Added drift correction code and instructions

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Jason 2018-08-29 13:58:03 +09:00 committed by GitHub
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@ -4,67 +4,60 @@
**/
#include <iostream>
#include <fstream>
#include <iomanip>
#include <vector>
#include <string>
#include <sstream>
#include <math.h>
#include "ubitrack_util.h" // claibration file handlers
#include <boost/foreach.hpp>
#include <boost/filesystem.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/filesystem/fstream.hpp>
#include <boost/thread.hpp>
#include "opencv2/opencv.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/photo/photo.hpp>
#include "pupilFitter.h" // 2D pupil detector
#include "timer.h"
#include "eye_model_updater.h" // 3D model builder
#include "eye_cameras.h" // Camera interfaces
#include "pupil_stereo_cameras.h" //interface to pupil stereo cameras on a single USB
#include <pupilcam/FrameGrabber.hpp>
namespace {
enum InputMode { CAMERA, CAMERA_MONO, VIDEO, IMAGE };
enum InputMode { CAMERA, CAMERA_MONO, CAMERA_PUPIL, VIDEO, IMAGE };
}
int main(int argc, char *argv[]){
InputMode input_mode =
//InputMode::VIDEO; // Set a video as a video source
//InputMode::CAMERA; // Set two cameras (separate USB buses) as video sources
InputMode::CAMERA_PUPIL; //Pupil stereo cameras (on a single cable, uses libuvc)
// InputMode::CAMERA_MONO; // Set a single camera as a video source
// InputMode::IMAGE;// Set an image as a the source
string folderPath = "C:\\Storage\\Research\\Eye Tracking\\coordinates.txt";
// Variables for FPS
eye_tracker::FrameRateCounter frame_rate_counter;
bool kVisualization = false;
kVisualization = true;
singleeyefitter::EyeModelFitter::Circle curr_circle;
InputMode input_mode =
//InputMode::VIDEO; // Set a video as a video source
// InputMode::CAMERA; // Set two cameras as video sources
InputMode::CAMERA_MONO; // Set a camera as video sources
// InputMode::IMAGE;// Set an image as a video source
////// Command line opitions /////////////
std::string kDir = "C:/Users/Yuta/Dropbox/work/Projects/20150427_Alex_EyeTracker/";
std::string media_file;
std::string media_file_stem;
//std::string kOutputDataDirectory(kDir + "out/"); // Data output directroy
if (argc > 2) {
boost::filesystem::path file_name = std::string(argv[2]);
kDir = std::string(argv[1]);
@ -106,7 +99,7 @@ int main(int argc, char *argv[]){
std::string calib_path="../../docs/cameraintrinsics_eye.txt";
eye_tracker::UbitrackTextReader<eye_tracker::Caib> ubitrack_calib_text_reader;
if (ubitrack_calib_text_reader.read(calib_path) == false){
std::cout << "Calibration file onpen error: " << calib_path << std::endl;
std::cout << "Calibration file open error: " << calib_path << std::endl;
return -1;
}
cv::Mat K; // Camera intrinsic matrix in OpenCV format
@ -116,7 +109,6 @@ int main(int argc, char *argv[]){
// Focal distance used in the 3D eye model fitter
double focal_length = (K.at<double>(0,0)+K.at<double>(1,1))*0.5; // Required for the 3D model fitting
// Set mode parameters
size_t kCameraNums;
switch (input_mode)
@ -129,6 +121,9 @@ int main(int argc, char *argv[]){
case InputMode::CAMERA:
kCameraNums = 2;
break;
case InputMode::CAMERA_PUPIL:
kCameraNums = 2;
break;
default:
break;
}
@ -164,7 +159,7 @@ int main(int argc, char *argv[]){
break;
case InputMode::CAMERA:
camera_indices[0] = 0;
camera_indices[1] = 2;
camera_indices[1] = 1;
#if 0
// OpenCV HighGUI frame grabber
eyecams[0] = std::make_unique<eye_tracker::EyeCamera>(camera_indices[0], false);
@ -181,6 +176,21 @@ int main(int argc, char *argv[]){
window_names = { "Cam0", "Cam1" };
file_stems = { "cam0", "cam1" };
break;
