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angles are workinggit add webcam_face_pose_ex.cpp !
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@caxelos
caxelos committed Jul 18, 2019
1 parent f2cf0cf commit f0266fb
Showing 1 changed file with 25 additions and 58 deletions.
83 changes: 25 additions & 58 deletions webcam_face_pose_ex.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,6 @@
#include <opencv2/opencv.hpp>
#include <thread>
#include "Regressor.h"
#include "Convolutional.h"
#include "Graphics.h"

// sudo cmake -DCMAKE_PREFIX_PATH=../libtorch .. && make
Expand All @@ -53,6 +52,7 @@

#ifdef TORCH_MODE
#include <torch/script.h> // One-stop header.
#include "Convolutional.h"
#endif


Expand Down Expand Up @@ -139,9 +139,12 @@ void rotationMatrixToEulerAngles(cv::Mat &R, float *headpose, int type)
return;
*/
//if (type == LEFT) {
//afto doulevei ok
headpose[0] = -atan2(R.at<double>(0,2),R.at<double>(2,2));//theta
headpose[1] =-asin(R.at<double>(1,2));//phi


//afto gia to deksi mati!!! Gia to aristero,tsekare to "preprocess_data.py",grammi 85
headpose[0] = /*-*/atan2(R.at<double>(0,2),R.at<double>(2,2));//theta
headpose[1] =/*-*/asin(R.at<double>(1,2));//phi


//afto tha prepe na doulevei

Expand Down Expand Up @@ -214,9 +217,7 @@ int main()
cerr << "Unable to connect to camera" << endl;
return 1;
}
#ifndef TORCH_MODE
image_window win;
#endif


// Load face detection and pose estimation models.
frontal_face_detector detector = get_frontal_face_detector();
Expand Down Expand Up @@ -260,6 +261,7 @@ int main()
#endif

#ifndef TORCH_MODE
image_window win;
while(!win.is_closed() && !quit)
#endif

Expand Down Expand Up @@ -373,48 +375,16 @@ int main()
cv::Mat Rn = R*Rr;
//cv::Mat rvecn;
//cv::Rodrigues(Rn,rvecn);

//rvecn = rvecn*(180.0/M_PI);

//cv::Rodrigues(rvecn,Rn);
//cout << "rvec is:"<<rvecn << endl;//rvecn=rvecn.row(0);

//cout << "rvec normalized:"<<rvecn<<endl;
// << rvecn.at<double>(0,0)//*(180.0/M_PI)
// <<","<< rvecn.at<double>(0,1)//*(180.0/M_PI)
// <<","<< rvecn.at<double>(0,2)/**(180.0/M_PI)*/<<endl;
float theta = asin(Rn.at<float>(1,2));//theta
//float phi = atan2(Rn.at<float>(0,2),Rn.at<float>(2,2));//phi
float phi = atan(Rn.at<float>(0,2)/Rn.at<float>(2,2));//phi
//float theta = asin(rvecn.at<float>(1,0));
//float phi = atan2(rvecn.at<float>(0,0), rvecn.at<float>(2,0));
//theta = asin(rvecn.at<float>(1,0));
//phi = atan2(rvecn.at<float>(0,0),rvecn.at<float>(2,0));


//cv::Rodrigues(Rn,R_new);
//cout << "Rn is:" << Rn << endl;
//cout << "R_new is:" << R_new << endl;

//float theta = asin(Rn.at<float>(1,0));
//float phi = atan2(Rn.at<float>(0,0),Rn.at<float>(2,0));
//0.159155
//phi = phi - 1.5708;
//if (phi <0)
// phi = -(1.508 +phi);
//else
// phi = 1.508-phi;
//phi=0.352451;
//theta=-0.197364;

//rvecn = rvecn[0,:]

//deksi mati::
float phi = -atan(Rn.at<float>(0,2)/Rn.at<float>(2,2));//phi
float theta = asin(Rn.at<float>(1,2));//theta

//cout << "pose:(" << phi/**(180.0/M_PI)*/<<","<<theta/**(180.0/M_PI)*/<<")"<<endl;
//cout << "pose1:(" <<theta1* 180.0/M_PI <<","<<phi1* (180.0/M_PI)<<")"<<endl;

