gaze::pipeline::HeadPoseEstimation Class Reference

Estimates the head pose from landmarks and source image. More...

#include "gaze/pipeline_steps/head_pose_estimation.h"

Inheritance diagram for gaze::pipeline::HeadPoseEstimation:

Public Member Functions
void	process (util::Data &data) override
void	visualize (util::Data &data) override
Public Member Functions inherited from gaze::PipelineStep
	PipelineStep ()
std::string	get_name ()
virtual	~PipelineStep ()=default
Public Member Functions inherited from gaze::gui::Visualizeable< widget_type >
std::shared_ptr< dlib::drawable >	init (dlib::drawable_window &parent, int width, int height, std::string text="No visualization.") final
void	remove_widget () override
Public Member Functions inherited from gaze::gui::VisualizeableBase
virtual	~VisualizeableBase ()=default

Protected Member Functions
cv::Matx33d	read_or_set_camera_matrix (const util::Data &data)
cv::Mat	get_and_maybe_read_distortions (const util::Data &data)

Additional Inherited Members
Protected Attributes inherited from gaze::PipelineStep
int	number
std::string	name
Protected Attributes inherited from gaze::gui::Visualizeable< widget_type >
std::shared_ptr< widget_type >	widget

Detailed Description

Estimates the head pose from landmarks and source image.

///

Todo:

shoeffner: Write documentation for HeadPoseEstimation.

Definition at line 24 of file head_pose_estimation.h.

Member Function Documentation

cv::Mat gaze::pipeline::HeadPoseEstimation::get_and_maybe_read_distortions ( const util::Data &  data )

protected

Returns a distortions matrix.

If the distortions matrix is available from the configuration, the configuration value is stored and used. Otherwise, it is assumed to be a zero matrix.

Parameters

data	The data to read from, if no yaml data is available.

Returns

a distortion matrix.

Definition at line 149 of file head_pose_estimation.cpp.

References CV_64F, gaze::util::get_config(), and cv::Mat::zeros().

Referenced by process().

                                                                        {
  if (this->has_distortions) {
    return this->distortions;
  }
  YAML::Node camera_config = util::get_config()["meta"]["camera"];
  if (camera_config["distortion_coefficients"]) {
    this->distortions = camera_config["distortion_coefficients"].as<cv::Mat>();
  } else {
    this->distortions = cv::Mat::zeros(4, 1, CV_64F);
  }
  this->has_distortions = true;
  return this->distortions;
}

void gaze::pipeline::HeadPoseEstimation::process ( util::Data &  data )

overridevirtual

Estimates the head pose from face landmarks and the input image.

Parameters

data	The data object to be updated.

Returns

via data the modified data object.

Implements gaze::PipelineStep.

Definition at line 108 of file head_pose_estimation.cpp.

References get_and_maybe_read_distortions(), gaze::util::Data::head_rotation, gaze::util::Data::head_translation, gaze::util::Data::landmarks, std::vector< _Tp, _Alloc >::push_back(), read_or_set_camera_matrix(), cv::solvePnP(), and cv::SOLVEPNP_ITERATIVE.

                                               {
  if (data.landmarks.num_parts() <= 0) {
    return;
  }

  // Convert dlib::points to cv::Point for solvePNP
  std::vector<cv::Point2d> im_points;
  for (auto i : this->index_list) {
    im_points.push_back(cv::Point2d(data.landmarks.part(i).x(),
                                    data.landmarks.part(i).y()));
  }

  cv::solvePnP(this->model_points, im_points,
      this->read_or_set_camera_matrix(data),
      this->get_and_maybe_read_distortions(data),
      data.head_rotation, data.head_translation, false, cv::SOLVEPNP_ITERATIVE);
}

cv::Matx33d gaze::pipeline::HeadPoseEstimation::read_or_set_camera_matrix ( const util::Data &  data )

protected

Returns a camera matrix.

If it was not loaded yet, it will be read from gaze.yaml (as created using OpenCV's calibration tool, also check the gaze.default.yaml to see how to integrate it).

If nothing can be found in the configuration, the following matrix is calculated and returned:

Where .

Parameters

data	The data to read from, if no yaml data is available.

Returns

a camera matrix.

Definition at line 131 of file head_pose_estimation.cpp.

References cv::Mat::cols, gaze::util::get_config(), cv::Mat::rows, and gaze::util::Data::source_image.

Referenced by process().

                          {
  if (this->has_camera_matrix) {
    return this->camera_matrix;
  }
  YAML::Node camera_config = util::get_config()["meta"]["camera"];
  if (camera_config["camera_matrix"]) {
    this->camera_matrix = camera_config["camera_matrix"].as<cv::Mat>();
  } else {
    this->camera_matrix <<
      data.source_image.cols, 0, data.source_image.cols / 2,
      0, data.source_image.cols, data.source_image.rows / 2,
      0, 0, 1;
  }
  this->has_camera_matrix = true;
  return this->camera_matrix;
}

void gaze::pipeline::HeadPoseEstimation::visualize ( util::Data &  data )

overridevirtual

Visualizes the estimated head pose.

Parameters

data	The data object to be visualized.

Implements gaze::gui::VisualizeableBase.

Definition at line 126 of file head_pose_estimation.cpp.

References gaze::util::Data::image, and gaze::gui::Visualizeable< widget_type >::widget.

                                                 {
  this->widget->set_image(data.image);
  this->update_overlay(data);
}

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The documentation for this class was generated from the following files:

• include/gaze/pipeline_steps/head_pose_estimation.h
• src/gaze/pipeline_steps/head_pose_estimation.cpp