mirror of
https://github.com/YutaItoh/3D-Eye-Tracker.git
synced 2025-09-26 23:09:19 +08:00
Updated main with drift correction.
Eye center and position can be accessed with: cout << c_end.centre.x() << "," << c_end.centre.y() << "," << c_end.centre.z() << "," << filteredEye.centre[0] << "," << filteredEye.centre[1] << "," << filteredEye.centre[2] << std::endl;
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166
main/main.cpp
166
main/main.cpp
@ -6,6 +6,7 @@
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#include <iostream>
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#include <fstream>
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#include <iomanip>
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#include <vector>
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#include <string>
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@ -19,7 +20,7 @@
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#include <boost/filesystem/fstream.hpp>
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#include <boost/thread.hpp>
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#include "opencv2/opencv.hpp"
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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@ -28,7 +29,6 @@
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#include "pupilFitter.h" // 2D pupil detector
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#include "timer.h"
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#include "eye_model_updater.h" // 3D model builder
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@ -45,11 +45,13 @@ enum InputMode { CAMERA, CAMERA_MONO, VIDEO, IMAGE };
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int main(int argc, char *argv[]){
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// Variables for FPS
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eye_tracker::FrameRateCounter frame_rate_counter;
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bool kVisualization = false;
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kVisualization = true;
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singleeyefitter::EyeModelFitter::Circle curr_circle;
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InputMode input_mode =
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//InputMode::VIDEO; // Set a video as a video source
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@ -169,8 +171,8 @@ int main(int argc, char *argv[]){
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eyecams[1] = std::make_unique<eye_tracker::EyeCamera>(camera_indices[1], false);
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#else
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// DirectShow frame grabber
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eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID0");
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eyecams[1] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID2");
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eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID1");
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eyecams[1] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam2 ID2");
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#endif
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eye_model_updaters[0] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5);
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eye_model_updaters[1] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5);
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@ -180,11 +182,11 @@ int main(int argc, char *argv[]){
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file_stems = { "cam0", "cam1" };
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break;
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case InputMode::CAMERA_MONO:
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eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID0"); //
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eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID1"); //
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eye_model_updaters[0] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5);
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camera_undistorters[0] = std::make_unique<eye_tracker::CameraUndistorter>(K, distCoeffs);
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window_names = { "Cam0" };
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file_stems = { "cam0" };
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window_names = { "Cam1" };
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file_stems = { "cam1" };
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break;
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default:
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break;
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@ -202,12 +204,45 @@ int main(int argc, char *argv[]){
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PupilFitter pupilFitter;
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pupilFitter.setDebug(false);
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/////////////////////////
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//std::getchar();
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//For running a video
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//VideoCapture inputVideo1("C:\\Documents\\Osaka\\Research\\Eye Tracking\\Benchmark Videos\\eyetracking4.avi"); // Open input
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VideoWriter outputVideo1;
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outputVideo1.open("C:\\Documents\\Osaka\\Research\\Eye Tracking\\Benchmark Videos\\outSaccade.avi",
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CV_FOURCC('W', 'M', 'V', '2'),
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20,
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cv::Size(640,480),
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true);
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Mat frame1;
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// Main loop
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const char kTerminate = 27;//Escape 0x1b
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bool is_run = true;
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bool isSaccade = false;
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bool isBlink = false;
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int blinkCount = 0; //holds the number of blinks for this video
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int saccadeCount = 0; //holds the number of saccades for this video
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bool prevSaccade = false; //added if a saccade value was detected in the previous frame
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vector<float> timeData; //vector holding timestamps in ms corresponding to gaze data for N frames
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vector<float> xData; //corresponding x eye rotations for N frames
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vector<float> yData; //corresponding y eye rotations for N frames
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vector<float> intensityData; //holds average intensity of last N frames