//gaze
cv::flip(output, output, 0);
//cout << "pose1:(" <<theta1* 180.0/M_PI <<","<<phi1* (180.0/M_PI)<<")"<<endl;
//cv::flip(output, output, 0);
cv::Mat output_orig=output;


cvtColor( output, output, CV_BGR2GRAY );/// Convert to grayscale
equalizeHist( output, output);/// Apply Histogram Equalization

Expand All @@ -429,9 +399,7 @@ int main()
float pose[2];
float gaze_n[2];
pose[0]= phi; pose[1]=theta;
cout << "edw eimaste " << endl;
model.predict(output,pose,gaze_n);
cout << "ksana edw" << endl;
#endif


Expand All @@ -447,7 +415,7 @@ int main()
//TODO:Allakse ton Face-Detector wste na mporei na
//pianei kai meros tou proswpou

//cout << "prediction:(" << gaze_n[1]* 180.0/M_PI << "," << gaze_n[0]* 180.0/M_PI << ")" << endl;
//cout << "prediction gaze_n:(" << gaze_n[0]* 180.0/M_PI << "," << gaze_n[1]* 180.0/M_PI << ")" << endl;
//cout << "tvec:" << tvec << endl;
//cout << "right_eye_center:" << reye << endl;

Expand All @@ -459,30 +427,31 @@ int main()

//tan(gaze[0]) = (dx+x)/(-tvec(2))
//tan(gaze[1])= (dy+tvec(1))/(-tvec(2))
cv::Mat gaze_r = R.inv()*(cv::Mat_<float>(3, 1) << gaze_n[1], gaze_n[0], 0);
cv::Mat gaze_r = R.inv()*(cv::Mat_<float>(3, 1) << gaze_n[0], gaze_n[1], 0);
//cout << "gaze is: " << gaze_r << endl;
//cout << "prediction:(" << gaze_r.at<float>(1,0)* 180.0/M_PI << "," << gaze_r.at<float>(0,0)* 180.0/M_PI << ")" << endl;
cout << "prediction gaze_r:(" << gaze_r.at<float>(0,0)* 180.0/M_PI << "," << gaze_r.at<float>(1,0)* 180.0/M_PI << ")" << endl;
//(katheto,orizontio)

//to dx einai i metatopisi apo to (0,0), diladi aptin kamera
if (reye.at<float>(0,0) <0 && gaze_r.at<float>(0,0) > 0) {
dx = -reye.at<float>(0,0)+ reye.at<float>(2,0)*tan(gaze_r.at<float>(0,0));
pixW=620-dx/0.3647;//*4;//mm se pixels
cout <<"case1:" <<pixW<<"dx:"<<dx << endl;
//cout <<"case1:" <<pixW<<"dx:"<<dx << endl;
}
else if (reye.at<float>(0,0) <0 && gaze_r.at<float>(0,0) < 0) {
dx = reye.at<float>(2,0)*tan(gaze_r.at<float>(0,0));
pixW = 620+(reye.at<float>(0,0)+dx)/0.3647;///0.3647;//1mm=0.3647px
cout <<"case2:"<<pixW<<"dx:"<<dx << endl;
//cout <<"case2:"<<pixW<<"dx:"<<dx << endl;
}
else if (reye.at<float>(0,0)>0 && gaze_r.at<float>(0,0) >0) {
dx = (-reye.at<float>(2,0))*tan(gaze_r.at<float>(0,0));
pixW=620+(reye.at<float>(0,0)+dx)/0.3647;
cout <<"case3:"<<pixW<<"dx:"<<dx << endl;
//cout <<"case3:"<<pixW<<"dx:"<<dx << endl;
}
else if (reye.at<float>(0,0)>0 && gaze_r.at<float>(0,0) <0) {
dx = reye.at<float>(0,0) - reye.at<float>(2,0)*tan(gaze_r.at<float>(0,0));
pixW=620+dx/0.3647;
cout <<"case4:"<<pixW<<"dx:"<<dx << endl;
//cout <<"case4:"<<pixW<<"dx:"<<dx << endl;
}
//pixW=620;

Expand Down Expand Up @@ -519,8 +488,6 @@ int main()

//cout << "pixel:(" << pixW <<"," << pixH<<")"<< endl;
graphics.setPos(pixW,pixH,false);


cv_image<bgr_pixel> cimg2(output_orig);
#ifndef TORCH_MODE
win.clear_overlay();
Expand Down

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