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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Jason 2018-04-17 16:59:05 +09:00 committed by GitHub
parent d01fdfb4d5
commit 51b0b7b3a8
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@ -6,6 +6,7 @@
#include <iostream> #include <iostream>
#include <fstream>
#include <iomanip> #include <iomanip>
#include <vector> #include <vector>
#include <string> #include <string>
@ -19,7 +20,7 @@
#include <boost/filesystem/fstream.hpp> #include <boost/filesystem/fstream.hpp>
#include <boost/thread.hpp> #include <boost/thread.hpp>
#include "opencv2/opencv.hpp"
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
@ -28,7 +29,6 @@
#include "pupilFitter.h" // 2D pupil detector #include "pupilFitter.h" // 2D pupil detector
#include "timer.h" #include "timer.h"
#include "eye_model_updater.h" // 3D model builder #include "eye_model_updater.h" // 3D model builder
@ -45,11 +45,13 @@ enum InputMode { CAMERA, CAMERA_MONO, VIDEO, IMAGE };
int main(int argc, char *argv[]){ int main(int argc, char *argv[]){
// Variables for FPS // Variables for FPS
eye_tracker::FrameRateCounter frame_rate_counter; eye_tracker::FrameRateCounter frame_rate_counter;
bool kVisualization = false; bool kVisualization = false;
kVisualization = true; kVisualization = true;
singleeyefitter::EyeModelFitter::Circle curr_circle;
InputMode input_mode = InputMode input_mode =
//InputMode::VIDEO; // Set a video as a video source //InputMode::VIDEO; // Set a video as a video source
@ -169,8 +171,8 @@ int main(int argc, char *argv[]){
eyecams[1] = std::make_unique<eye_tracker::EyeCamera>(camera_indices[1], false); eyecams[1] = std::make_unique<eye_tracker::EyeCamera>(camera_indices[1], false);
#else #else
// DirectShow frame grabber // DirectShow frame grabber
eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID0"); eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID1");
eyecams[1] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID2"); eyecams[1] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam2 ID2");
#endif #endif
eye_model_updaters[0] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5); eye_model_updaters[0] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5);
eye_model_updaters[1] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5); eye_model_updaters[1] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5);
@ -180,11 +182,11 @@ int main(int argc, char *argv[]){
file_stems = { "cam0", "cam1" }; file_stems = { "cam0", "cam1" };
break; break;
case InputMode::CAMERA_MONO: case InputMode::CAMERA_MONO:
eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID0"); // eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID1"); //
eye_model_updaters[0] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5); eye_model_updaters[0] = std::make_unique<eye_tracker::EyeModelUpdater>(focal_length, 5, 0.5);
camera_undistorters[0] = std::make_unique<eye_tracker::CameraUndistorter>(K, distCoeffs); camera_undistorters[0] = std::make_unique<eye_tracker::CameraUndistorter>(K, distCoeffs);
window_names = { "Cam0" }; window_names = { "Cam1" };
file_stems = { "cam0" }; file_stems = { "cam1" };
break; break;
default: default:
break; break;
@ -202,12 +204,45 @@ int main(int argc, char *argv[]){
PupilFitter pupilFitter; PupilFitter pupilFitter;
pupilFitter.setDebug(false); pupilFitter.setDebug(false);
///////////////////////// /////////////////////////
//std::getchar();
//For running a video
//VideoCapture inputVideo1("C:\\Documents\\Osaka\\Research\\Eye Tracking\\Benchmark Videos\\eyetracking4.avi"); // Open input
VideoWriter outputVideo1;
outputVideo1.open("C:\\Documents\\Osaka\\Research\\Eye Tracking\\Benchmark Videos\\outSaccade.avi",
CV_FOURCC('W', 'M', 'V', '2'),
20,
cv::Size(640,480),
true);
Mat frame1;
// Main loop // Main loop
const char kTerminate = 27;//Escape 0x1b const char kTerminate = 27;//Escape 0x1b
bool is_run = true; bool is_run = true;
bool isSaccade = false;
bool isBlink = false;
int blinkCount = 0; //holds the number of blinks for this video
int saccadeCount = 0; //holds the number of saccades for this video
