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Some more bug fixes with visualization and recording. Creating a metafile for recorded data.

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This commit is contained in:
Tadas Baltrusaitis 2017-11-12 21:40:30 +00:00
parent fd4d06166a
commit bee6d185cb
6 changed files with 142 additions and 82 deletions
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2
exe/FeatureExtraction/FeatureExtraction.cpp
View file

@ -206,7 +206,7 @@ int main (int argc, char **argv)
visualizer.SetObservationHOG(hog_descriptor, num_hog_rows, num_hog_cols);
visualizer.SetObservationLandmarks(face_model.detected_landmarks, face_model.detection_certainty, detection_success);
visualizer.SetObservationPose(pose_estimate, face_model.detection_certainty);
visualizer.SetObservationGaze(gazeDirection0, gazeDirection1, gazeAngle, LandmarkDetector::CalculateAllEyeLandmarks(face_model), LandmarkDetector::Calculate3DEyeLandmarks(face_model, sequence_reader.fx, sequence_reader.fy, sequence_reader.cx, sequence_reader.cy));
visualizer.SetObservationGaze(gazeDirection0, gazeDirection1, gazeAngle, LandmarkDetector::CalculateAllEyeLandmarks(face_model), LandmarkDetector::Calculate3DEyeLandmarks(face_model, sequence_reader.fx, sequence_reader.fy, sequence_reader.cx, sequence_reader.cy), face_model.detection_certainty);
visualizer.ShowObservation();
// Setting up the recorder output

2
lib/local/Utilities/include/RecorderOpenFace.h
View file

@ -105,9 +105,11 @@ namespace Utilities
// Keep track of the file and output root location
std::string record_root = "processed"; // By default we are writing in the processed directory in the working directory
std::string of_filename;
std::string filename;
std::string csv_filename;
std::string aligned_output_directory;
std::ofstream metadata_file;
// The actual output file stream that will be written
RecorderCSV csv_recorder;

5
lib/local/Utilities/include/Visualizer.h
View file

@ -72,7 +72,7 @@ namespace Utilities
void SetObservationPose(const cv::Vec6d& pose, double confidence);
// Gaze related observations
void SetObservationGaze(const cv::Point3f& gazeDirection0, const cv::Point3f& gazeDirection1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks, const std::vector<cv::Point3d>& eye_landmarks3d);
void SetObservationGaze(const cv::Point3f& gazeDirection0, const cv::Point3f& gazeDirection1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks, const std::vector<cv::Point3d>& eye_landmarks3d, double confidence);
// Face alignment related observations
void SetObservationFaceAlign(const cv::Mat& aligned_face);
@ -88,6 +88,9 @@ namespace Utilities
bool vis_track;
bool vis_hog;
bool vis_align;
// Can be adjusted to show less confident frames
double visualisation_boundary = 0.4;
private:

