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More visualization cleanup and removal of redundant code.

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This commit is contained in:
Tadas Baltrusaitis
2017-11-12 10:55:47 +00:00
parent e1c260eee6
commit 5ce0a8d4bf
11 changed files with 80 additions and 261 deletions
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57
lib/local/Utilities/src/Visualizer.cpp
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@@ -33,6 +33,7 @@
#include "Visualizer.h"
#include "VisualizationUtils.h"
#include "RotationHelpers.h"
// For drawing on images
#include <opencv2/imgproc.hpp>
@@ -149,23 +150,22 @@ void Visualizer::SetObservationPose(const cv::Vec6d& pose, double confidence)
}
}
// TODO add 3D eye landmark locations
// Eye gaze infomration drawing, first of eye landmarks then of gaze
void Visualizer::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv::Point3f& gaze_direction1, const cv::Vec2d& gaze_angle, const std::vector<cv::Point2d>& eye_landmarks2d, const std::vector<cv::Point3d>& eye_landmarks3d)
{
// TODO actual drawing, first of eye landmarks then of gaze
if (eye_landmarks.size() > 0)
if (eye_landmarks2d.size() > 0)
{
// FIrst draw the eye region landmarks
for (size_t i = 0; i < eye_landmarks.size(); ++i)
// First draw the eye region landmarks
for (size_t i = 0; i < eye_landmarks2d.size(); ++i)
{
cv::Point featurePoint(cvRound(eye_landmarks[i].x * (double)draw_multiplier), eye_landmarks[i].y * (double)draw_multiplier));
cv::Point featurePoint(cvRound(eye_landmarks2d[i].x * (double)draw_multiplier), cvRound(eye_landmarks2d[i].y * (double)draw_multiplier));
// A rough heuristic for drawn point size
int thickness = 1.0;
int thickness_2 = 1.0;
int thickness = 1;
int thickness_2 = 1;
int next_point = i + 1;
size_t next_point = i + 1;
if (i == 7)
next_point = 0;
if (i == 19)
@@ -173,7 +173,7 @@ void Visualizer::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv
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));
cv::Point nextFeaturePoint(cvRound(eye_landmarks2d[next_point].x * (double)draw_multiplier), cvRound(eye_landmarks2d[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
@@ -184,36 +184,24 @@ void Visualizer::SetObservationGaze(const cv::Point3f& gaze_direction0, const cv
// 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)
// Grabbing the pupil location, to draw eye gaze need to know where the pupil is
cv::Point3d pupil_left(0, 0, 0);
cv::Point3d pupil_right(0, 0, 0);
for (size_t i = 0; i < 8; ++i)
{
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;
}
pupil_left = pupil_left + eye_landmarks3d[i];
pupil_right = pupil_right + eye_landmarks3d[i + eye_landmarks3d.size()];
}
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);
pupil_left = pupil_left / 8;
pupil_right = pupil_right / 8;
std::vector<cv::Point3d> points_left;
points_left.push_back(cv::Point3d(pupil_left));
points_left.push_back(cv::Point3d(pupil_left + gaze_direction0*50.0));
points_left.push_back(cv::Point3d(pupil_left + cv::Point3d(gaze_direction0)*50.0));
std::vector<cv::Point3d> points_right;
points_right.push_back(cv::Point3d(pupil_right));
points_right.push_back(cv::Point3d(pupil_right + gaze_direction1*50.0));
points_right.push_back(cv::Point3d(pupil_right + cv::Point3d(gaze_direction1)*50.0));
cv::Mat_<double> proj_points;
cv::Mat_<double> mesh_0 = (cv::Mat_<double>(2, 3) << points_left[0].x, points_left[0].y, points_left[0].z, points_left[1].x, points_left[1].y, points_left[1].z);
@@ -248,4 +236,7 @@ void Visualizer::ShowObservation()
}
}
cv::Mat Visualizer::GetVisImage()
{
return captured_image;
}