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Fixes with drawing antialiased lines and landmarks using sub-pixel precision.

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This commit is contained in:
Tadas Baltrusaitis 2016-09-06 10:20:31 -04:00
parent 5416048697
commit c1431fe815
3 changed files with 41 additions and 32 deletions
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10
lib/local/FaceAnalyser/src/GazeEstimation.cpp
View file

@ -68,6 +68,10 @@ using namespace std;
using namespace FaceAnalysis; using namespace FaceAnalysis;
// For subpixel accuracy drawing
const int gaze_draw_shiftbits = 4;
const int gaze_draw_multiplier = 1 << 4;
cv::Point3f RaySphereIntersect(cv::Point3f rayOrigin, cv::Point3f rayDir, cv::Point3f sphereOrigin, float sphereRadius){ cv::Point3f RaySphereIntersect(cv::Point3f rayOrigin, cv::Point3f rayDir, cv::Point3f sphereOrigin, float sphereRadius){
float dx = rayDir.x; float dx = rayDir.x;
@ -190,9 +194,11 @@ void FaceAnalysis::DrawGaze(cv::Mat img, const LandmarkDetector::CLNF& clnf_mode
cv::Mat_<double> proj_points; 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); 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);
LandmarkDetector::Project(proj_points, mesh_0, fx, fy, cx, cy); LandmarkDetector::Project(proj_points, mesh_0, fx, fy, cx, cy);
line(img, cv::Point(proj_points.at<double>(0,0), proj_points.at<double>(0, 1)), cv::Point(proj_points.at<double>(1, 0), proj_points.at<double>(1, 1)), cv::Scalar(110, 220, 0), 2, 8); cv::line(img, cv::Point(cvRound(proj_points.at<double>(0,0) * gaze_draw_multiplier), cvRound(proj_points.at<double>(0, 1) * gaze_draw_multiplier)),
cv::Point(cvRound(proj_points.at<double>(1, 0) * gaze_draw_multiplier), cvRound(proj_points.at<double>(1, 1) * gaze_draw_multiplier)), cv::Scalar(110, 220, 0), 2, CV_AA, gaze_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); 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);
LandmarkDetector::Project(proj_points, mesh_1, fx, fy, cx, cy); LandmarkDetector::Project(proj_points, mesh_1, fx, fy, cx, cy);
line(img, cv::Point(proj_points.at<double>(0, 0), proj_points.at<double>(0, 1)), cv::Point(proj_points.at<double>(1, 0), proj_points.at<double>(1, 1)), cv::Scalar(110, 220, 0), 2, 8); cv::line(img, cv::Point(cvRound(proj_points.at<double>(0, 0) * gaze_draw_multiplier), cvRound(proj_points.at<double>(0, 1) * gaze_draw_multiplier)),
cv::Point(cvRound(proj_points.at<double>(1, 0) * gaze_draw_multiplier), cvRound(proj_points.at<double>(1, 1) * gaze_draw_multiplier)), cv::Scalar(110, 220, 0), 2, CV_AA, gaze_draw_shiftbits);
} }

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

@ -110,7 +110,7 @@ namespace LandmarkDetector
void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, float fx, float fy, float cx, float cy); void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, float fx, float fy, float cx, float cy);
// Drawing face bounding box // Drawing face bounding box
vector<pair<cv::Point, cv::Point>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy); vector<std::pair<cv::Point2d, cv::Point2d>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy);