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vector<singleeyefitter::EyeModelFitter::Sphere> eyes; //holds a vector of spheres for the eye model filter
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while (is_run) {
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//inputVideo1 >> frame1;//for video
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//if (frame1.empty()) {//for video
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// break;
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//}
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//imshow("test", frame1);//for video
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//waitKey(0);
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// Fetch key input
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char kKEY = 0;
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if (kVisualization) {
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@ -219,21 +254,31 @@ int main(int argc, char *argv[]){
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break;
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}
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// Fetch images
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for (size_t cam = 0; cam < kCameraNums; cam++) {
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eyecams[cam]->fetchFrame(images[cam]);
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eyecams[cam] -> fetchFrame(images[cam]);
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}
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// Process each camera images
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for (size_t cam = 0; cam < kCameraNums; cam++) {
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cv::Mat &img = images[cam];
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//img = frame1; //for video
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//imshow("test", img);
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//waitKey(1);
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if (img.empty()) {
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//is_run = false;
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break;
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}
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// Undistort a captured image
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camera_undistorters[cam]->undistort(img, img);
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//camera_undistorters[cam]->undistort(img, img);
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//cv::Mat img_rgb_debug = frame1.clone(); \\for video
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cv::Mat img_rgb_debug = img.clone();
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cv::Mat img_grey;
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@ -244,34 +289,61 @@ int main(int argc, char *argv[]){
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case 'p':
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eye_model_updaters[cam]->add_fitter_max_count(10);
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break;
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case 'q':
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is_run = false;
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break;
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case 'z':
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eye_model_updaters[cam]->rm_oldest_observation();
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break;
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default:
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break;
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}
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const clock_t begin_time = clock();
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// 2D ellipse detection
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std::vector<cv::Point2f> inlier_pts;
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cv::cvtColor(img, img_grey, CV_RGB2GRAY);
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cv::RotatedRect rr_pf;
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bool is_pupil_found = pupilFitter.pupilAreaFitRR(img_grey, rr_pf, inlier_pts);
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//imshow("test", img_grey);
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bool is_pupil_found = pupilFitter.pupilAreaFitRR(img_grey, rr_pf, inlier_pts, 15, 0, 0, 20, 30, 250, 6);
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//cout << "pupil fitter time: " << float(clock() - begin_time) / CLOCKS_PER_SEC << endl;
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const clock_t begin_time2 = clock();
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singleeyefitter::Ellipse2D<double> el = singleeyefitter::toEllipse<double>(eye_tracker::toImgCoordInv(rr_pf, img, 1.0));
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//cout << "singleeyefitter time: " << float(clock() - begin_time2) / CLOCKS_PER_SEC << endl;
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// 3D eye pose estimation
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bool is_reliable = false;
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bool is_added = false;
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const bool force_add = false;
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const double kReliabilityThreshold = 0.8;// 0.96;
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double ellipse_realiability = 0.0; /// Reliability of a detected 2D ellipse based on 3D eye model
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const double kReliabilityThreshold = 0.0;//0.96;
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double ellipse_reliability = 0.0; /// Reliability of a detected 2D ellipse based on 3D eye model
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if (is_pupil_found) {
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if (eye_model_updaters[cam]->is_model_built()) {
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ellipse_realiability = eye_model_updaters[cam]->compute_reliability(img, el, inlier_pts);
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is_reliable = (ellipse_realiability > kReliabilityThreshold);
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ellipse_reliability = eye_model_updaters[cam]->compute_reliability(img, el, inlier_pts);
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is_reliable = (ellipse_reliability > kReliabilityThreshold);
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// is_reliable = true;
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eye_model_updaters[cam]->rm_oldest_observation();
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eye_model_updaters[cam]->add_observation(img_grey, el, inlier_pts, false);
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eye_model_updaters[cam]->force_rebuild_model();
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}
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else {
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cout << "oops" << endl;
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is_added = eye_model_updaters[cam]->add_observation(img_grey, el, inlier_pts, force_add);