case InputMode::CAMERA_PUPIL:
{
camera_indices[0] = 0;
camera_indices[1] = 1;
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);
camera_undistorters[0] = std::make_unique<eye_tracker::CameraUndistorter>(K, distCoeffs);
camera_undistorters[1] = std::make_unique<eye_tracker::CameraUndistorter>(K, distCoeffs);
window_names = { "Cam0", "Cam1" };
file_stems = { "cam0", "cam1" };
initialize();
manager->setExposureTime(0, .035);
manager->setExposureTime(1, .035);
break;
}
case InputMode::CAMERA_MONO:
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);
@ -192,7 +202,7 @@ int main(int argc, char *argv[]){
break;
}
}
catch (char *c){
catch (char *c) {
std::cout << "Exception: ";
std::cout << c << std::endl;
return 0;
@ -204,17 +214,21 @@ int main(int argc, char *argv[]){
PupilFitter pupilFitter;
pupilFitter.setDebug(false);
/////////////////////////
//std::getchar();
//For running a video
//VideoCapture inputVideo1("C:\\Documents\\Osaka\\Research\\Eye Tracking\\Benchmark Videos\\eyetracking4.avi"); // Open input
//for video writing
/*
VideoWriter outputVideo1;
outputVideo1.open("C:\\Documents\\Osaka\\Research\\Eye Tracking\\Benchmark Videos\\outSaccade.avi",
CV_FOURCC('W', 'M', 'V', '2'),
20,
20,
cv::Size(640,480),
true);
Mat frame1;
*/
// Main loop
const char kTerminate = 27;//Escape 0x1b
@ -228,21 +242,33 @@ int main(int argc, char *argv[]){
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
vector<singleeyefitter::EyeModelFitter::Sphere> eyes[2]; //holds a vector of spheres for the eye model filter (cam 0)
singleeyefitter::EyeModelFitter::Sphere lastGoodEyes[2];
singleeyefitter::EyeModelFitter::Sphere originalModels[2];
double originalEyeSizes[2] = { 0, 0 }; //stores original 2D radii
int medianTotal = 120;
double camSpheres[6] = { 0, 0, 0, 0, 0, 0 }; //holds left cam (0-2) and right cam (3-5) sphere centers
//double cam1Sphere[3] = { 0, 0, 0 };
//print instructions
cout << endl;
cout << "********** This is the beta version of our open source eye tracker **********" << endl;
cout << endl;
cout << "Keyboard options (with either of the eye camera windows selected) include: " << endl;
cout << "r: Resets the original eye models - do this if the initial model creation results in a poor fit. " << endl;
cout << "x: Cleanly exists the stream - if you accidentally close the window using the mouse, you may need to unplug and replug your pupil labs USB cable" << endl;
cout << endl;
cout << "Edit the 'input_mode' variable to select the type of camera you are using (default is the stereo pupil labs rig on a single USB)." << endl;
cout << "Edit the 'folderPath' variable to output coordinates to a text file in real time." << endl;
cout << "The current 'folderPath' is: " << folderPath << endl;
while (is_run) {
//inputVideo1 >> frame1;//for video
//if (frame1.empty()) {//for video
// break;
//}
//imshow("test", frame1);//for video
//waitKey(0);
// Fetch key input
char kKEY = 0;
if (kVisualization) {
@ -254,14 +280,19 @@ int main(int argc, char *argv[]){
break;
}
// Fetch images
for (size_t cam = 0; cam < kCameraNums; cam++) {
eyecams[cam] -> fetchFrame(images[cam]);
if (InputMode::CAMERA_PUPIL) { //stereo on single/dual bus
fetchFrame(images[cam], cam);
}
else { //any other camera solution
eyecams[cam]->fetchFrame(images[cam]);
}
}
//for writing data to file
stringstream eyeVector[2];
// Process each camera images
for (size_t cam = 0; cam < kCameraNums; cam++) {
@ -269,6 +300,10 @@ int main(int argc, char *argv[]){
//img = frame1; //for video
//imshow("test", img);
//waitKey(1);
if (cam == 0) {
flip(images[cam], img, -1);
}
if (img.empty()) {
//is_run = false;
@ -282,6 +317,7 @@ int main(int argc, char *argv[]){
