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Continuing towards visualizer integration and 3D eye landmark inclusion in output. Cleanup of rotation conversion in unilities

This commit is contained in:
Tadas Baltrusaitis 2017-11-11 21:13:29 +00:00
parent e636b4ca7c
commit e1c260eee6
10 changed files with 195 additions and 61 deletions
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33
exe/FeatureExtraction/FeatureExtraction.cpp
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@ -106,37 +106,6 @@ int frame_count = 0;
void visualise_tracking(cv::Mat& captured_image, const LandmarkDetector::CLNF& face_model, const LandmarkDetector::FaceModelParameters& det_parameters, cv::Point3f gazeDirection0, cv::Point3f gazeDirection1, double fx, double fy, double cx, double cy)
{
// Drawing the facial landmarks on the face and the bounding box around it if tracking is successful and initialised
double detection_certainty = face_model.detection_certainty;
bool detection_success = face_model.detection_success;
double visualisation_boundary = 0.4;
// Only draw if the reliability is reasonable, the value is slightly ad-hoc
if (detection_certainty > visualisation_boundary)
{
LandmarkDetector::Draw(captured_image, face_model);
double vis_certainty = detection_certainty;
if (vis_certainty > 1)
vis_certainty = 1;
// Scale from 0 to 1, to allow to indicated by colour how confident we are in the tracking
vis_certainty = (vis_certainty - visualisation_boundary) / (1 - visualisation_boundary);
// 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::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(vis_certainty*255.0, 0, (1-vis_certainty) * 255), thickness, fx, fy, cx, cy);
if (det_parameters.track_gaze && detection_success && face_model.eye_model)
{
GazeAnalysis::DrawGaze(captured_image, face_model, gazeDirection0, gazeDirection1, fx, fy, cx, cy);
}
}
// Work out the framerate TODO
if (frame_count % 10 == 0)
@ -221,7 +190,7 @@ int main (int argc, char **argv)
cv::Mat_<double> hog_descriptor; int num_hog_rows = 0, num_hog_cols = 0;
// Perform AU detection and HOG feature extraction, as this can be expensive only compute it if needed by output or visualization
if (recording_params.outputAlignedFaces() || recording_params.outputHOG() || recording_params.outputAUs() || visualize_align || visualize_hog)
if (recording_params.outputAlignedFaces() || recording_params.outputHOG() || recording_params.outputAUs() || visualizer.vis_align || visualizer.vis_hog)
{
face_analyser.AddNextFrame(captured_image, face_model.detected_landmarks, face_model.detection_success, sequence_reader.time_stamp, false);
face_analyser.GetLatestAlignedFace(sim_warped_img);

8
lib/local/GazeAnalyser/GazeAnalyser.vcxproj
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@ -91,7 +91,7 @@
<WarningLevel>Level3</WarningLevel>
<Optimization>Disabled</Optimization>
<SDLCheck>true</SDLCheck>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;../Utilities/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
</ClCompile>
</ItemDefinitionGroup>
@ -100,7 +100,7 @@
<WarningLevel>Level3</WarningLevel>
<Optimization>Disabled</Optimization>
<SDLCheck>true</SDLCheck>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;../Utilities/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<PreprocessorDefinitions>WIN64;_DEBUG;_LIB;EIGEN_MPL2_ONLY;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<EnableEnhancedInstructionSet>AdvancedVectorExtensions</EnableEnhancedInstructionSet>
</ClCompile>
@ -113,7 +113,7 @@
<IntrinsicFunctions>true</IntrinsicFunctions>
<SDLCheck>
</SDLCheck>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;../Utilities/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<MultiProcessorCompilation>true</MultiProcessorCompilation>
<PreprocessorDefinitions>WIN32;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
@ -131,7 +131,7 @@
<IntrinsicFunctions>true</IntrinsicFunctions>
<SDLCheck>
</SDLCheck>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>./include;../LandmarkDetector/include;../Utilities/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<MultiProcessorCompilation>true</MultiProcessorCompilation>
<PreprocessorDefinitions>WIN64;NDEBUG;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<EnableEnhancedInstructionSet>AdvancedVectorExtensions</EnableEnhancedInstructionSet>

