747 lines
26 KiB
C#
747 lines
26 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Drawing.Imaging;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Windows.Controls;
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using System.Windows.Data;
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using System.Windows.Documents;
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using System.Windows.Input;
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using System.Windows.Media;
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using System.Windows.Media.Imaging;
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using System.Windows.Navigation;
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using System.Windows.Shapes;
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using Microsoft.Win32;
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using OpenCVWrappers;
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using CppInterop;
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using CppInterop.LandmarkDetector;
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using CameraInterop;
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using FaceAnalyser_Interop;
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using System.Windows.Threading;
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using FaceAnalyser_Interop;
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using ZeroMQ;
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using System.Drawing;
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using System.Collections.Concurrent;
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namespace HeadPoseLive
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{
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/// <summary>
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/// Interaction logic for MainWindow.xaml
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/// </summary>
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public partial class MainWindow : Window
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{
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// Timing for measuring FPS
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#region High-Resolution Timing
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static DateTime startTime;
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static Stopwatch sw = new Stopwatch();
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static MainWindow()
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{
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startTime = DateTime.Now;
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sw.Start();
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}
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public static DateTime CurrentTime
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{
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get { return startTime + sw.Elapsed; }
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}
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#endregion
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OpenFaceOffline.FpsTracker processing_fps = new OpenFaceOffline.FpsTracker();
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Thread processing_thread;
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Thread rec_thread;
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string subject_id;
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bool record_video;
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bool record_head_pose;
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// Controls if the view should be mirrored or not
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volatile bool mirror_image = false;
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// Capturing and displaying the images
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OpenFaceOffline.OverlayImage webcam_img;
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// Some members for displaying the results
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private CameraInterop.Capture capture;
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private WriteableBitmap latest_img;
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// For tracking
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double fx = 500, fy = 500, cx = 0, cy = 0;
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bool reset = false;
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// For recording
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string record_root = "./head_pose_live_recordings/subject";
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string output_root;
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private Object recording_lock = new Object();
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int trial_id = 0;
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bool recording = false;
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int img_width;
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int img_height;
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double seconds_to_record = 10;
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System.IO.StreamWriter recording_success_file = null;
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ConcurrentQueue<Tuple<RawImage, bool, List<double>>> recording_objects;
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// For broadcasting the results
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ZeroMQ.ZContext zero_mq_context;
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ZeroMQ.ZSocket zero_mq_socket;
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volatile bool running = true;
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volatile bool pause = false;
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public void StartExperiment()
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{
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// Inquire more from the user
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// Get the entry dialogue now for the subject ID
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trial_id = 0;
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TextEntryWindow subject_id_window = new TextEntryWindow();
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subject_id_window.Icon = this.Icon;
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subject_id_window.WindowStartupLocation = WindowStartupLocation.CenterScreen;
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if (subject_id_window.ShowDialog() == true)
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{
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subject_id = subject_id_window.ResponseText;
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// Remove trailing spaces and full stops at the end of the folder name
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int old_length;
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do
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{
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old_length = subject_id.Length;
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subject_id = subject_id.Trim();
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if (subject_id.Length > 0)
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{
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while (subject_id[subject_id.Length - 1].Equals('.'))
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{
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subject_id = subject_id.Substring(0, subject_id.Length - 1);
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}
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}
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} while (subject_id.Length != old_length);
