Updated SP2 version, started work on readme

.gitignore

@@ -17,8 +17,6 @@
 *.user
 *.sln.docstates
 
-*.sln
-
 # Build results
 [Dd]ebug/
 [Dd]ebugPublic/
@@ -199,7 +197,4 @@ $RECYCLE.BIN/
 
 # =========================
 
-stdafx.*
-
-opencv_libs.txt
-targetver.h
+opencv_libs.txt

EyeTab.sln

@@ -0,0 +1,45 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "EyeTab", "EyeTab\EyeTab.vcxproj", "{6AA5343B-047B-48E2-A839-03D6BDC9D19F}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "EyeTab_SP2", "EyeTab_SP2\EyeTab_SP2.vcxproj", "{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Mixed Platforms = Debug|Mixed Platforms
+		Debug|Win32 = Debug|Win32
+		Debug|x64 = Debug|x64
+		Release|Mixed Platforms = Release|Mixed Platforms
+		Release|Win32 = Release|Win32
+		Release|x64 = Release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Debug|Mixed Platforms.Build.0 = Debug|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Debug|Win32.ActiveCfg = Debug|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Debug|Win32.Build.0 = Debug|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Debug|x64.ActiveCfg = Debug|x64
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Debug|x64.Build.0 = Debug|x64
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Release|Mixed Platforms.ActiveCfg = Release|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Release|Mixed Platforms.Build.0 = Release|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Release|Win32.ActiveCfg = Release|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Release|Win32.Build.0 = Release|Win32
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Release|x64.ActiveCfg = Release|x64
+		{6AA5343B-047B-48E2-A839-03D6BDC9D19F}.Release|x64.Build.0 = Release|x64
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Debug|Mixed Platforms.Build.0 = Debug|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Debug|Win32.ActiveCfg = Debug|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Debug|Win32.Build.0 = Debug|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Debug|x64.ActiveCfg = Debug|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Release|Mixed Platforms.ActiveCfg = Release|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Release|Mixed Platforms.Build.0 = Release|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Release|Win32.ActiveCfg = Release|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Release|Win32.Build.0 = Release|Win32
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Release|x64.ActiveCfg = Release|x64
+		{2FAAF1F5-56A3-4132-AE61-7FAEB2F1669D}.Release|x64.Build.0 = Release|x64
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

EyeTab/gaze_geometry.cpp

@@ -24,7 +24,7 @@ const double FOCAL_LEN_Y_PX = 960.154605354;
 const double FOCAL_LEN_Z_PX = (FOCAL_LEN_X_PX + FOCAL_LEN_Y_PX) / 2;
 const cv::Point2d PRIN_POINT(634.799023712, 367.91715841);
 
-vector<Vector3d> ellipse_to_limbus(cv::RotatedRect ellipse){
+vector<Vector3d> ellipse_to_limbus(cv::RotatedRect ellipse, bool limbus_switch=true){
 
 	vector<Vector3d> limbus_to_return;
 
@@ -40,19 +40,12 @@ vector<Vector3d> ellipse_to_limbus(cv::RotatedRect ellipse){
 	Vector3d limbus_center(iris_x_mm, iris_y_mm, iris_z_mm);
 
 	double psi = CV_PI / 180.0 * (ellipse.angle+90);    // z-axis rotation (radians)
-    double tht_1 = acos(min_axis_px / maj_axis_px);     // y-axis rotation (radians)
-	double tht_2 = -tht_1;                              // as acos has 2 ambiguous solutions
+    double tht = acos(min_axis_px / maj_axis_px);       // y-axis rotation (radians)
 
-	//Vector3d limb_normal = Vector3d(limbus_center) * -1;
-	//limb_normal.normalize();
+	if (limbus_switch) tht = -tht;                      // ambiguous acos, so sometimes switch limbus
 
-	//AngleAxisd rot1(psi, Vector3d(0,0,1));
-	//AngleAxisd rot2(-tht_1, Vector3d(0,1,0));
-	//limb_normal = rot1 * limb_normal;
-	//limb_normal = rot2 * limb_normal;
-
-    // Ignore other possible normal - wrong in general as will point the wrong direction
-    Vector3d limb_normal(sin(tht_1) * cos(psi), -sin(tht_1) * sin(psi), -cos(tht_1));
+    // Get limbus normal for chosen theta
+    Vector3d limb_normal(sin(tht) * cos(psi), -sin(tht) * sin(psi), -cos(tht));
 