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}
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//TODO test in Unity to see how well this works
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}
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// Visualize results
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@ -284,9 +356,58 @@ int main(int argc, char *argv[]){
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// 3D eye ball
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if (eye_model_updaters[cam]->is_model_built()) {
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cv::putText(img, "Reliability: " + std::to_string(ellipse_realiability), cv::Point(30, 440), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 128, 255), 1);
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cv::putText(img, "Reliability: " + std::to_string(ellipse_reliability), cv::Point(30, 440), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 128, 255), 1);
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if (is_reliable) {
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singleeyefitter::Sphere<double> medianCircle;
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//bool useDriftCorrection = false;
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//if (eyes.size() > 0) {
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// medianCircle = eye_model_updaters[cam]->eyeModelFilter(curr_circle, eyes);
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// useDriftCorrection = true;
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//}
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//std::cout << "after filter: " << curr_circle.radius << std::endl;
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eye_model_updaters[cam]->render(img_rgb_debug, el, inlier_pts);
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eye_model_updaters[cam]->set_fitter_max_count(130); //manually sets max count
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//3D filtered eye model
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medianCircle = eye_model_updaters[cam]->eyeModelFilter(eye_model_updaters[cam]->fitter().eye, eyes, 500);
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if (medianCircle.radius < 10) {
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medianCircle.radius = 10;
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}
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eye_model_updaters[cam]->setEye(medianCircle);
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curr_circle = eye_model_updaters[cam]->unproject(img, el, inlier_pts);
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// 3D pupil (relative to filtered eye model)
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singleeyefitter::Ellipse2D<double> pupil_el(singleeyefitter::project(curr_circle, focal_length));
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cv::RotatedRect rr_pupil = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(pupil_el), img, 1.0f);
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singleeyefitter::EyeModelFitter::Sphere filteredEye(medianCircle.centre, medianCircle.radius);
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cout << "radius was " << medianCircle.radius << endl;
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cv::RotatedRect rr_eye = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(
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singleeyefitter::project(filteredEye, focal_length)), img, 1.0f);
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cv::ellipse(img_rgb_debug, rr_eye, cv::Vec3b(255, 222, 222), 2, CV_AA);
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cv::circle(img_rgb_debug, rr_eye.center, 3, cv::Vec3b(255, 32, 32), 2); // Eyeball center projection
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singleeyefitter::EyeModelFitter::Circle c_end = curr_circle;
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c_end.centre = curr_circle.centre + (10.0)*curr_circle.normal;
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cv::line(img_rgb_debug, rr_eye.center, rr_pupil.center, cv::Vec3b(25, 22, 222), 3, CV_AA);
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//update time, xdata, and ydata vectors for input into saccade detector
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dataAdd(curr_circle.centre(0), 5, xData);
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dataAdd(curr_circle.centre(1), 5, yData);
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dataAdd(clock(), 5, timeData);
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float intensity = 0;
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//to-Unity write
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//std::ofstream myfile("C:\\Users\\O\\Documents\\Visual Studio 2013\\Projects\\EyeTrackerRealTime\\coordinates.txt");
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//std::ofstream myfile;
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//myfile.open("C:\\Documents\\Osaka\\Research\\Presence 2017\\testcoordinates.txt", std::ios_base::app);
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//myfile << "" << c_end.centre.x() << "," << c_end.centre.y() << "," << c_end.centre.z()
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// << "," << filteredEye.centre[0] << "," << filteredEye.centre[1] << "," << filteredEye.centre[2] <<
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// std::endl;
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//myfile.close();
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}
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}else{
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eye_model_updaters[cam]->render_status(img_rgb_debug);
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@ -294,7 +415,10 @@ int main(int argc, char *argv[]){
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cv::Point(30, 440), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 128, 255), 2);
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}
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float confidence = 0;
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//outputVideo1 << img_rgb_debug;
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cv::imshow(window_names[cam], img_rgb_debug);
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} // Visualization
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@ -309,8 +433,16 @@ int main(int argc, char *argv[]){
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ss = 0;
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}
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}// Main capture loop
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singleeyefitter::EyeModelFitter::Circle curr_circle;
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singleeyefitter::EyeModelFitter::Circle c_end = curr_circle;
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c_end.centre = curr_circle.centre + (10.0)*curr_circle.normal; // Unit: mm
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}// Main capture loop
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outputVideo1.release();
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return 0;
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}
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