57
lib/local/Utilities/src/RecorderOpenFace.cpp
View file

@ -77,32 +77,80 @@ RecorderOpenFace::RecorderOpenFace(const std::string in_filename, RecorderOpenFa
// From the filename, strip out the name without directory and extension
filename = path(in_filename).replace_extension("").filename().string();
// Consuming the input arguments
bool* valid = new bool[arguments.size()];
for (size_t i = 0; i < arguments.size(); ++i)
{
valid[i] = true;
}
string record_root;
for (size_t i = 0; i < arguments.size(); ++i)
{
if (arguments[i].compare("-outroot") == 0)
{
record_root = arguments[i + 1];
}
}
// Determine output directory
bool output_found = false;
for (size_t i = 0; i < arguments.size(); ++i)
{
if (arguments[i].compare("-out_dir") == 0)
{
record_root = arguments[i + 1];
record_root = (boost::filesystem::path(record_root) / boost::filesystem::path(arguments[i + 1])).string();
}
else if (!output_found && arguments[i].compare("-of") == 0)
{
record_root = (boost::filesystem::path(record_root) / boost::filesystem::path(arguments[i + 1])).remove_filename().string();
filename = path(boost::filesystem::path(arguments[i + 1])).replace_extension("").filename().string();
valid[i] = false;
valid[i + 1] = false;
i++;
output_found = true;
}
}
for (int i = (int)arguments.size() - 1; i >= 0; --i)
{
if (!valid[i])
{
arguments.erase(arguments.begin() + i);
}
}
// Construct the directories required for the output
CreateDirectory(record_root);
// Create the filename for the general output file that contains all of the meta information about the recording
path of_det_name(filename);
of_det_name = path(record_root) / of_det_name.concat("_of_details.txt");
// Write in the of file what we are outputing what is the input etc.
metadata_file.open(of_det_name.string(), std::ios_base::out);
// Populate the metadata file
metadata_file << "Input:" << in_filename << endl;
// Create the required individual recorders, CSV, HOG, aligned, video
csv_filename = (path(record_root) / path(filename).replace_extension(".csv")).string();
metadata_file << "Output csv:" << csv_filename << endl;
// Consruct HOG recorder here
if(params.outputHOG())
{
std::string hog_filename = (path(record_root) / path(filename).replace_extension(".hog")).string();
hog_recorder.Open(hog_filename);
metadata_file << "Output HOG:" << csv_filename << endl;
}
// saving the videos
if (params.outputTrackedVideo())
{
this->video_filename = (path(record_root) / path(filename).replace_extension(".avi")).string();
metadata_file << "Output video:" << this->video_filename << endl;
}
// Prepare image recording
@ -110,9 +158,10 @@ RecorderOpenFace::RecorderOpenFace(const std::string in_filename, RecorderOpenFa
{
aligned_output_directory = (path(record_root) / path(filename + "_aligned")).string();
CreateDirectory(aligned_output_directory);
metadata_file << "Output aligned directory:" << this->aligned_output_directory << endl;
}
observation_count = 0;
}
@ -279,6 +328,8 @@ void RecorderOpenFace::Close()
hog_recorder.Close();
csv_recorder.Close();
video_writer.release();
metadata_file.close();
}