void DrawBox(vector<pair<cv::Point, cv::Point>> lines, cv::Mat image, cv::Scalar color, int thickness); void DrawBox(vector<pair<cv::Point, cv::Point>> lines, cv::Mat image, cv::Scalar color, int thickness);
vector<cv::Point2d> CalculateLandmarks(const cv::Mat_<double>& shape2D, cv::Mat_<int>& visibilities); vector<cv::Point2d> CalculateLandmarks(const cv::Mat_<double>& shape2D, cv::Mat_<int>& visibilities);

61
lib/local/LandmarkDetector/src/LandmarkDetectorUtils.cpp
View file

@ -76,6 +76,11 @@ using namespace std;
namespace LandmarkDetector namespace LandmarkDetector
{ {
// For subpixel accuracy drawing
const int draw_shiftbits = 4;
const int draw_multiplier = 1 << 4;
// Useful utility for creating directories for storing the output files // Useful utility for creating directories for storing the output files
void create_directory_from_file(string output_path) void create_directory_from_file(string output_path)
{ {
@ -888,7 +893,7 @@ void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, flo
cv::Mat_<double> rotBoxProj; cv::Mat_<double> rotBoxProj;
Project(rotBoxProj, rotBox, fx, fy, cx, cy); Project(rotBoxProj, rotBox, fx, fy, cx, cy);
cv::Rect image_rect(0,0,image.cols, image.rows); cv::Rect image_rect(0,0,image.cols * draw_multiplier, image.rows * draw_multiplier);
for (size_t i = 0; i < edges.size(); ++i) for (size_t i = 0; i < edges.size(); ++i)
{ {
@ -898,20 +903,21 @@ void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, flo
rotBoxProj.row(edges[i].first).copyTo(begin); rotBoxProj.row(edges[i].first).copyTo(begin);
rotBoxProj.row(edges[i].second).copyTo(end); rotBoxProj.row(edges[i].second).copyTo(end);
cv::Point p1((int)begin.at<double>(0), (int)begin.at<double>(1));
cv::Point p2((int)end.at<double>(0), (int)end.at<double>(1)); cv::Point p1(cvRound(begin.at<double>(0) * draw_multiplier), cvRound(begin.at<double>(1) * draw_multiplier));
cv::Point p2(cvRound(end.at<double>(0) * draw_multiplier), cvRound(end.at<double>(1) * draw_multiplier));
// Only draw the line if one of the points is inside the image // Only draw the line if one of the points is inside the image
if(p1.inside(image_rect) || p2.inside(image_rect)) if(p1.inside(image_rect) || p2.inside(image_rect))
{ {
cv::line(image, p1, p2, color, thickness, CV_AA); cv::line(image, p1, p2, color, thickness, CV_AA, draw_shiftbits);
} }
} }
} }
vector<std::pair<cv::Point, cv::Point>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy) vector<std::pair<cv::Point2d, cv::Point2d>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy)
{ {
double boxVerts[] = {-1, 1, -1, double boxVerts[] = {-1, 1, -1,
1, 1, -1, 1, 1, -1,
@ -955,7 +961,7 @@ vector<std::pair<cv::Point, cv::Point>> CalculateBox(cv::Vec6d pose, float fx, f
cv::Mat_<double> rotBoxProj; cv::Mat_<double> rotBoxProj;
Project(rotBoxProj, rotBox, fx, fy, cx, cy); Project(rotBoxProj, rotBox, fx, fy, cx, cy);
vector<std::pair<cv::Point, cv::Point>> lines; vector<std::pair<cv::Point2d, cv::Point2d>> lines;
for (size_t i = 0; i < edges.size(); ++i) for (size_t i = 0; i < edges.size(); ++i)
{ {
@ -965,10 +971,10 @@ vector<std::pair<cv::Point, cv::Point>> CalculateBox(cv::Vec6d pose, float fx, f
rotBoxProj.row(edges[i].first).copyTo(begin); rotBoxProj.row(edges[i].first).copyTo(begin);
