Merge pull request #115 from AIRLegend/dev

Dev

.gitignore

@@ -349,3 +349,8 @@ healthchecksdb
 Client/models
 prefs.ini
 log.txt
+
+# CMake
+CMakeCache.txt
+CMakeFiles/
+

AITrack.sln

@@ -0,0 +1,39 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ALL_BUILD", "ALL_BUILD.vcxproj", "{98930F42-E1C2-387F-91F1-35E73D7EAEEF}"
+	ProjectSection(ProjectDependencies) = postProject
+		{D5A8598B-8776-3340-8582-7FAFBB98849E} = {D5A8598B-8776-3340-8582-7FAFBB98849E}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ZERO_CHECK", "ZERO_CHECK.vcxproj", "{D5A8598B-8776-3340-8582-7FAFBB98849E}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Release|x64 = Release|x64
+		MinSizeRel|x64 = MinSizeRel|x64
+		RelWithDebInfo|x64 = RelWithDebInfo|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{98930F42-E1C2-387F-91F1-35E73D7EAEEF}.Debug|x64.ActiveCfg = Debug|x64
+		{98930F42-E1C2-387F-91F1-35E73D7EAEEF}.Release|x64.ActiveCfg = Release|x64
+		{98930F42-E1C2-387F-91F1-35E73D7EAEEF}.MinSizeRel|x64.ActiveCfg = MinSizeRel|x64
+		{98930F42-E1C2-387F-91F1-35E73D7EAEEF}.RelWithDebInfo|x64.ActiveCfg = RelWithDebInfo|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.Debug|x64.ActiveCfg = Debug|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.Debug|x64.Build.0 = Debug|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.Release|x64.ActiveCfg = Release|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.Release|x64.Build.0 = Release|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.MinSizeRel|x64.ActiveCfg = MinSizeRel|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.MinSizeRel|x64.Build.0 = MinSizeRel|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.RelWithDebInfo|x64.ActiveCfg = RelWithDebInfo|x64
+		{D5A8598B-8776-3340-8582-7FAFBB98849E}.RelWithDebInfo|x64.Build.0 = RelWithDebInfo|x64
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {C29C1D66-F65E-3F52-B3A8-FF3673057EF7}
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddIns) = postSolution
+	EndGlobalSection
+EndGlobal

AITracker/src/PositionSolver.cpp

@@ -1,22 +1,38 @@
 #include "PositionSolver.h"
 
 
-PositionSolver::PositionSolver(int width, int height,
-    float prior_pitch, float prior_yaw, float prior_distance, bool complex, float fov) :
+PositionSolver::PositionSolver(
+    int width, 
+    int height,
+    float prior_pitch, 
+    float prior_yaw, 
+    float prior_distance, 
+    bool complex, 
+    float fov,
+    float x_scale,
+    float y_scale, 
+    float z_scale) :
+
     //TODO: Refactor removing prior_yaw/pitch parameters
     landmark_points_buffer(complex ? NB_CONTOUR_POINTS_COMPLEX: NB_CONTOUR_POINTS_BASE, 1, CV_32FC2),
     rv({ 0, 0, 0 }),
     tv({ 0, 0, 0 })
 {
     this->prior_pitch = -1.57;
     this->prior_yaw = -1.57;
-    this->prior_distance = prior_distance * -1.;
+    this->prior_distance = prior_distance * -2.;
 
     this->rv[0] = this->prior_pitch;
     this->rv[1] = this->prior_yaw;
     this->rv[2] = -1.57;
     this->tv[2] = this->prior_distance;
 
+    head3dScale = (cv::Mat_<double>(3, 3) <<
+        x_scale, 0.0, 0,
+        0.0, y_scale, 0,
+        0.0, 0.0, z_scale
+    );
+
     this->complex = complex;
 
     if (!complex)
@@ -110,6 +126,8 @@ PositionSolver::PositionSolver(int width, int height,
 
     camera_distortion = (cv::Mat_<double>(4, 1) << 0, 0, 0, 0);
 
+    mat3dcontour =  mat3dcontour * head3dScale;
+
     if(complex) std::cout << "Using complex solver" << std::endl;
 }
 
@@ -149,6 +167,9 @@ void PositionSolver::solve_rotation(FaceData* face_data)
         face_data->translation[i] = tvec.at<double>(i, 0) * 10;
     }
 
+    // We dont want the Z axis oversaturated.
+    face_data->translation[2] /= 100;
+
     std::cout << face_data->to_string() << std::endl;
 
     correct_rotation(*face_data);

AITracker/src/PositionSolver.h

@@ -22,7 +22,10 @@ class PositionSolver
 		float prior_yaw = -2.f,
 		float prior_distance = -1.f,
 		bool complex = false,
-		float fov = 56.0f );
+		float fov = 56.0f,
+		float x_scale = 1.0f,
+		float y_scal = 1.0f,
+		float z_scale = 1.0f);
 
 	/**
 		Stores solved translation/rotation on the face_data object
@@ -42,6 +45,7 @@ class PositionSolver
 	cv::Mat mat3dface;
 	cv::Mat mat3dcontour;
 	std::vector<int> contour_indices;  // Facial landmarks that interest us
+	cv::Mat head3dScale;               // This will let us scale the 3d model so a better PnP can be acomplished
 
 	//Buffer so we dont have to allocate a list on every solve_rotation call.
 	cv::Mat landmark_points_buffer;