3
lib/local/GazeAnalyser/src/GazeEstimation.cpp
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@ -42,6 +42,7 @@
#include "LandmarkDetectorUtils.h"
#include "LandmarkDetectorFunc.h"
#include "Utilities.h"
using namespace std;
@ -93,7 +94,7 @@ void GazeAnalysis::EstimateGaze(const LandmarkDetector::CLNF& clnf_model, cv::Po
{
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);
cv::Matx33d rotMat = Utilities::Euler2RotationMatrix(eulerAngles);
int part = -1;
for (size_t i = 0; i < clnf_model.hierarchical_models.size(); ++i)

30
lib/local/LandmarkDetector/src/LandmarkDetectorUtils.cpp
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@ -51,10 +51,6 @@ using namespace std;
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
void create_directory_from_file(string output_path)
@ -802,6 +798,32 @@ vector<cv::Point2d> CalculateVisibleEyeLandmarks(const CLNF& clnf_model)
return to_return;
}
// Computing the 3D eye landmarks
vector<cv::Point3d> Calculate3DEyeLandmarks(const CLNF& clnf_model, double fx, double fy, double cx, double cy)
{
vector<cv::Point3d> to_return;
// If the model has hierarchical updates draw those too
for (size_t i = 0; i < clnf_model.hierarchical_models.size(); ++i)
{
if (clnf_model.hierarchical_model_names[i].compare("left_eye_28") == 0 ||
clnf_model.hierarchical_model_names[i].compare("right_eye_28") == 0)
{
auto lmks = clnf_model.hierarchical_models[i].GetShape(fx, fy, cx, cy);
int num_landmarks = lmks.rows / 3;
for (int lmk = 0; lmk < num_landmarks; ++lmk)
{
cv::Point3d curr_lmk(lmks.at<double>(lmk), lmks.at<double>(lmk + num_landmarks), lmks.at<double>(lmk + 2 * num_landmarks));
to_return.push_back(curr_lmk);
}
}
}
return to_return;
}
// Computing eye landmarks (to be drawn later or in different interfaces)
vector<cv::Point2d> CalculateAllEyeLandmarks(const CLNF& clnf_model)
{

2
lib/local/Utilities/include/RecorderCSV.h
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@ -65,7 +65,7 @@ namespace Utilities
void WriteLine(int observation_count, double time_stamp, bool landmark_detection_success, double landmark_confidence,
const cv::Mat_<double>& landmarks_2D, const cv::Mat_<double>& landmarks_3D, const cv::Mat_<double>& pdm_model_params, const cv::Vec6d& rigid_shape_params, cv::Vec6d& pose_estimate,
const cv::Point3f& gazeDirection0, const cv::Point3f& gazeDirection1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks,
const cv::Point3f& gazeDirection0, const cv::Point3f& gazeDirection1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2d, const std::vector<cv::Point3d>& eye_landmarks3d,
const std::vector<std::pair<std::string, double> >& au_intensities, const std::vector<std::pair<std::string, double> >& au_occurences);
// TODO have set functions?

