);
// Get camera parameters
LandmarkDetector::get_camera_params(device, fx, fy, cx, cy, arguments);
@ -404,7 +403,7 @@ 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);

15
exe/FeatureExtraction/FeatureExtraction.cpp
View file

@ -190,7 +190,7 @@ 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);
@ -252,9 +252,8 @@ 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_world_coordinates;
string output_codec; //not used but should
LandmarkDetector::get_video_input_output_params(input_files, depth_directories, output_files, tracked_videos_output, use_world_coordinates, output_codec, arguments);
LandmarkDetector::get_video_input_output_params(input_files, depth_directories, output_files, tracked_videos_output, output_codec, arguments);
bool video_input = true;
bool verbose = true;
@ -596,15 +595,7 @@ 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)
{
pose_estimate = LandmarkDetector::GetCorrectedPoseWorld(face_model, fx, fy, cx, cy);
}
else
{
pose_estimate = LandmarkDetector::GetCorrectedPoseCamera(face_model, fx, fy, cx, cy);
}
cv::Vec6d pose_estimate = LandmarkDetector::GetPose(face_model, fx, fy, cx, cy);
if(hog_output_file.is_open())
{

6
lib/local/CppInerop/LandmarkDetectorInterop.h
View file

@ -263,7 +263,7 @@ namespace CppInterop {
}
void GetCorrectedPoseCamera(System::Collections::Generic::List<double>^ pose, double fx, double fy, double cx, double cy) {
auto pose_vec = ::LandmarkDetector::GetCorrectedPoseCamera(*clnf, fx, fy, cx, cy);
auto pose_vec = ::LandmarkDetector::GetPoseWRTCamera(*clnf, fx, fy, cx, cy);
pose->Clear();
for(int i = 0; i < 6; ++i)
{
@ -272,7 +272,7 @@ namespace CppInterop {
}
void GetCorrectedPoseWorld(System::Collections::Generic::List<double>^ pose, double fx, double fy, double cx, double cy) {
auto pose_vec = ::LandmarkDetector::GetCorrectedPoseWorld(*clnf, fx, fy, cx, cy);
auto pose_vec = ::LandmarkDetector::GetPose(*clnf, fx, fy, cx, cy);
pose->Clear();
for(int i = 0; i < 6; ++i)
{
@ -322,7 +322,7 @@ namespace CppInterop {
System::Collections::Generic::List<System::Tuple<System::Windows::Point, System::Windows::Point>^>^ CalculateBox(float fx, float fy, float cx, float cy) {
cv::Vec6d pose = ::LandmarkDetector::GetCorrectedPoseWorld(*clnf, fx,fy, cx, cy);
cv::Vec6d pose = ::LandmarkDetector::GetPose(*clnf, fx,fy, cx, cy);
vector<pair<cv::Point2d, cv::Point2d>> vecLines = ::LandmarkDetector::CalculateBox(pose, fx, fy, cx, cy);

2
lib/local/FaceAnalyser/src/GazeEstimation.cpp
View file

@ -112,7 +112,7 @@ cv::Point3f FaceAnalysis::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::GetPose(clnf_model, fx, fy, cx, cy);
cv::Vec3d eulerAngles(headPose(3), headPose(4), headPose(5));
cv::Matx33d rotMat = LandmarkDetector::Euler2RotationMatrix(eulerAngles);

18
lib/local/LandmarkDetector/include/LandmarkDetectorFunc.h
View file

@ -100,20 +100,12 @@ 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, double fx, double fy, double cx, double 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, double fx, double fy, double cx, double cy);
}
#endif

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

@ -77,7 +77,7 @@ namespace LandmarkDetector
// Helper functions for parsing the inputs
//=============================================================================================
void get_video_input_output_params(vector<string> &input_video_file, vector<string> &depth_dir, vector<string> &output_files,
vector<string> &output_video_files, bool& world_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);