rotBoxProj.row(edges[i].second).copyTo(end); rotBoxProj.row(edges[i].second).copyTo(end);
cv::Point p1((int)begin.at<double>(0), (int)begin.at<double>(1)); cv::Point2d p1(begin.at<double>(0), begin.at<double>(1));
cv::Point p2((int)end.at<double>(0), (int)end.at<double>(1)); cv::Point2d p2(end.at<double>(0), end.at<double>(1));
lines.push_back(pair<cv::Point, cv::Point>(p1,p2)); lines.push_back(pair<cv::Point2d, cv::Point2d>(p1,p2));
} }
@ -1061,6 +1067,7 @@ vector<cv::Point2d> CalculateLandmarks(CLNF& clnf_model)
void Draw(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& visibilities) void Draw(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& visibilities)
{ {
int n = shape2D.rows/2; int n = shape2D.rows/2;
// Drawing feature points // Drawing feature points
if(n >= 66) if(n >= 66)
@ -1069,14 +1076,15 @@ void Draw(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& vis
{ {
if(visibilities.at<int>(i)) if(visibilities.at<int>(i))
{ {
cv::Point featurePoint((int)shape2D.at<double>(i), (int)shape2D.at<double>(i +n)); cv::Point featurePoint(cvRound(shape2D.at<double>(i) * draw_multiplier), cvRound(shape2D.at<double>(i + n) * draw_multiplier));
// A rough heuristic for drawn point size // A rough heuristic for drawn point size
int thickness = (int)std::ceil(3.0* ((double)img.cols) / 640.0); int thickness = (int)std::ceil(3.0* ((double)img.cols) / 640.0);
int thickness_2 = (int)std::ceil(1.0* ((double)img.cols) / 640.0); int thickness_2 = (int)std::ceil(1.0* ((double)img.cols) / 640.0);
cv::circle(img, featurePoint, 1, cv::Scalar(0,0,255), thickness, CV_AA); cv::circle(img, featurePoint, 1 * draw_multiplier, cv::Scalar(0, 0, 255), thickness, CV_AA, draw_shiftbits);
cv::circle(img, featurePoint, 1, cv::Scalar(255,0,0), thickness_2, CV_AA); cv::circle(img, featurePoint, 1 * draw_multiplier, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
} }
} }
} }
@ -1084,7 +1092,7 @@ void Draw(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& vis
{ {
for( int i = 0; i < n; ++i) for( int i = 0; i < n; ++i)
{ {
cv::Point featurePoint((int)shape2D.at<double>(i), (int)shape2D.at<double>(i +n)); cv::Point featurePoint(cvRound(shape2D.at<double>(i) * draw_multiplier), cvRound(shape2D.at<double>(i + n) * draw_multiplier));
// A rough heuristic for drawn point size // A rough heuristic for drawn point size
int thickness = 1.0; int thickness = 1.0;
@ -1098,15 +1106,12 @@ void Draw(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& vis
if(i == 27) if(i == 27)
next_point = 20; next_point = 20;
cv::Point nextFeaturePoint((int)shape2D.at<double>(next_point), (int)shape2D.at<double>(next_point+n)); cv::Point nextFeaturePoint(cvRound(shape2D.at<double>(next_point) * draw_multiplier), cvRound(shape2D.at<double>(next_point + n) * draw_multiplier));
if( i < 8 || i > 19) if( i < 8 || i > 19)
cv::line(img, featurePoint, nextFeaturePoint, cv::Scalar(255, 0, 0), thickness_2, CV_AA); cv::line(img, featurePoint, nextFeaturePoint, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
else else
cv::line(img, featurePoint, nextFeaturePoint, cv::Scalar(0, 0, 255), thickness_2, CV_AA); cv::line(img, featurePoint, nextFeaturePoint, cv::Scalar(0, 0, 255), thickness_2, CV_AA, draw_shiftbits);