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output_root = record_root + subject_id + "/";
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if (System.IO.Directory.Exists(output_root))
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{
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string messageBoxText = "The recording for subject already exists, are you sure you want to continue?";
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string caption = "Directory exists!";
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MessageBoxButton button = MessageBoxButton.YesNo;
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MessageBoxImage icon = MessageBoxImage.Warning;
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MessageBoxResult result = MessageBox.Show(messageBoxText, caption, button, icon);
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if (result == MessageBoxResult.No)
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{
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this.Close();
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}
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// Else find the latest trial from which to continu
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int trial_id_not_found = 0;
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while (System.IO.File.Exists(output_root + '/' + "trial_" + trial_id_not_found + ".avi"))
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{
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trial_id_not_found++;
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}
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trial_id = trial_id_not_found;
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}
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System.IO.Directory.CreateDirectory(output_root);
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record_video = subject_id_window.RecordVideo;
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record_head_pose = subject_id_window.RecordHeadPose;
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RecordingButton.Content = "Record trial: " + trial_id;
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}
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else
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{
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this.Close();
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}
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}
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public MainWindow()
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{
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InitializeComponent();
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DateTime now = DateTime.Now;
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// Set the icon
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Uri iconUri = new Uri("logo1.ico", UriKind.RelativeOrAbsolute);
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this.Icon = BitmapFrame.Create(iconUri);
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// Warn about the liability
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Liability liab = new Liability();
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liab.Icon = BitmapFrame.Create(iconUri);
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liab.ShowDialog();
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if (!liab.continue_pressed)
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{
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this.Close();
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return;
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}
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BitmapImage src = new BitmapImage();
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src.BeginInit();
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src.UriSource = new Uri("logo1.png", UriKind.RelativeOrAbsolute);
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src.CacheOption = BitmapCacheOption.OnLoad;
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src.EndInit();
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logoLabel.Source = src;
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// First make the user chooose a webcam
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OpenFaceDemo.CameraSelection cam_select = new OpenFaceDemo.CameraSelection();
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cam_select.Icon = BitmapFrame.Create(iconUri);
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if (!cam_select.no_cameras_found)
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{
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cam_select.ShowDialog();
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}
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if (cam_select.camera_selected)
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{
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// Create the capture device
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int cam_id = cam_select.selected_camera.Item1;
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img_width = cam_select.selected_camera.Item2;
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img_height = cam_select.selected_camera.Item3;
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capture = new CameraInterop.Capture(cam_id, img_width, img_height);
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// Set appropriate fx and cx values
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fx = fx * (img_width / 640.0);
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fy = fy * (img_height / 480.0);
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fx = (fx + fy) / 2.0;
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fy = fx;
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cx = img_width / 2.0;
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cy = img_height / 2.0;
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if (capture.isOpened())
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{
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// Create the ZeroMQ context for broadcasting the results
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zero_mq_context = ZeroMQ.ZContext.Create();
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zero_mq_socket = new ZSocket(zero_mq_context, ZeroMQ.ZSocketType.PUB);
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// Bind on localhost port 5000
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zero_mq_socket.Bind("tcp://127.0.0.1:5000");
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// Start the tracking now
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processing_thread = new Thread(VideoLoop);
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processing_thread.Start();
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}
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else
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{
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string messageBoxText = "Failed to open a webcam";
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string caption = "Webcam failure";
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MessageBoxButton button = MessageBoxButton.OK;
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MessageBoxImage icon = MessageBoxImage.Warning;
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// Display message box
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MessageBox.Show(messageBoxText, caption, button, icon);
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this.Close();
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}
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// Create an overlay image for display purposes
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webcam_img = new OpenFaceOffline.OverlayImage();