66
lib/local/LandmarkDetector/src/LandmarkDetectorFunc.cpp
View file

@ -70,63 +70,11 @@
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)
{
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)
cv::Vec6d LandmarkDetector::GetPose(const CLNF& clnf_model, double fx, double fy, double cx, double cy)
{
if(!clnf_model.detected_landmarks.empty() && clnf_model.params_global[0] != 0)
{
@ -161,7 +109,7 @@ cv::Vec6d LandmarkDetector::GetCorrectedPoseWorld(const CLNF& clnf_model, double
cv::Vec3d euler = LandmarkDetector::AxisAngle2Euler(vec_rot);
return cv::Vec6d(vec_trans[0], vec_trans[1], vec_trans[2], vec_rot[0], vec_rot[1], vec_rot[2]);
return cv::Vec6d(vec_trans[0], vec_trans[1], vec_trans[2], euler[0], euler[1], euler[2]);
}
else
{
@ -170,9 +118,9 @@ cv::Vec6d LandmarkDetector::GetCorrectedPoseWorld(const CLNF& clnf_model, double
}
// 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, double fx, double fy, double cx, double cy)
{
if(!clnf_model.detected_landmarks.empty() && clnf_model.params_global[0] != 0)
{

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

@ -121,7 +121,7 @@ void create_directories(string output_path)
// Extracting the following command line arguments -f, -fd, -op, -of, -ov (and possible ordered repetitions)
void get_video_input_output_params(vector<string> &input_video_files, vector<string> &depth_dirs, vector<string> &output_files,
vector<string> &output_video_files, bool& world_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()];
@ -130,9 +130,6 @@ 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 DIVX codec
output_codec = "DIVX";
@ -195,10 +192,6 @@ void get_video_input_output_params(vector<string> &input_video_files, vector<str
valid[i] = false;
valid[i+1] = false;
i++;
}
else if (arguments[i].compare("-world_coord") == 0)
{
world_coordinates_pose = true;
}
else if (arguments[i].compare("-oc") == 0)
{

19
matlab_runners/Head Pose Experiments/calcBiwiError.m
View file

@ -23,7 +23,8 @@ for i=1:numel(seqNames)
rotg{i} = posesGround(:,[5 6 7]);
rot{i} = [rx ry rz];
T = [tx ty tx];
% Correct the first frame so it corresponds to (0,0,0), as slightly
% different pose might be assumed frontal and this corrects for
% that
@ -36,7 +37,21 @@ for i=1:numel(seqNames)
rotg{i}(r_e,:) = Rot2Euler(rot_new_gt);
end
% Work out the correction matrix for estimates
% First move the orientation to camera space
zx = sqrt(tx.^2 + tz.^2);
eul_x = atan2(ty, zx);
zy = sqrt(ty.^2 + tz.^2);
eul_y = -atan2(tx, zy);
for r_e = 1:size(rot{i},1)
cam_rot = Euler2Rot([eul_x(r_e), eul_y(r_e), 0]);
h_rot = Euler2Rot(rot{i}(r_e,:));
c_rot = cam_rot * h_rot;
rot{i}(r_e,:) = Rot2Euler(c_rot);
end
% Work out the correction matrix for estimates
rot_corr_est = Euler2Rot(rot{i}(1,:));
for r_e = 1:size(rot{i},1)
rot_curr_est = Euler2Rot(rot{i}(r_e,:));

BIN
matlab_runners/Head Pose Experiments/results/Pose_OF.mat
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Binary file not shown.

6
matlab_runners/Head Pose Experiments/results/Pose_OF.txt
View file

@ -1,4 +1,4 @@
Dataset and model, pitch, yaw, roll, mean, median
biwi error: 7.955, 5.583, 4.402, 5.980, 2.624
bu error: 2.762, 4.103, 2.568, 3.145, 2.118
ict error: 3.619, 3.606, 3.625, 3.617, 2.027
biwi error: 7.955, 5.583, 4.403, 5.980, 2.624
bu error: 2.734, 3.350, 2.459, 2.848, 1.974
ict error: 3.610, 3.959, 3.369, 3.646, 1.967

2
matlab_runners/Head Pose Experiments/run_ict_experiment.m
View file

@ -41,7 +41,7 @@ for i=3:numTogether:numel(dbSeqDir)
inputFile = [ictDir dbSeqDir(i+n).name '/colour undist.avi'];
outputFile = [outputDir dbSeqDir(i+n).name '.txt'];
command = cat(2, command, [' -f "' inputFile '" -op "' outputFile '" ']);
command = cat(2, command, [' -f "' inputFile '" -of "' outputFile '" ']);
if(depth)
dDir = [ictDir dbSeqDir(i+n).name '/depthAligned/'];