501 lines
16 KiB
C++
501 lines
16 KiB
C++
///////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2017, Carnegie Mellon University and University of Cambridge,
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// all rights reserved.
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//
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// ACADEMIC OR NON-PROFIT ORGANIZATION NONCOMMERCIAL RESEARCH USE ONLY
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//
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// BY USING OR DOWNLOADING THE SOFTWARE, YOU ARE AGREEING TO THE TERMS OF THIS LICENSE AGREEMENT.
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// IF YOU DO NOT AGREE WITH THESE TERMS, YOU MAY NOT USE OR DOWNLOAD THE SOFTWARE.
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//
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// License can be found in OpenFace-license.txt
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//
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// * Any publications arising from the use of this software, including but
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// not limited to academic journal and conference publications, technical
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// reports and manuals, must cite at least one of the following works:
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//
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// OpenFace: an open source facial behavior analysis toolkit
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// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency
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// in IEEE Winter Conference on Applications of Computer Vision, 2016
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//
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// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
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// Erroll Wood, Tadas Baltrušaitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
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// in IEEE International. Conference on Computer Vision (ICCV), 2015
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//
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// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
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// Tadas Baltrušaitis, Marwa Mahmoud, and Peter Robinson
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// in Facial Expression Recognition and Analysis Challenge,
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// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
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//
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// Constrained Local Neural Fields for robust facial landmark detection in the wild.
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// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency.
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// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
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//
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///////////////////////////////////////////////////////////////////////////////
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#include "stdafx.h"
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#include "PAW.h"
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// OpenCV includes
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc.hpp>
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#include "LandmarkDetectorUtils.h"
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using namespace LandmarkDetector;
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// Copy constructor
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PAW::PAW(const PAW& other) : destination_landmarks(other.destination_landmarks.clone()), source_landmarks(other.source_landmarks.clone()), triangulation(other.triangulation.clone()),
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triangle_id(other.triangle_id.clone()), pixel_mask(other.pixel_mask.clone()), coefficients(other.coefficients.clone()), alpha(other.alpha.clone()), beta(other.beta.clone()), map_x(other.map_x.clone()), map_y(other.map_y.clone())
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{
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this->number_of_pixels = other.number_of_pixels;
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this->min_x = other.min_x;
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this->min_y = other.min_y;
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}
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// A constructor from destination shape and triangulation
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PAW::PAW(const cv::Mat_<double>& destination_shape, const cv::Mat_<int>& triangulation)
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{
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// Initialise some variables directly
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this->destination_landmarks = destination_shape;
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this->triangulation = triangulation;
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int num_points = destination_shape.rows/2;
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int num_tris = triangulation.rows;
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// Pre-compute the rest
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alpha = cv::Mat_<double>(num_tris, 3);
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beta = cv::Mat_<double>(num_tris, 3);
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cv::Mat_<double> xs = destination_shape(cv::Rect(0, 0, 1, num_points));
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cv::Mat_<double> ys = destination_shape(cv::Rect(0, num_points, 1, num_points));
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// Create a vector representation of the control points
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vector<vector<double>> destination_points;
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for (int tri = 0; tri < num_tris; ++tri)
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{
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int j = triangulation.at<int>(tri, 0);
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int k = triangulation.at<int>(tri, 1);
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int l = triangulation.at<int>(tri, 2);
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double c1 = ys.at<double>(l) - ys.at<double>(j);
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double c2 = xs.at<double>(l) - xs.at<double>(j);
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double c4 = ys.at<double>(k) - ys.at<double>(j);
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double c3 = xs.at<double>(k) - xs.at<double>(j);
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double c5 = c3*c1 - c2*c4;
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alpha.at<double>(tri, 0) = (ys.at<double>(j) * c2 - xs.at<double>(j) * c1) / c5;
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alpha.at<double>(tri, 1) = c1/c5;
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alpha.at<double>(tri, 2) = -c2/c5;
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beta.at<double>(tri, 0) = (xs.at<double>(j) * c4 - ys.at<double>(j) * c3)/c5;
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beta.at<double>(tri, 1) = -c4/c5;
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beta.at<double>(tri, 2) = c3/c5;
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// Add points corresponding to triangles as optimisation
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vector<double> triangle_points(10);
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triangle_points[0] = xs.at<double>(j);
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triangle_points[1] = ys.at<double>(j);
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triangle_points[2] = xs.at<double>(k);
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triangle_points[3] = ys.at<double>(k);
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triangle_points[4] = xs.at<double>(l);
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triangle_points[5] = ys.at<double>(l);
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cv::Vec3d xs_three(triangle_points[0], triangle_points[2], triangle_points[4]);
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cv::Vec3d ys_three(triangle_points[1], triangle_points[3], triangle_points[5]);
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double min_x, max_x, min_y, max_y;
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cv::minMaxIdx(xs_three, &min_x, &max_x);
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cv::minMaxIdx(ys_three, &min_y, &max_y);
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triangle_points[6] = max_x;
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triangle_points[7] = max_y;
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triangle_points[8] = min_x;
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triangle_points[9] = min_y;
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destination_points.push_back(triangle_points);
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}
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double max_x;
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double max_y;
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minMaxLoc(xs, &min_x, &max_x);
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minMaxLoc(ys, &min_y, &max_y);
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int w = (int)(max_x - min_x + 1.5);
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int h = (int)(max_y - min_y + 1.5);
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// Round the min_x and min_y for simplicity?