5
lib/local/Utilities/include/RecorderOpenFace.h
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@ -84,7 +84,7 @@ namespace Utilities
// 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 cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2D, const std::vector<cv::Point3d>& eye_landmarks3D);
// Face alignment related observations
void SetObservationFaceAlign(const cv::Mat& aligned_face);
@ -135,7 +135,8 @@ namespace Utilities
cv::Point3f gaze_direction0;
cv::Point3f gaze_direction1;
cv::Vec2d gaze_angle;
std::vector<cv::Point2d> eye_landmarks;
std::vector<cv::Point2d> eye_landmarks2D;
std::vector<cv::Point3d> eye_landmarks3D;
int observation_count;

6
lib/local/Utilities/include/Visualizer.h
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@ -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);
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);
// Face alignment related observations
void SetObservationFaceAlign(const cv::Mat& aligned_face);
@ -83,14 +83,14 @@ namespace Utilities
void ShowObservation();
cv::Mat GetVisImage();
private:
// Keeping track of what we're visualizing
bool vis_track;
bool vis_hog;
bool vis_align;
private:
// Temporary variables for visualization
cv::Mat captured_image; // out canvas
cv::Mat tracked_image;

35
lib/local/Utilities/src/RecorderCSV.cpp
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@ -91,6 +91,19 @@ bool RecorderCSV::Open(std::string output_file_name, bool is_sequence, bool outp
{
output_file << ", eye_lmk_y_" << i;
}
for (int i = 0; i < num_eye_landmarks; ++i)
{
output_file << ", eye_lmk_X_" << i;
}
for (int i = 0; i < num_eye_landmarks; ++i)
{
output_file << ", eye_lmk_Y_" << i;
}
for (int i = 0; i < num_eye_landmarks; ++i)
{
output_file << ", eye_lmk_Z_" << i;
}
}
if (output_pose)
@ -160,7 +173,7 @@ bool RecorderCSV::Open(std::string output_file_name, bool is_sequence, bool outp
// TODO check if the stream is open
void RecorderCSV::WriteLine(int observation_count, double time_stamp, bool landmark_detection_success, double landmark_confidence,
const cv::Mat_<double>& landmarks_2D, const cv::Mat_<double>& landmarks_3D, const cv::Mat_<double>& pdm_model_params, const cv::Vec6d& rigid_shape_params, cv::Vec6d& pose_estimate,
const cv::Point3f& gazeDirection0, const cv::Point3f& gazeDirection1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks,
const cv::Point3f& gazeDirection0, const cv::Point3f& gazeDirection1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2d, const std::vector<cv::Point3d>& eye_landmarks3d,
const std::vector<std::pair<std::string, double> >& au_intensities, const std::vector<std::pair<std::string, double> >& au_occurences)
{
@ -188,15 +201,31 @@ void RecorderCSV::WriteLine(int observation_count, double time_stamp, bool landm
output_file << ", " << gaze_angle[0] << ", " << gaze_angle[1];
// Output the 2D eye landmarks
for (auto eye_lmk : eye_landmarks)
for (auto eye_lmk : eye_landmarks2d)
{
output_file << ", " << eye_lmk.x;
}
for (auto eye_lmk : eye_landmarks)
for (auto eye_lmk : eye_landmarks2d)
{
output_file << ", " << eye_lmk.y;
}
// Output the 3D eye landmarks
for (auto eye_lmk : eye_landmarks3d)
{
output_file << ", " << eye_lmk.x;
}
for (auto eye_lmk : eye_landmarks3d)
{
output_file << ", " << eye_lmk.y;
}
for (auto eye_lmk : eye_landmarks3d)
{
output_file << ", " << eye_lmk.z;
}
}
// Output the estimated head pose

5
lib/local/Utilities/src/RecorderOpenFace.cpp
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@ -259,12 +259,13 @@ void RecorderOpenFace::SetObservationActionUnits(const std::vector<std::pair<std
}
void RecorderOpenFace::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv::Point3f& gaze_direction1,
const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks)
const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2D, const std::vector<cv::Point3d>& eye_landmarks3D)
{
this->gaze_direction0 = gaze_direction0;
this->gaze_direction1 = gaze_direction1;
this->gaze_angle = gaze_angle;
this->eye_landmarks = eye_landmarks;
this->eye_landmarks2D = eye_landmarks2D;
this->eye_landmarks3D = eye_landmarks3D;
}
RecorderOpenFace::~RecorderOpenFace()