bool prevSaccade = false; //added if a saccade value was detected in the previous frame
vector<float> timeData; //vector holding timestamps in ms corresponding to gaze data for N frames
vector<float> xData; //corresponding x eye rotations for N frames
vector<float> yData; //corresponding y eye rotations for N frames
vector<float> intensityData; //holds average intensity of last N frames
vector<singleeyefitter::EyeModelFitter::Sphere> eyes; //holds a vector of spheres for the eye model filter
while (is_run) { while (is_run) {
//inputVideo1 >> frame1;//for video
//if (frame1.empty()) {//for video
// break;
//}
//imshow("test", frame1);//for video
//waitKey(0);
// Fetch key input // Fetch key input
char kKEY = 0; char kKEY = 0;
if (kVisualization) { if (kVisualization) {
@ -219,21 +254,31 @@ int main(int argc, char *argv[]){
break; break;
} }
// Fetch images // Fetch images
for (size_t cam = 0; cam < kCameraNums; cam++) { for (size_t cam = 0; cam < kCameraNums; cam++) {
eyecams[cam]->fetchFrame(images[cam]);
eyecams[cam] -> fetchFrame(images[cam]);
} }
// Process each camera images // Process each camera images
for (size_t cam = 0; cam < kCameraNums; cam++) { for (size_t cam = 0; cam < kCameraNums; cam++) {
cv::Mat &img = images[cam]; cv::Mat &img = images[cam];
//img = frame1; //for video
//imshow("test", img);
//waitKey(1);
if (img.empty()) { if (img.empty()) {
//is_run = false; //is_run = false;
break; break;
} }
// Undistort a captured image // Undistort a captured image
camera_undistorters[cam]->undistort(img, img); //camera_undistorters[cam]->undistort(img, img);
//cv::Mat img_rgb_debug = frame1.clone(); \\for video
cv::Mat img_rgb_debug = img.clone(); cv::Mat img_rgb_debug = img.clone();
cv::Mat img_grey; cv::Mat img_grey;
@ -244,34 +289,61 @@ int main(int argc, char *argv[]){
case 'p': case 'p':
eye_model_updaters[cam]->add_fitter_max_count(10); eye_model_updaters[cam]->add_fitter_max_count(10);
break; break;
case 'q':
is_run = false;
break;
case 'z':
eye_model_updaters[cam]->rm_oldest_observation();
break;
default: default:
break; break;
} }
const clock_t begin_time = clock();
// 2D ellipse detection // 2D ellipse detection
std::vector<cv::Point2f> inlier_pts; std::vector<cv::Point2f> inlier_pts;
cv::cvtColor(img, img_grey, CV_RGB2GRAY); cv::cvtColor(img, img_grey, CV_RGB2GRAY);
cv::RotatedRect rr_pf; cv::RotatedRect rr_pf;
bool is_pupil_found = pupilFitter.pupilAreaFitRR(img_grey, rr_pf, inlier_pts);
//imshow("test", img_grey);
bool is_pupil_found = pupilFitter.pupilAreaFitRR(img_grey, rr_pf, inlier_pts, 15, 0, 0, 20, 30, 250, 6);
//cout << "pupil fitter time: " << float(clock() - begin_time) / CLOCKS_PER_SEC << endl;
const clock_t begin_time2 = clock();
singleeyefitter::Ellipse2D<double> el = singleeyefitter::toEllipse<double>(eye_tracker::toImgCoordInv(rr_pf, img, 1.0)); singleeyefitter::Ellipse2D<double> el = singleeyefitter::toEllipse<double>(eye_tracker::toImgCoordInv(rr_pf, img, 1.0));
//cout << "singleeyefitter time: " << float(clock() - begin_time2) / CLOCKS_PER_SEC << endl;
// 3D eye pose estimation // 3D eye pose estimation
bool is_reliable = false; bool is_reliable = false;
bool is_added = false; bool is_added = false;
const bool force_add = false; const bool force_add = false;
const double kReliabilityThreshold = 0.8;// 0.96; const double kReliabilityThreshold = 0.0;//0.96;
double ellipse_realiability = 0.0; /// Reliability of a detected 2D ellipse based on 3D eye model double ellipse_reliability = 0.0; /// Reliability of a detected 2D ellipse based on 3D eye model
if (is_pupil_found) { if (is_pupil_found) {
if (eye_model_updaters[cam]->is_model_built()) { if (eye_model_updaters[cam]->is_model_built()) {
ellipse_realiability = eye_model_updaters[cam]->compute_reliability(img, el, inlier_pts); ellipse_reliability = eye_model_updaters[cam]->compute_reliability(img, el, inlier_pts);
is_reliable = (ellipse_realiability > kReliabilityThreshold); is_reliable = (ellipse_reliability > kReliabilityThreshold);
// is_reliable = true; // is_reliable = true;
eye_model_updaters[cam]->rm_oldest_observation();