 	// Now correct for weak perspective by modifying angle by offset between camera axis and limbus
     double x_correction = -atan2(iris_y_mm, iris_z_mm);
@@ -78,16 +71,28 @@ Point2d get_gaze_point_mm(Vector3d limb_center, Vector3d limb_normal){
 
 Point2d get_gaze_pt_mm(RotatedRect& ellipse){
 
-	vector<Vector3d> limbus = ellipse_to_limbus(ellipse);
-	Point2d p = get_gaze_point_mm(limbus[0], limbus[1]);
+	// get two possible limbus centres and normals because of ambiguous trig
+	vector<Vector3d> limbus_a = ellipse_to_limbus(ellipse, true);
+	vector<Vector3d> limbus_b = ellipse_to_limbus(ellipse, false);
+
+	// calculate gaze points for each possible limbus
+	Point2d gp_mm_a = get_gaze_point_mm(limbus_a[0], limbus_a[1]);
+	Point2d gp_mm_b = get_gaze_point_mm(limbus_b[0], limbus_b[1]);
+
+	// calculate distance from centre of screen for each possible gaze point
+	int dist_a = std::abs(gp_mm_a.x) + std::abs(gp_mm_a.y);
+	int dist_b = std::abs(gp_mm_b.x) + std::abs(gp_mm_b.y);
 
-	return p;
+	// return gaze point closest to screen centre
+	return (dist_a < dist_b) ? gp_mm_a : gp_mm_b;
 }
 
+
 const Size SCREEN_SIZE_MM(236, 134);
 const Size SCREEN_SIZE_PX(1920, 1080);		// screen size in pixels
 const Point2i CAMERA_OFFSET_MM(120, 140);	// vector from top left of screen to camera
 
+
 Point2i convert_gaze_pt_mm_to_px(Point2d gaze_pt_mm){
 
 	int gp_px_x = (gaze_pt_mm.x + CAMERA_OFFSET_MM.x) / SCREEN_SIZE_MM.width * SCREEN_SIZE_PX.width;
@@ -99,12 +104,15 @@ Point2i convert_gaze_pt_mm_to_px(Point2d gaze_pt_mm){
 
 float scale = 720 / float(SCREEN_SIZE_PX.height);
 
-// Draws the gaze-point on-screen
-void show_gaze(Mat& img, vector<Point2i> gaze_pt_px_s, vector<Scalar> colors){
+// draws the gaze-points on-screen as circles and crosses
+void show_gaze(Mat& img, vector<Point2i> gaze_pt_raw_s, vector<Scalar> colors_raw, Point2i gaze_pt_smoothed, Scalar color_smoothed){
 
 	Mat screen(SCREEN_SIZE_PX.height, SCREEN_SIZE_PX.width, CV_8UC3);
 	screen.setTo(YELLOW);
 
-	for (int i=0; i<gaze_pt_px_s.size(); i++)
-		circle(img, gaze_pt_px_s[i] * scale, 20, colors[i], -1);
+	// draw ra
+	for (int i=0; i<gaze_pt_raw_s.size(); i++)
+		circle(img, gaze_pt_raw_s[i] * scale, 10, colors_raw[i], -1);
+
+	circle(img, gaze_pt_smoothed * scale, 20, color_smoothed, -1);
 }

EyeTab/gaze_geometry.h

@@ -12,4 +12,4 @@ Point2d get_gaze_pt_mm(RotatedRect& ellipse);
 
 Point2i convert_gaze_pt_mm_to_px(Point2d gaze_pt_mm);
 
-void show_gaze(Mat& img, vector<Point2i> gaze_pt_px_s, vector<Scalar> colors);
+void show_gaze(Mat& img, vector<Point2i> gaze_pt_raw_s, vector<Scalar> colors_raw, Point2i gaze_pt_smoothed, Scalar color_smoothed);

EyeTab/gaze_smoothing.cpp

@@ -18,6 +18,7 @@ vector<Point2d> point_history;
 vector<float> weights;
 float weight_sum = 0;
 