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webcam_img.SetValue(Grid.RowProperty, 1);
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webcam_img.SetValue(Grid.ColumnProperty, 1);
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MainGrid.Children.Add(webcam_img);
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StartExperiment();
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}
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else
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{
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cam_select.Close();
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this.Close();
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}
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}
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private bool ProcessFrame(CLNF clnf_model, FaceAnalyserManaged face_analyser, FaceModelParameters model_params, RawImage frame, RawImage grayscale_frame, double fx, double fy, double cx, double cy)
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{
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bool detection_succeeding = clnf_model.DetectLandmarksInVideo(grayscale_frame, model_params);
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face_analyser.AddNextFrame(frame, clnf_model, fx, fy, cx, cy, true, false, false);
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return detection_succeeding;
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}
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// Capturing and processing the video frame by frame
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private void RecordingLoop()
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{
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// Set up the recording objects first
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Thread.CurrentThread.IsBackground = true;
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System.IO.StreamWriter output_head_pose_file = null;
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if (record_head_pose)
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{
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String filename_poses = output_root + "/trial_" + trial_id + ".poses.txt";
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output_head_pose_file = new System.IO.StreamWriter(filename_poses);
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output_head_pose_file.WriteLine("time(ms), success, pose_X(mm), pose_Y(mm), pose_Z(mm), pitch(deg), yaw(deg), roll(deg)");
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}
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VideoWriter video_writer = null;
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if (record_video)
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{
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double fps = processing_fps.GetFPS();
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String filename_video = output_root + "/trial_" + trial_id + ".avi";
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video_writer = new VideoWriter(filename_video, img_width, img_height, fps, true);
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}
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// The timiing should be when the item is captured, but oh well
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Stopwatch stopWatch = new Stopwatch();
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stopWatch.Start();
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while (recording)
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{
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Tuple<RawImage, bool, List<double>> recording_object;
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if (recording_objects.TryDequeue(out recording_object))
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{
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if (record_video)
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{
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video_writer.Write(recording_object.Item1);
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}
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if (record_head_pose)
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{
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String output_pose_line = stopWatch.ElapsedMilliseconds.ToString();
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if (recording_object.Item2)
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output_pose_line += ", 1";
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else
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output_pose_line += ", 0";
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for (int i = 0; i < recording_object.Item3.Count; ++i)
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{
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double num = recording_object.Item3[i];
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if (i > 2)
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{
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output_pose_line += ", " + num * 180 / Math.PI;
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}
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else
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{
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output_pose_line += ", " + num;
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}
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}
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output_head_pose_file.WriteLine(output_pose_line);
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}
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}
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Thread.Sleep(10);
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}
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// Clean up the recording
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if (record_head_pose)
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{
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output_head_pose_file.Close();
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}
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}
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// Capturing and processing the video frame by frame
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private void VideoLoop()
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{
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Thread.CurrentThread.IsBackground = true;
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String root = AppDomain.CurrentDomain.BaseDirectory;
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FaceModelParameters model_params = new FaceModelParameters(root, false);
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CLNF face_model = new CLNF(model_params);
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FaceAnalyserManaged face_analyser = new FaceAnalyserManaged(root, false, 112);
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DateTime? startTime = CurrentTime;
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var lastFrameTime = CurrentTime;
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while (running)
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{
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//////////////////////////////////////////////
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// CAPTURE FRAME AND DETECT LANDMARKS FOLLOWED BY THE REQUIRED IMAGE PROCESSING
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//////////////////////////////////////////////
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RawImage frame = null;
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try
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{
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frame = capture.GetNextFrame(mirror_image);
