head_pose_estimation.h

#ifndef INCLUDE_GAZE_PIPELINE_STEPS_HEAD_POSE_ESTIMATION_H_
#define INCLUDE_GAZE_PIPELINE_STEPS_HEAD_POSE_ESTIMATION_H_

#include <vector>

#include "dlib/gui_widgets.h"
#include "opencv2/opencv.hpp"

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


namespace gaze {

namespace pipeline {

class HeadPoseEstimation final
    : public PipelineStep,
      public gui::ImageVisualizeable {
  std::vector<int> index_list;
  std::vector<cv::Point3d> model_points;
  double model_scale = 1;
  std::vector<dlib::image_display::overlay_line> coord_base_overlay;
  cv::Matx33d camera_matrix;
  bool has_camera_matrix = false;
  cv::Mat distortions;
  bool has_distortions = false;

  void update_overlay(const util::Data& data);

 protected:
  cv::Matx33d read_or_set_camera_matrix(const util::Data& data);

  cv::Mat get_and_maybe_read_distortions(const util::Data& data);

 public:
  HeadPoseEstimation();

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

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

}  // namespace pipeline

}  // namespace gaze

#endif  // INCLUDE_GAZE_PIPELINE_STEPS_HEAD_POSE_ESTIMATION_H_