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pixel_mask = cv::Mat_<uchar>(h, w, (uchar)0);
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triangle_id = cv::Mat_<int>(h, w, -1);
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int curr_tri = -1;
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for(int y = 0; y < pixel_mask.rows; y++)
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{
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for(int x = 0; x < pixel_mask.cols; x++)
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{
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curr_tri = findTriangle(cv::Point_<double>(x + min_x, y + min_y), destination_points, curr_tri);
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// If there is a triangle at this location
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if(curr_tri != -1)
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{
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triangle_id.at<int>(y, x) = curr_tri;
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pixel_mask.at<uchar>(y, x) = 1;
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}
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}
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}
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// Preallocate maps and coefficients
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coefficients.create(num_tris, 6);
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map_x.create(pixel_mask.rows,pixel_mask.cols);
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map_y.create(pixel_mask.rows,pixel_mask.cols);
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}
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// Manually define min and max values
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PAW::PAW(const cv::Mat_<double>& destination_shape, const cv::Mat_<int>& triangulation, double in_min_x, double in_min_y, double in_max_x, double in_max_y)
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{
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// Initialise some variables directly
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this->destination_landmarks = destination_shape;
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this->triangulation = triangulation;
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int num_points = destination_shape.rows/2;
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int num_tris = triangulation.rows;
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// Pre-compute the rest
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alpha = cv::Mat_<double>(num_tris, 3);
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beta = cv::Mat_<double>(num_tris, 3);
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cv::Mat_<double> xs = destination_shape(cv::Rect(0, 0, 1, num_points));
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cv::Mat_<double> ys = destination_shape(cv::Rect(0, num_points, 1, num_points));
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// Create a vector representation of the control points
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vector<vector<double>> destination_points;
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for (int tri = 0; tri < num_tris; ++tri)
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{
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int j = triangulation.at<int>(tri, 0);
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int k = triangulation.at<int>(tri, 1);
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int l = triangulation.at<int>(tri, 2);
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double c1 = ys.at<double>(l) - ys.at<double>(j);
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double c2 = xs.at<double>(l) - xs.at<double>(j);
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double c4 = ys.at<double>(k) - ys.at<double>(j);
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double c3 = xs.at<double>(k) - xs.at<double>(j);
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double c5 = c3*c1 - c2*c4;
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alpha.at<double>(tri, 0) = (ys.at<double>(j) * c2 - xs.at<double>(j) * c1) / c5;
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alpha.at<double>(tri, 1) = c1/c5;
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alpha.at<double>(tri, 2) = -c2/c5;
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beta.at<double>(tri, 0) = (xs.at<double>(j) * c4 - ys.at<double>(j) * c3)/c5;
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beta.at<double>(tri, 1) = -c4/c5;
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beta.at<double>(tri, 2) = c3/c5;
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// Add points corresponding to triangles as optimisation
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vector<double> triangle_points(10);
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triangle_points[0] = xs.at<double>(j);
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triangle_points[1] = ys.at<double>(j);
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triangle_points[2] = xs.at<double>(k);
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triangle_points[3] = ys.at<double>(k);
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triangle_points[4] = xs.at<double>(l);
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triangle_points[5] = ys.at<double>(l);
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cv::Vec3d xs_three(triangle_points[0], triangle_points[2], triangle_points[4]);
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cv::Vec3d ys_three(triangle_points[1], triangle_points[3], triangle_points[5]);
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double min_x, max_x, min_y, max_y;
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cv::minMaxIdx(xs_three, &min_x, &max_x);
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cv::minMaxIdx(ys_three, &min_y, &max_y);
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triangle_points[6] = max_x;
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triangle_points[7] = max_y;
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triangle_points[8] = min_x;
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triangle_points[9] = min_y;
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destination_points.push_back(triangle_points);
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}
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double max_x;
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double max_y;
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min_x = in_min_x;
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min_y = in_min_y;
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max_x = in_max_x;
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max_y = in_max_y;
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int w = (int)(max_x - min_x + 1.5);
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int h = (int)(max_y - min_y + 1.5);
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// Round the min_x and min_y for simplicity?