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}
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catch (CameraInterop.CaptureFailedException)
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{
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break;
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}
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lastFrameTime = CurrentTime;
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processing_fps.AddFrame();
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var grayFrame = capture.GetCurrentFrameGray();
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if (grayFrame == null)
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continue;
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bool detectionSucceeding = ProcessFrame(face_model, face_analyser, model_params, frame, grayFrame, fx, fy, cx, cy);
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lock (recording_lock)
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{
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if (recording)
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{
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// Add objects to recording queues
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List<double> pose = new List<double>();
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face_model.GetPose(pose, fx, fy, cx, cy);
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RawImage image = new RawImage(frame);
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recording_objects.Enqueue(new Tuple<RawImage, bool, List<double>>(image, detectionSucceeding, pose));
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}
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}
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List<Tuple<System.Windows.Point, System.Windows.Point>> lines = null;
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List<Tuple<double, double>> eye_landmarks = null;
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List<System.Windows.Point> landmarks = new List<System.Windows.Point>();
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List<Tuple<System.Windows.Point, System.Windows.Point>> gaze_lines = null;
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Tuple<double, double> gaze_angle = new Tuple<double, double>(0, 0);
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double scale = 0;
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if (detectionSucceeding)
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{
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List<Tuple<double, double>> landmarks_doubles = face_model.CalculateLandmarks();
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foreach (var p in landmarks_doubles)
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landmarks.Add(new System.Windows.Point(p.Item1, p.Item2));
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eye_landmarks = face_model.CalculateEyeLandmarks();
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scale = face_model.GetRigidParams()[0];
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gaze_lines = face_analyser.CalculateGazeLines(scale, (float)fx, (float)fy, (float)cx, (float)cy);
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gaze_angle = face_analyser.GetGazeAngle();
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lines = face_model.CalculateBox((float)fx, (float)fy, (float)cx, (float)cy);
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}
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if (reset)
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{
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face_model.Reset();
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face_analyser.Reset();
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reset = false;
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}
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// Visualisation updating
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try
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{
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Dispatcher.Invoke(DispatcherPriority.Render, new TimeSpan(0, 0, 0, 0, 200), (Action)(() =>
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{
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if (latest_img == null)
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latest_img = frame.CreateWriteableBitmap();
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List<double> pose = new List<double>();
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face_model.GetPose(pose, fx, fy, cx, cy);
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int yaw = (int)(pose[4] * 180 / Math.PI + 0.5);
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int yaw_abs = Math.Abs(yaw);
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int roll = (int)(pose[5] * 180 / Math.PI + 0.5);
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int roll_abs = Math.Abs(roll);
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int pitch = (int)(pose[3] * 180 / Math.PI + 0.5);
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int pitch_abs = Math.Abs(pitch);
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YawLabel.Content = yaw_abs + "°";
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RollLabel.Content = roll_abs + "°";
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PitchLabel.Content = pitch_abs + "°";
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if (yaw > 0)
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YawLabelDir.Content = "Right";
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else if (yaw < 0)
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YawLabelDir.Content = "Left";
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else
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YawLabelDir.Content = "Straight";
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if (pitch > 0)
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PitchLabelDir.Content = "Down";
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else if (pitch < 0)
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PitchLabelDir.Content = "Up";
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else
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PitchLabelDir.Content = "Straight";
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if (roll > 0)
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RollLabelDir.Content = "Left";
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else if (roll < 0)
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RollLabelDir.Content = "Right";
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else
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RollLabelDir.Content = "Straight";
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XPoseLabel.Content = (int)pose[0] + " mm";
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YPoseLabel.Content = (int)pose[1] + " mm";
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ZPoseLabel.Content = (int)pose[2] + " mm";
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String x_angle = String.Format("{0:F0}°", gaze_angle.Item1 * (180.0 / Math.PI));
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String y_angle = String.Format("{0:F0}°", gaze_angle.Item2 * (180.0 / Math.PI));
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YawLabelGaze.Content = x_angle;
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PitchLabelGaze.Content = y_angle;
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if (gaze_angle.Item1 > 0)
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YawLabelGazeDir.Content = "Right";
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else if (gaze_angle.Item1 < 0)
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YawLabelGazeDir.Content = "Left";
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else