154
lib/local/Utilities/src/Visualizer.cpp
View file

@ -109,23 +109,26 @@ void Visualizer::SetObservationHOG(const cv::Mat_<double>& hog_descriptor, int n
void Visualizer::SetObservationLandmarks(const cv::Mat_<double>& landmarks_2D, double confidence, bool success, const cv::Mat_<int>& visibilities)
{
// Draw 2D landmarks on the image
int n = landmarks_2D.rows / 2;
// Drawing feature points
for (int i = 0; i < n; ++i)
if(confidence > visualisation_boundary)
{
if (visibilities.empty() || visibilities.at<int>(i))
// Draw 2D landmarks on the image
int n = landmarks_2D.rows / 2;
// Drawing feature points
for (int i = 0; i < n; ++i)
{
cv::Point featurePoint(cvRound(landmarks_2D.at<double>(i) * (double)draw_multiplier), cvRound(landmarks_2D.at<double>(i + n) * (double)draw_multiplier));
if (visibilities.empty() || visibilities.at<int>(i))
{
cv::Point featurePoint(cvRound(landmarks_2D.at<double>(i) * (double)draw_multiplier), cvRound(landmarks_2D.at<double>(i + n) * (double)draw_multiplier));
// A rough heuristic for drawn point size
int thickness = (int)std::ceil(3.0* ((double)captured_image.cols) / 640.0);
int thickness_2 = (int)std::ceil(1.0* ((double)captured_image.cols) / 640.0);
// A rough heuristic for drawn point size
int thickness = (int)std::ceil(3.0* ((double)captured_image.cols) / 640.0);
int thickness_2 = (int)std::ceil(1.0* ((double)captured_image.cols) / 640.0);
cv::circle(captured_image, featurePoint, 1 * draw_multiplier, cv::Scalar(0, 0, 255), thickness, CV_AA, draw_shiftbits);
cv::circle(captured_image, featurePoint, 1 * draw_multiplier, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
cv::circle(captured_image, featurePoint, 1 * draw_multiplier, cv::Scalar(0, 0, 255), thickness, CV_AA, draw_shiftbits);
cv::circle(captured_image, featurePoint, 1 * draw_multiplier, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
}
}
}
}
@ -133,7 +136,7 @@ void Visualizer::SetObservationLandmarks(const cv::Mat_<double>& landmarks_2D, d
void Visualizer::SetObservationPose(const cv::Vec6d& pose, double confidence)
{
double visualisation_boundary = 0.4;
// Only draw if the reliability is reasonable, the value is slightly ad-hoc
if (confidence > visualisation_boundary)
@ -154,78 +157,79 @@ void Visualizer::SetObservationPose(const cv::Vec6d& pose, double confidence)
}
// Eye gaze infomration drawing, first of eye landmarks then of gaze
void Visualizer::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv::Point3f& gaze_direction1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2d, const std::vector<cv::Point3d>& eye_landmarks3d)
void Visualizer::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv::Point3f& gaze_direction1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2d, const std::vector<cv::Point3d>& eye_landmarks3d, double confidence)
{
if (eye_landmarks2d.size() > 0)
if(confidence > visualisation_boundary)
{
// First draw the eye region landmarks
for (size_t i = 0; i < eye_landmarks2d.size(); ++i)
if (eye_landmarks2d.size() > 0)
{
cv::Point featurePoint(cvRound(eye_landmarks2d[i].x * (double)draw_multiplier), cvRound(eye_landmarks2d[i].y * (double)draw_multiplier));
// First draw the eye region landmarks
for (size_t i = 0; i < eye_landmarks2d.size(); ++i)
{
cv::Point featurePoint(cvRound(eye_landmarks2d[i].x * (double)draw_multiplier), cvRound(eye_landmarks2d[i].y * (double)draw_multiplier));
// A rough heuristic for drawn point size
int thickness = 1;
int thickness_2 = 1;
// A rough heuristic for drawn point size
int thickness = 1;
int thickness_2 = 1;
size_t next_point = i + 1;
if (i == 7)
next_point = 0;
if (i == 19)
next_point = 8;
if (i == 27)
next_point = 20;
size_t next_point = i + 1;
if (i == 7)
next_point = 0;
if (i == 19)
next_point = 8;
if (i == 27)
next_point = 20;
if (i == 7 + 28)
next_point = 0 + 28;
if (i == 19 + 28)
next_point = 8 + 28;
if (i == 27 + 28)
next_point = 20 + 28;
if (i == 7 + 28)
next_point = 0 + 28;
if (i == 19 + 28)
next_point = 8 + 28;
if (i == 27 + 28)
next_point = 20 + 28;
cv::Point nextFeaturePoint(cvRound(eye_landmarks2d[next_point].x * (double)draw_multiplier), cvRound(eye_landmarks2d[next_point].y * (double)draw_multiplier));
if ((i < 28 && (i < 8 || i > 19)) || (i >= 28 && (i < 8 + 28 || i > 19 + 28)))
cv::line(captured_image, featurePoint, nextFeaturePoint, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
else
cv::line(captured_image, featurePoint, nextFeaturePoint, cv::Scalar(0, 0, 255), thickness_2, CV_AA, draw_shiftbits);
cv::Point nextFeaturePoint(cvRound(eye_landmarks2d[next_point].x * (double)draw_multiplier), cvRound(eye_landmarks2d[next_point].y * (double)draw_multiplier));
if ((i < 28 && (i < 8 || i > 19)) || (i >= 28 && (i < 8 + 28 || i > 19 + 28)))
cv::line(captured_image, featurePoint, nextFeaturePoint, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
else