129
lib/local/Utilities/src/Visualizer.cpp
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@ -34,8 +34,15 @@
#include "Visualizer.h"
#include "VisualizationUtils.h"
// For drawing on images
#include <opencv2/imgproc.hpp>
using namespace Utilities;
// For subpixel accuracy drawing
const int draw_shiftbits = 4;
const int draw_multiplier = 1 << 4;
Visualizer::Visualizer(std::vector<std::string> arguments)
{
// By default not visualizing anything
@ -97,7 +104,26 @@ 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)
{
DrawLandmarkDetResults(captured_image, landmarks_2D, visibilities);
// Draw 2D landmarks on the image
int n = landmarks_2D.rows / 2;
// Drawing feature points
for (int i = 0; i < n; ++i)
{
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);
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);
}
}
}
void Visualizer::SetObservationPose(const cv::Vec6d& pose, double confidence)
@ -123,18 +149,103 @@ void Visualizer::SetObservationPose(const cv::Vec6d& pose, double confidence)
}
}
void Visualizer::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv::Point3f& gaze_direction1,
const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks)
// TODO add 3D eye landmark locations
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)
{
// TODO actual drawing
// TODO actual drawing, first of eye landmarks then of gaze
if (det_parameters.track_gaze && detection_success && face_model.eye_model)
if (eye_landmarks.size() > 0)
{
GazeAnalysis::DrawGaze(captured_image, face_model, gazeDirection0, gazeDirection1, fx, fy, cx, cy);
// FIrst draw the eye region landmarks
for (size_t i = 0; i < eye_landmarks.size(); ++i)
{
cv::Point featurePoint(cvRound(eye_landmarks[i].x * (double)draw_multiplier), eye_landmarks[i].y * (double)draw_multiplier));
// A rough heuristic for drawn point size
int thickness = 1.0;
int thickness_2 = 1.0;
int next_point = i + 1;
if (i == 7)
next_point = 0;
if (i == 19)
next_point = 8;
if (i == 27)
next_point = 20;
cv::Point nextFeaturePoint(cvRound(eye_landmarks[next_point].x * (double)draw_multiplier), cvRound(eye_landmarks[next_point].y * (double)draw_multiplier));
if (i < 8 || i > 19)
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);
int part_left = -1;
int part_right = -1;
for (size_t i = 0; i < clnf_model.hierarchical_models.size(); ++i)
{
if (clnf_model.hierarchical_model_names[i].compare("left_eye_28") == 0)
{
part_left = i;
}
if (clnf_model.hierarchical_model_names[i].compare("right_eye_28") == 0)
{
part_right = i;
}
}
cv::Mat eyeLdmks3d_left = clnf_model.hierarchical_models[part_left].GetShape(fx, fy, cx, cy);
cv::Point3f pupil_left = GetPupilPosition(eyeLdmks3d_left);
cv::Mat_<double> irisLdmks3d_left = eyeLdmks3d_left.rowRange(0, 8);
cv::Point3f pupil_left(cv::mean(irisLdmks3d_left.col(0))[0], cv::mean(irisLdmks3d_left.col(1))[0], cv::mean(irisLdmks3d_left.col(2))[0]);
cv::Mat eyeLdmks3d_right = clnf_model.hierarchical_models[part_right].GetShape(fx, fy, cx, cy);
cv::Point3f pupil_right = GetPupilPosition(eyeLdmks3d_right);
std::vector<cv::Point3d> points_left;
points_left.push_back(cv::Point3d(pupil_left));
points_left.push_back(cv::Point3d(pupil_left + 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 + 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()
{
if (vis_track)
{
cv::namedWindow("tracking_result", 1);
cv::imshow("tracking_result", captured_image);
cv::waitKey(1);
}
if (vis_align)
{
cv::imshow("sim_warp", aligned_face_image);
}
if (vis_hog)
{
cv::imshow("hog", hog_image);
}
}