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pixel_mask = cv::Mat_<uchar>(h, w, (uchar)0);
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triangle_id = cv::Mat_<int>(h, w, -1);
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int curr_tri = -1;
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for(int y = 0; y < pixel_mask.rows; y++)
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{
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for(int x = 0; x < pixel_mask.cols; x++)
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{
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curr_tri = findTriangle(cv::Point_<double>(x + min_x, y + min_y), destination_points, curr_tri);
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// If there is a triangle at this location
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if(curr_tri != -1)
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{
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triangle_id.at<int>(y, x) = curr_tri;
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pixel_mask.at<uchar>(y, x) = 1;
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}
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}
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}
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// Preallocate maps and coefficients
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coefficients.create(num_tris, 6);
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map_x.create(pixel_mask.rows,pixel_mask.cols);
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map_y.create(pixel_mask.rows,pixel_mask.cols);
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}
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//===========================================================================
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void PAW::Read(std::ifstream& stream)
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{
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stream.read ((char*)&number_of_pixels, 4);
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stream.read ((char*)&min_x, 8);
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stream.read ((char*)&min_y, 8);
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LandmarkDetector::ReadMatBin(stream, destination_landmarks);
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LandmarkDetector::ReadMatBin(stream, triangulation);
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LandmarkDetector::ReadMatBin(stream, triangle_id);
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cv::Mat tmpMask;
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LandmarkDetector::ReadMatBin(stream, tmpMask);
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tmpMask.convertTo(pixel_mask, CV_8U);
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LandmarkDetector::ReadMatBin(stream, alpha);
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LandmarkDetector::ReadMatBin(stream, beta);
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map_x.create(pixel_mask.rows,pixel_mask.cols);
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map_y.create(pixel_mask.rows,pixel_mask.cols);
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coefficients.create(this->NumberOfTriangles(),6);
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source_landmarks = destination_landmarks;
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}
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//=============================================================================
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// cropping from the source image to the destination image using the shape in s, used to determine if shape fitting converged successfully
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void PAW::Warp(const cv::Mat& image_to_warp, cv::Mat& destination_image, const cv::Mat_<double>& landmarks_to_warp)
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{
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// set the current shape
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source_landmarks = landmarks_to_warp.clone();
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// prepare the mapping coefficients using the current shape
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this->CalcCoeff();
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// Do the actual mapping computation (where to warp from)
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this->WarpRegion(map_x, map_y);
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// Do the actual warp (with bi-linear interpolation)
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remap(image_to_warp, destination_image, map_x, map_y, CV_INTER_LINEAR);
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}
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//=============================================================================
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// Calculate the warping coefficients
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void PAW::CalcCoeff()
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{
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int p = this->NumberOfLandmarks();
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for(int l = 0; l < this->NumberOfTriangles(); l++)
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{
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int i = triangulation.at<int>(l,0);
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int j = triangulation.at<int>(l,1);
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int k = triangulation.at<int>(l,2);
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double c1 = source_landmarks.at<double>(i , 0);
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double c2 = source_landmarks.at<double>(j , 0) - c1;
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double c3 = source_landmarks.at<double>(k , 0) - c1;
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double c4 = source_landmarks.at<double>(i + p, 0);
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double c5 = source_landmarks.at<double>(j + p, 0) - c4;
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double c6 = source_landmarks.at<double>(k + p, 0) - c4;
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// Get a pointer to the coefficient we will be precomputing
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double *coeff = coefficients.ptr<double>(l);
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// Extract the relevant alphas and betas
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double *c_alpha = alpha.ptr<double>(l);
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double *c_beta = beta.ptr<double>(l);
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coeff[0] = c1 + c2 * c_alpha[0] + c3 * c_beta[0];
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coeff[1] = c2 * c_alpha[1] + c3 * c_beta[1];
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coeff[2] = c2 * c_alpha[2] + c3 * c_beta[2];
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coeff[3] = c4 + c5 * c_alpha[0] + c6 * c_beta[0];
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coeff[4] = c5 * c_alpha[1] + c6 * c_beta[1];
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coeff[5] = c5 * c_alpha[2] + c6 * c_beta[2];
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}
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}
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//======================================================================
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// Compute the mapping coefficients