+// create and initialize weights and history vectors
 void gaze_smoothing_init(){
 	for (float i = 1; i < SMOOTHING_WINDOW_SIZE; i++){
 		weights.push_back(i);
@@ -26,6 +27,7 @@ void gaze_smoothing_init(){
 	}
 }
 
+// very simple smoothing low-pass filter
 Point2d smooth_gaze(Point2d gaze_point){
 	
 	Point2d point_to_return(0,0);

EyeTab/gaze_system.cpp

@@ -120,30 +120,28 @@ void track_gaze(Mat& frame_bgr, Mat& frame_gray) {
 	ellipse0 = RotatedRect(Point2i(ellipse0.center) + eye0_roi_ref.tl(), ellipse0.size, ellipse0.angle);
 	ellipse1 = RotatedRect(Point2i(ellipse1.center) + eye1_roi_ref.tl(), ellipse1.size, ellipse1.angle);
 
-	/*Point2d gaze_pt_mm = (get_gaze_pt_mm(ellipse0) + get_gaze_pt_mm(ellipse1)) * 0.5;
+	// smooth gaze point
+	Point2d gaze_pt_mm = (get_gaze_pt_mm(ellipse0) + get_gaze_pt_mm(ellipse1)) * 0.5;
 	gaze_pt_mm = smooth_gaze(gaze_pt_mm);
 	Point gaze_pt_px = convert_gaze_pt_mm_to_px(gaze_pt_mm);
-	cout << "GAZE PT MM " << gaze_pt_mm.x << " " << gaze_pt_mm.y << endl;
-	cout << "GAZE PT PX " << gaze_pt_px.x << " " << gaze_pt_px.y << endl;*/
 
+	// get raw gaze points also
 	Point2d gaze_pt_mm_0 = get_gaze_pt_mm(ellipse0);
 	Point2d gaze_pt_mm_1 = get_gaze_pt_mm(ellipse1);
 	Point2i gaze_pt_px_0 = convert_gaze_pt_mm_to_px(gaze_pt_mm_0);
 	Point2i gaze_pt_px_1 = convert_gaze_pt_mm_to_px(gaze_pt_mm_1);
 
-	cout << "GAZE PT 1 " << gaze_pt_mm_0 << " " << gaze_pt_px_0 << endl;
-	cout << "GAZE PT 2 " << gaze_pt_mm_1 << " " << gaze_pt_px_1 << endl;
+	// *** DEBUG DRAWING ***
 
+	// draw raw and smoothed gaze points
 	vector<Point2i> gp_px_s;
 	gp_px_s.push_back(gaze_pt_px_0);
 	gp_px_s.push_back(gaze_pt_px_1);
-	vector<Scalar> colors;
-	colors.push_back(RED);
-	colors.push_back(BLUE);
-
-	show_gaze(frame_bgr, gp_px_s, colors);
-
-	// *** DEBUG DRAWING ***
+	gp_px_s.push_back(gaze_pt_px);
+	vector<Scalar> colors_raw;
+	colors_raw.push_back(RED);
+	colors_raw.push_back(BLUE);
+	show_gaze(frame_bgr, gp_px_s, colors_raw, gaze_pt_px, YELLOW);
 
 	// DEBUG DRAWING - coarse ROIs
 	rectangle(frame_bgr, eye0_roi, GREEN);

EyeTab/stdafx.cpp

@@ -0,0 +1,8 @@
+// stdafx.cpp : source file that includes just the standard includes
+// EyeTab.pch will be the pre-compiled header
+// stdafx.obj will contain the pre-compiled type information
+
+#include "stdafx.h"
+
+// TODO: reference any additional headers you need in STDAFX.H
+// and not in this file

EyeTab/stdafx.h

@@ -0,0 +1,15 @@
+// stdafx.h : include file for standard system include files,
+// or project specific include files that are used frequently, but
+// are changed infrequently
+//
+
+#pragma once
+
+#include "targetver.h"
+
+#include <stdio.h>
+#include <tchar.h>
+
+
+
+// TODO: reference additional headers your program requires here

EyeTab/targetver.h

@@ -0,0 +1,8 @@
+#pragma once
+
+// Including SDKDDKVer.h defines the highest available Windows platform.
+
+// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
+// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
+
+#include <SDKDDKVer.h>