gaze_point_calculation.h

#ifndef INCLUDE_GAZE_PIPELINE_STEPS_GAZE_POINT_CALCULATION_H_
#define INCLUDE_GAZE_PIPELINE_STEPS_GAZE_POINT_CALCULATION_H_

#include <string>
#include <vector>

#include "opencv2/opencv.hpp"

#include "gaze/gui/visualizeable.h"
#include "gaze/pipeline_step.h"
#include "gaze/util/data.h"


namespace gaze {

namespace util {

double parse_aspect_ratio(std::string aspect_ratio_string);

double clamp(double value, double min, double max);

}  // namespace util

namespace pipeline {

class GazePointCalculation final
    : public PipelineStep,
      public gui::PerspectiveVisualizeable {
  double focal_length;
  double sensor_height;
  double sensor_width;
  double pixel_height;
  double pixel_width;
  cv::Matx33d camera_matrix;
  cv::Mat distortion_coefficients;
  std::vector<cv::Vec3d> eye_ball_centers;
  std::vector<cv::Vec3d> model;
  std::vector<decltype(util::Data::landmarks.num_parts())> landmark_indices;
  double screen_width_m;
  double screen_height_m;
  double screen_width_px;
  double screen_height_px;
  double target_width;
  double target_height;
  double camera_offset_x;
  double camera_offset_y;

  double calculate_distance(const dlib::point& p0, const dlib::point& p1,
      double expected_model_distance);

  cv::Matx34d invertProjection(const std::vector<cv::Vec3d>& landmarks);

  std::vector<cv::Vec3d> unprojectPoints(
      const std::vector<cv::Vec2d>& points, const cv::Vec3d& translation,
      const cv::Matx33d& rotation, double distance);

  cv::Vec3d get_model_to_camera_dir(
      const cv::Vec3d& translation, const cv::Matx33d& rotation);

  cv::Vec3d get_camera_pos(const cv::Vec3d& get_model_to_camera_dir,
      double distance);

  std::vector<cv::Vec3d> get_screen_corners(
      const cv::Vec3d& camera_pos, const cv::Matx33d& rotation);

  cv::Matx32d calculate_gaze_point(
      const cv::Vec3d& eye_ball_center, const cv::Vec3d& pupil,
      const cv::Vec3d& screen_a, const cv::Vec3d& screen_b,
      const cv::Vec3d& screen_c);

 protected:
  void set_sensor_size(double sensor_diagonal, double aspect_ratio);

 public:
  GazePointCalculation();

  void process(util::Data& data) override;

  void visualize(util::Data& data) override;
};

}  // namespace pipeline

}  // namespace gaze

#endif  // INCLUDE_GAZE_PIPELINE_STEPS_GAZE_POINT_CALCULATION_H_