eye_model_updaters[cam]->add_observation(img_grey, el, inlier_pts, false);
eye_model_updaters[cam]->force_rebuild_model();
} }
else { else {
cout << "oops" << endl;
is_added = eye_model_updaters[cam]->add_observation(img_grey, el, inlier_pts, force_add); is_added = eye_model_updaters[cam]->add_observation(img_grey, el, inlier_pts, force_add);
} }
//TODO test in Unity to see how well this works
} }
// Visualize results // Visualize results
@ -284,9 +356,58 @@ int main(int argc, char *argv[]){
// 3D eye ball // 3D eye ball
if (eye_model_updaters[cam]->is_model_built()) { if (eye_model_updaters[cam]->is_model_built()) {
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); 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);
if (is_reliable) { if (is_reliable) {
singleeyefitter::Sphere<double> medianCircle;
//bool useDriftCorrection = false;
//if (eyes.size() > 0) {
// medianCircle = eye_model_updaters[cam]->eyeModelFilter(curr_circle, eyes);
// useDriftCorrection = true;
//}
//std::cout << "after filter: " << curr_circle.radius << std::endl;
eye_model_updaters[cam]->render(img_rgb_debug, el, inlier_pts); eye_model_updaters[cam]->render(img_rgb_debug, el, inlier_pts);
eye_model_updaters[cam]->set_fitter_max_count(130); //manually sets max count
//3D filtered eye model
medianCircle = eye_model_updaters[cam]->eyeModelFilter(eye_model_updaters[cam]->fitter().eye, eyes, 500);
if (medianCircle.radius < 10) {
medianCircle.radius = 10;
}
eye_model_updaters[cam]->setEye(medianCircle);
curr_circle = eye_model_updaters[cam]->unproject(img, el, inlier_pts);
// 3D pupil (relative to filtered eye model)
singleeyefitter::Ellipse2D<double> pupil_el(singleeyefitter::project(curr_circle, focal_length));
cv::RotatedRect rr_pupil = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(pupil_el), img, 1.0f);
singleeyefitter::EyeModelFitter::Sphere filteredEye(medianCircle.centre, medianCircle.radius);
cout << "radius was " << medianCircle.radius << endl;
cv::RotatedRect rr_eye = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(
singleeyefitter::project(filteredEye, focal_length)), img, 1.0f);
cv::ellipse(img_rgb_debug, rr_eye, cv::Vec3b(255, 222, 222), 2, CV_AA);
cv::circle(img_rgb_debug, rr_eye.center, 3, cv::Vec3b(255, 32, 32), 2); // Eyeball center projection
singleeyefitter::EyeModelFitter::Circle c_end = curr_circle;
c_end.centre = curr_circle.centre + (10.0)*curr_circle.normal;
cv::line(img_rgb_debug, rr_eye.center, rr_pupil.center, cv::Vec3b(25, 22, 222), 3, CV_AA);
//update time, xdata, and ydata vectors for input into saccade detector
dataAdd(curr_circle.centre(0), 5, xData);
dataAdd(curr_circle.centre(1), 5, yData);
dataAdd(clock(), 5, timeData);
float intensity = 0;
//to-Unity write
//std::ofstream myfile("C:\\Users\\O\\Documents\\Visual Studio 2013\\Projects\\EyeTrackerRealTime\\coordinates.txt");
//std::ofstream myfile;
//myfile.open("C:\\Documents\\Osaka\\Research\\Presence 2017\\testcoordinates.txt", std::ios_base::app);
//myfile << "" << c_end.centre.x() << "," << c_end.centre.y() << "," << c_end.centre.z()
// << "," << filteredEye.centre[0] << "," << filteredEye.centre[1] << "," << filteredEye.centre[2] <<
// std::endl;
//myfile.close();
} }
}else{ }else{
eye_model_updaters[cam]->render_status(img_rgb_debug); eye_model_updaters[cam]->render_status(img_rgb_debug);
@ -294,7 +415,10 @@ int main(int argc, char *argv[]){
cv::Point(30, 440), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 128, 255), 2); cv::Point(30, 440), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 128, 255), 2);
} }
float confidence = 0;
//outputVideo1 << img_rgb_debug;
cv::imshow(window_names[cam], img_rgb_debug); cv::imshow(window_names[cam], img_rgb_debug);
} // Visualization } // Visualization
@ -309,8 +433,16 @@ int main(int argc, char *argv[]){
ss = 0; ss = 0;
} }
}// Main capture loop singleeyefitter::EyeModelFitter::Circle curr_circle;
singleeyefitter::EyeModelFitter::Circle c_end = curr_circle;
c_end.centre = curr_circle.centre + (10.0)*curr_circle.normal; // Unit: mm
}// Main capture loop
outputVideo1.release();
return 0; return 0;
} }