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YawLabelGazeDir.Content = "Straight";
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if (gaze_angle.Item2 > 0)
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PitchLabelGazeDir.Content = "Down";
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else if (gaze_angle.Item2 < 0)
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PitchLabelGazeDir.Content = "Up";
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else
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PitchLabelGazeDir.Content = "Straight";
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double confidence = (-face_model.GetConfidence() + 1) / 2.0;
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if (confidence < 0)
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confidence = 0;
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else if (confidence > 1)
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confidence = 1;
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frame.UpdateWriteableBitmap(latest_img);
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webcam_img.Source = latest_img;
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webcam_img.Confidence = confidence;
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webcam_img.FPS = processing_fps.GetFPS();
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if (!detectionSucceeding)
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{
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webcam_img.OverlayLines.Clear();
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webcam_img.OverlayPoints.Clear();
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webcam_img.OverlayEyePoints.Clear();
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webcam_img.GazeLines.Clear();
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}
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else
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{
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webcam_img.OverlayLines = lines;
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webcam_img.OverlayPoints = landmarks;
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webcam_img.FaceScale = scale;
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List<System.Windows.Point> eye_landmark_points = new List<System.Windows.Point>();
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foreach (var p in eye_landmarks)
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{
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eye_landmark_points.Add(new System.Windows.Point(p.Item1, p.Item2));
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}
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webcam_img.OverlayEyePoints = eye_landmark_points;
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webcam_img.GazeLines = gaze_lines;
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// Publish the information for other applications
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String str_head_pose = String.Format("{0}:{1:F2}, {2:F2}, {3:F2}, {4:F2}, {5:F2}, {6:F2}", "HeadPose", pose[0], pose[1], pose[2],
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pose[3] * 180 / Math.PI, pose[4] * 180 / Math.PI, pose[5] * 180 / Math.PI);
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zero_mq_socket.Send(new ZFrame(str_head_pose, Encoding.UTF8));
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|
|
String str_gaze = String.Format("{0}:{1:F2}, {2:F2}", "GazeAngle", gaze_angle.Item1 * (180.0 / Math.PI), gaze_angle.Item2 * (180.0 / Math.PI));
|
|
|
|
zero_mq_socket.Send(new ZFrame(str_gaze, Encoding.UTF8));
|
|
}
|
|
}));
|
|
|
|
while (running & pause)
|
|
{
|
|
|
|
Thread.Sleep(10);
|
|
}
|
|
|
|
}
|
|
catch (TaskCanceledException)
|
|
{
|
|
// Quitting
|
|
break;
|
|
}
|
|
}
|
|
System.Console.Out.WriteLine("Thread finished");
|
|
}
|
|
|
|
private void startRecordingButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
lock (recording_lock)
|
|
{
|
|
RecordingButton.IsEnabled = false;
|
|
CompleteButton.IsEnabled = false;
|
|
PauseButton.IsEnabled = false;
|
|
|
|
recording_objects = new ConcurrentQueue<Tuple<RawImage, bool, List<double>>>();
|
|
|
|
recording = true;
|
|
|
|
new Thread(() =>
|
|
{
|
|
Thread.CurrentThread.IsBackground = true;
|
|
|
|
// Start the recording thread
|
|
rec_thread = new Thread(RecordingLoop);
|
|
rec_thread.Start();
|
|
|
|
double d = seconds_to_record * 1000;
|
|
|
|
Stopwatch stopWatch = new Stopwatch();
|
|
stopWatch.Start();
|
|
|
|
while (d > 1000)
|
|
{
|
|
|
|
Dispatcher.Invoke(DispatcherPriority.Render, new TimeSpan(0, 0, 0, 0, 200), (Action)(() =>
|
|
{
|
|
RecordingButton.Content = ((int)(d / 1000)).ToString() + " seconds remaining";
|
|
}));
|
|
|
|
System.Threading.Thread.Sleep(1000);
|
|
|
|
d = seconds_to_record * 1000 - stopWatch.ElapsedMilliseconds;
|
|
}
|
|
|
|
if (d > 0)
|
|
{
|
|
System.Threading.Thread.Sleep((int)(d));
|
|
}
|
|
|
|
recording = false;
|
|
|
|
Dispatcher.Invoke(DispatcherPriority.Render, new TimeSpan(0, 0, 0, 0, 200), (Action)(() =>
|
|
{
|
|
RecordingButton.Content = "0 seconds remaining";
|
|
}));
|
|
|
|
Dispatcher.Invoke(() =>
|
|
{
|
|
lock (recording_lock)
|
|
{
|
|
|
|
// Wait for the recording thread to finish before enabling
|
|
rec_thread.Join();
|
|
|
|
string messageBoxText = "Was the tracking successful?";
|
|
string caption = "Success of tracking";
|
|
MessageBoxButton button = MessageBoxButton.YesNo;
|
|
MessageBoxImage icon = MessageBoxImage.Question;
|
|
MessageBoxResult result = MessageBox.Show(messageBoxText, caption, button, icon);
|
|
|
|
if (recording_success_file == null)
|
|
{
|
|
recording_success_file = new System.IO.StreamWriter(output_root + "/recording_success.txt", true);
|
|
}
|
|
|
|
if (result == MessageBoxResult.Yes)
|
|
{
|
|
recording_success_file.WriteLine('1');
|
|
}
|
|
else
|
|
{
|
|
recording_success_file.WriteLine('0');
|
|
}
|
|
recording_success_file.Flush();
|
|
|
|
trial_id++;
|
|
RecordingButton.Content = "Record trial: " + trial_id;
|
|
RecordingButton.IsEnabled = true;
|
|
CompleteButton.IsEnabled = true;
|
|
PauseButton.IsEnabled = true;
|
|
|
|
}
|
|
|
|
});
|
|
}).Start();
|
|
}
|
|
}
|
|
|
|
private void ResetButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
reset = true;
|
|
}
|
|
|
|
private void CompleteButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
StartExperiment();
|
|
}
|
|
|
|
private void MirrorButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
mirror_image = !mirror_image;
|
|
}
|
|
|
|
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
|
|
{
|
|
|
|
// Let it finish recording
|
|
recording = false;
|
|
if (rec_thread != null)
|
|
{
|
|
rec_thread.Join();
|
|
}
|
|
|
|
// Stop capture and tracking
|
|
running = false;
|
|
if (processing_thread != null)
|
|
{
|
|
processing_thread.Join();
|
|
}
|
|
|
|
if (capture != null)
|
|
capture.Dispose();
|
|
|
|
}
|
|
|
|
private void MorrorButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
|
|
}
|
|
|
|
private void PauseButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
pause = !pause;
|
|
|
|
if (pause)
|
|
{
|
|
PauseButton.Content = "Resume";
|
|
}
|
|
else
|
|
{
|
|
PauseButton.Content = "Pause";
|
|
}
|
|
}
|
|
|
|
private void ScreenshotButton_Click(object sender, RoutedEventArgs e)
|
|
{
|
|
|
|
int Top = (int)this.Top;
|
|
int Left = (int)this.Left;
|
|
|
|
int Width = (int)this.Width;
|
|
int Height = (int)this.Height;
|
|
|
|
using (Bitmap bmpScreenCapture = new Bitmap(Width,
|
|
Height))
|
|
{
|
|
using (System.Drawing.Graphics g = Graphics.FromImage(bmpScreenCapture))
|
|
{
|
|
g.CopyFromScreen(Left,
|
|
Top,
|
|
0, 0,
|
|
bmpScreenCapture.Size,
|
|
CopyPixelOperation.SourceCopy);
|
|
|
|
// Write out the bitmap here encoded by a time-stamp?
|
|
String fname = output_root + DateTime.Now.ToString("yyyy-MMM-dd--HH-mm-ss") + ".png";
|
|
bmpScreenCapture.Save(fname, ImageFormat.Png);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
} |