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void PAW::WarpRegion(cv::Mat_<float>& mapx, cv::Mat_<float>& mapy)
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{
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cv::MatIterator_<float> xp = mapx.begin();
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cv::MatIterator_<float> yp = mapy.begin();
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cv::MatIterator_<uchar> mp = pixel_mask.begin();
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cv::MatIterator_<int> tp = triangle_id.begin();
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// The coefficients corresponding to the current triangle
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double * a;
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// Current triangle being processed
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int k=-1;
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for(int y = 0; y < pixel_mask.rows; y++)
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{
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double yi = double(y) + min_y;
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for(int x = 0; x < pixel_mask.cols; x++)
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{
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double xi = double(x) + min_x;
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if(*mp == 0)
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{
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*xp = -1;
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*yp = -1;
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}
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else
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{
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// triangle corresponding to the current pixel
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int j = *tp;
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// If it is different from the previous triangle point to new coefficients
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// This will always be the case in the first iteration, hence a will not point to nothing
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if(j != k)
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{
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// Update the coefficient pointer if a new triangle is being processed
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a = coefficients.ptr<double>(j);
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k = j;
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}
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//ap is now the pointer to the coefficients
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double *ap = a;
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//look at the first coefficient (and increment). first coefficient is an x offset
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double xo = *ap++;
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//second coefficient is an x scale as a function of x
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xo += *ap++ * xi;
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//third coefficient ap(2) is an x scale as a function of y
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*xp = float(xo + *ap++ * yi);
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//then fourth coefficient ap(3) is a y offset
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double yo = *ap++;
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//fifth coeff adds coeff[4]*x to y
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yo += *ap++ * xi;
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//final coeff adds coeff[5]*y to y
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*yp = float(yo + *ap++ * yi);
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}
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mp++; tp++; xp++; yp++;
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}
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}
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}
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// ============================================================
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// Helper functions to determine which point a triangle lies in
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// ============================================================
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// Is the point (x0,y0) on same side as a half-plane defined by (x1,y1), (x2, y2), and (x3, y3)
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bool sameSide(double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3)
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{
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double x = (x3-x2)*(y0-y2) - (x0-x2)*(y3-y2);
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double y = (x3-x2)*(y1-y2) - (x1-x2)*(y3-y2);
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return x*y >= 0;
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}
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// if point (x0, y0) is on same side for all three half-planes it is in a triangle
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bool pointInTriangle(double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3)
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{
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bool same_1 = sameSide(x0, y0, x1, y1, x2, y2, x3, y3);
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bool same_2 = sameSide(x0, y0, x2, y2, x1, y1, x3, y3);
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bool same_3 = sameSide(x0, y0, x3, y3, x1, y1, x2, y2);
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return same_1 && same_2 && same_3;
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}
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// Find if a given point lies in the triangles
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int PAW::findTriangle(const cv::Point_<double>& point, const std::vector<vector<double>>& control_points, int guess) const
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{
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int num_tris = control_points.size();
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int tri = -1;
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double x0 = point.x;
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double y0 = point.y;
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// Allow a guess for speed (so as not to go through all triangles)
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if(guess != -1)
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{
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bool in_triangle = pointInTriangle(x0, y0, control_points[guess][0], control_points[guess][1], control_points[guess][2], control_points[guess][3], control_points[guess][4], control_points[guess][5]);
|
|
if(in_triangle)
|
|
{
|
|
return guess;
|
|
}
|
|
}
|
|
|
|
|
|
for (int i = 0; i < num_tris; ++i)
|
|
{
|
|
|
|
double max_x = control_points[i][6];
|
|
double max_y = control_points[i][7];
|
|
|
|
double min_x = control_points[i][8];
|
|
double min_y = control_points[i][9];
|
|
|
|
// Skip the check if the point is outside the bounding box of the triangle
|
|
|
|
if( max_x < x0 || min_x > x0 || max_y < y0 || min_y > y0)
|
|
{
|
|
continue;
|
|
}
|
|
|
|
bool in_triangle = pointInTriangle(x0, y0,
|
|
control_points[i][0], control_points[i][1],
|
|
control_points[i][2], control_points[i][3],
|
|
control_points[i][4], control_points[i][5]);
|
|
|
|
if(in_triangle)
|
|
{
|
|
tri = i;
|
|
break;
|
|
}
|
|
}
|
|
return tri;
|
|
} |