cv::line(captured_image, featurePoint, nextFeaturePoint, cv::Scalar(0, 0, 255), thickness_2, CV_AA, draw_shiftbits);
}
// Now draw the gaze lines themselves
cv::Mat cameraMat = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 0);
// Grabbing the pupil location, to draw eye gaze need to know where the pupil is
cv::Point3d pupil_left(0, 0, 0);
cv::Point3d pupil_right(0, 0, 0);
for (size_t i = 0; i < 8; ++i)
{
pupil_left = pupil_left + eye_landmarks3d[i];
pupil_right = pupil_right + eye_landmarks3d[i + eye_landmarks3d.size()/2];
}
pupil_left = pupil_left / 8;
pupil_right = pupil_right / 8;
std::vector<cv::Point3d> points_left;
points_left.push_back(cv::Point3d(pupil_left));
points_left.push_back(cv::Point3d(pupil_left + cv::Point3d(gaze_direction0)*50.0));
std::vector<cv::Point3d> points_right;
points_right.push_back(cv::Point3d(pupil_right));
points_right.push_back(cv::Point3d(pupil_right + cv::Point3d(gaze_direction1)*50.0));
cv::Mat_<double> proj_points;
cv::Mat_<double> mesh_0 = (cv::Mat_<double>(2, 3) << points_left[0].x, points_left[0].y, points_left[0].z, points_left[1].x, points_left[1].y, points_left[1].z);
Project(proj_points, mesh_0, fx, fy, cx, cy);
cv::line(captured_image, cv::Point(cvRound(proj_points.at<double>(0, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(0, 1) * (double)draw_multiplier)),
cv::Point(cvRound(proj_points.at<double>(1, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(1, 1) * (double)draw_multiplier)), cv::Scalar(110, 220, 0), 2, CV_AA, draw_shiftbits);
cv::Mat_<double> mesh_1 = (cv::Mat_<double>(2, 3) << points_right[0].x, points_right[0].y, points_right[0].z, points_right[1].x, points_right[1].y, points_right[1].z);
Project(proj_points, mesh_1, fx, fy, cx, cy);
cv::line(captured_image, cv::Point(cvRound(proj_points.at<double>(0, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(0, 1) * (double)draw_multiplier)),
cv::Point(cvRound(proj_points.at<double>(1, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(1, 1) * (double)draw_multiplier)), cv::Scalar(110, 220, 0), 2, CV_AA, draw_shiftbits);
}
// Now draw the gaze lines themselves
cv::Mat cameraMat = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 0);
// Grabbing the pupil location, to draw eye gaze need to know where the pupil is
cv::Point3d pupil_left(0, 0, 0);
cv::Point3d pupil_right(0, 0, 0);
for (size_t i = 0; i < 8; ++i)
{
pupil_left = pupil_left + eye_landmarks3d[i];
pupil_right = pupil_right + eye_landmarks3d[i + eye_landmarks3d.size()/2];
}
pupil_left = pupil_left / 8;
pupil_right = pupil_right / 8;
std::vector<cv::Point3d> points_left;
points_left.push_back(cv::Point3d(pupil_left));
points_left.push_back(cv::Point3d(pupil_left + cv::Point3d(gaze_direction0)*50.0));
std::vector<cv::Point3d> points_right;
points_right.push_back(cv::Point3d(pupil_right));
points_right.push_back(cv::Point3d(pupil_right + cv::Point3d(gaze_direction1)*50.0));
cv::Mat_<double> proj_points;
cv::Mat_<double> mesh_0 = (cv::Mat_<double>(2, 3) << points_left[0].x, points_left[0].y, points_left[0].z, points_left[1].x, points_left[1].y, points_left[1].z);
Project(proj_points, mesh_0, fx, fy, cx, cy);
cv::line(captured_image, cv::Point(cvRound(proj_points.at<double>(0, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(0, 1) * (double)draw_multiplier)),
cv::Point(cvRound(proj_points.at<double>(1, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(1, 1) * (double)draw_multiplier)), cv::Scalar(110, 220, 0), 2, CV_AA, draw_shiftbits);
cv::Mat_<double> mesh_1 = (cv::Mat_<double>(2, 3) << points_right[0].x, points_right[0].y, points_right[0].z, points_right[1].x, points_right[1].y, points_right[1].z);
Project(proj_points, mesh_1, fx, fy, cx, cy);
cv::line(captured_image, cv::Point(cvRound(proj_points.at<double>(0, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(0, 1) * (double)draw_multiplier)),
cv::Point(cvRound(proj_points.at<double>(1, 0) * (double)draw_multiplier), cvRound(proj_points.at<double>(1, 1) * (double)draw_multiplier)), cv::Scalar(110, 220, 0), 2, CV_AA, draw_shiftbits);
}
}
void Visualizer::ShowObservation()

4
matlab_runners/Head Pose Experiments/run_biwi_experiment.m
View file

@ -14,7 +14,7 @@ dbSeqDir = dbSeqDir(3:end);
output_dir = cat(2, output_dir, '/');
command = sprintf('%s -inroot "%s" -out_dir "%s" -fx 505 -fy 505 -cx 320 -cy 240 -pose -vis-track ', executable, rootDir, output_dir);
command = sprintf('%s -inroot "%s" -outroot "%s" -fx 505 -fy 505 -cx 320 -cy 240 -pose -vis-track ', executable, rootDir, output_dir);
if(verbose)
command = cat(2, command, [' -tracked ' outputVideo]);
@ -26,7 +26,7 @@ end
for i=1:numel(dbSeqDir)
inputFile = [biwiDir dbSeqDir(i).name '/colour.avi'];
command = cat(2, command, sprintf(' -f "%s" ', inputFile));
command = sprintf('%s -f "%s" -of "%s" ', command, inputFile, dbSeqDir(i).name);
end
if(isunix)