//cv::circle(img, featurePoint, 1, Scalar(0,255,0), thickness);
//cv::circle(img, featurePoint, 1, Scalar(0,0,255), thickness_2);
} }
} }
@ -1114,21 +1119,18 @@ void Draw(cv::Mat img, const cv::Mat_<double>& shape2D, const cv::Mat_<int>& vis
{ {
for( int i = 0; i < n; ++i) for( int i = 0; i < n; ++i)
{ {
cv::Point featurePoint((int)shape2D.at<double>(i), (int)shape2D.at<double>(i +n)); cv::Point featurePoint(cvRound(shape2D.at<double>(i) * draw_multiplier), cvRound(shape2D.at<double>(i + n) * draw_multiplier));
// A rough heuristic for drawn point size // A rough heuristic for drawn point size
int thickness = 1.0; int thickness = 1.0;
int thickness_2 = 1.0; int thickness_2 = 1.0;
//cv::circle(img, featurePoint, 1, Scalar(0,255,0), thickness);
//cv::circle(img, featurePoint, 1, Scalar(0,0,255), thickness_2);
int next_point = i + 1; int next_point = i + 1;
if(i == 5) if(i == 5)
next_point = 0; next_point = 0;
cv::Point nextFeaturePoint((int)shape2D.at<double>(next_point), (int)shape2D.at<double>(next_point+n)); cv::Point nextFeaturePoint(cvRound(shape2D.at<double>(next_point) * draw_multiplier), cvRound(shape2D.at<double>(next_point + n) * draw_multiplier));
cv::line(img, featurePoint, nextFeaturePoint, cv::Scalar(255, 0, 0), thickness_2, CV_AA); cv::line(img, featurePoint, nextFeaturePoint, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
} }
} }
} }
@ -1153,18 +1155,18 @@ void Draw(cv::Mat img, const cv::Mat_<double>& shape2D)
cv::Point featurePoint; cv::Point featurePoint;
if(shape2D.cols == 1) if(shape2D.cols == 1)
{ {
featurePoint = cv::Point((int)shape2D.at<double>(i), (int)shape2D.at<double>(i +n)); featurePoint = cv::Point(cvRound(shape2D.at<double>(i) * draw_multiplier), cvRound(shape2D.at<double>(i + n) * draw_multiplier));
} }
else else
{ {
featurePoint = cv::Point((int)shape2D.at<double>(i, 0), (int)shape2D.at<double>(i, 1)); featurePoint = cv::Point(cvRound(shape2D.at<double>(i, 0) * draw_multiplier), cvRound(shape2D.at<double>(i, 1) * draw_multiplier));
} }
// A rough heuristic for drawn point size // A rough heuristic for drawn point size
int thickness = (int)std::ceil(5.0* ((double)img.cols) / 640.0); int thickness = (int)std::ceil(5.0* ((double)img.cols) / 640.0);
int thickness_2 = (int)std::ceil(1.5* ((double)img.cols) / 640.0); int thickness_2 = (int)std::ceil(1.5* ((double)img.cols) / 640.0);
cv::circle(img, featurePoint, 1, cv::Scalar(0,0,255), thickness, CV_AA); cv::circle(img, featurePoint, 1 * draw_multiplier, cv::Scalar(0, 0, 255), thickness, CV_AA, draw_shiftbits);
cv::circle(img, featurePoint, 1, cv::Scalar(255,0,0), thickness_2, CV_AA); cv::circle(img, featurePoint, 1 * draw_multiplier, cv::Scalar(255, 0, 0), thickness_2, CV_AA, draw_shiftbits);
} }
@ -1193,6 +1195,7 @@ void DrawLandmarks(cv::Mat img, vector<cv::Point> landmarks)
{ {
for(cv::Point p : landmarks) for(cv::Point p : landmarks)
{ {
// A rough heuristic for drawn point size // A rough heuristic for drawn point size
int thickness = (int)std::ceil(5.0* ((double)img.cols) / 640.0); int thickness = (int)std::ceil(5.0* ((double)img.cols) / 640.0);
int thickness_2 = (int)std::ceil(1.5* ((double)img.cols) / 640.0); int thickness_2 = (int)std::ceil(1.5* ((double)img.cols) / 640.0);