cv::Mat img_rgb_debug = img.clone();
cv::Mat img_grey;
switch (kKEY) {
case 'r':
eye_model_updaters[cam]->reset();
@ -292,15 +328,15 @@ int main(int argc, char *argv[]){
case 'q':
is_run = false;
break;
case 'z':
eye_model_updaters[cam]->rm_oldest_observation();
break;
case 'x':
is_run = false;
manager->stopStream(0);
manager->stopStream(1);
exit(0);
default:
break;
}
const clock_t begin_time = clock();
// 2D ellipse detection
@ -308,11 +344,8 @@ int main(int argc, char *argv[]){
cv::cvtColor(img, img_grey, CV_RGB2GRAY);
cv::RotatedRect rr_pf;
//imshow("test", img_grey);
bool is_pupil_found = pupilFitter.pupilAreaFitRR(img_grey, rr_pf, inlier_pts, 15, 0, 0, 20, 30, 250, 6);
bool is_pupil_found = pupilFitter.pupilAreaFitRR(img_grey, rr_pf, inlier_pts, 15, 0, 0, 15, 35, 240, 6);
is_pupil_found = pupilFitter.badEllipseFilter(rr_pf, 250);
//cout << "pupil fitter time: " << float(clock() - begin_time) / CLOCKS_PER_SEC << endl;
const clock_t begin_time2 = clock();
@ -321,42 +354,46 @@ int main(int argc, char *argv[]){
//cout << "singleeyefitter time: " << float(clock() - begin_time2) / CLOCKS_PER_SEC << endl;
// 3D eye pose estimation
bool is_reliable = false;
bool is_added = false;
const bool force_add = false;
const double kReliabilityThreshold = 0.0;//0.96;
const double kReliabilityThreshold = 0;//0.96;
double ellipse_reliability = 0.0; /// Reliability of a detected 2D ellipse based on 3D eye model
if (is_pupil_found) {
if (eye_model_updaters[cam]->is_model_built()) {
ellipse_reliability = eye_model_updaters[cam]->compute_reliability(img, el, inlier_pts);
is_reliable = (ellipse_reliability > kReliabilityThreshold);
// is_reliable = true;
is_reliable = true;
//remove oldest observation, add new, and rebuild model (drift correction)
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 {
cout << "oops" << endl;
else {
is_added = eye_model_updaters[cam]->add_observation(img_grey, el, inlier_pts, force_add);
if (eye_model_updaters[cam]->is_model_built()) {
// happens once when model is built for the first time to establish eye-box
originalModels[cam] = eye_model_updaters[cam]->getEye();
originalEyeSizes[cam] = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(
singleeyefitter::project(eye_model_updaters[cam]->getEye(), focal_length)), img, 1.0f).size.height;
}
}
//TODO test in Unity to see how well this works
}
// Visualize results
if (cam == 0 && kVisualization) {
if (kVisualization) {
// 2D pupil
if (is_pupil_found) {
cv::ellipse(img_rgb_debug, rr_pf, cv::Vec3b(255, 128, 0), 1);
}
// 3D eye ball
if (eye_model_updaters[cam]->is_model_built()) {
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) {
singleeyefitter::Sphere<double> medianCircle;
@ -365,84 +402,124 @@ int main(int argc, char *argv[]){
// 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]->set_fitter_max_count(130); //manually sets max count
eye_model_updaters[cam]->set_fitter_max_count(50); //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);
singleeyefitter::Ellipse2D<double> pupil_elTest(singleeyefitter::project(curr_circle, focal_length));
cv::RotatedRect rr_pupilTest = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(pupil_elTest), img, 1.0f);
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;
bool ignoreNewEye = true;
if (rr_pupilTest.center.x > 0 || rr_pupilTest.center.y > 0 ) {
ignoreNewEye = false; //ignore eyes with 0 or negative origins
}
cv::line(img_rgb_debug, rr_eye.center, rr_pupil.center, cv::Vec3b(25, 22, 222), 3, CV_AA);
if (eye_model_updaters[cam]->fitter().eye) { //ensure eye model exists
//insert current eye into filter and return a filtered model (very important for new model accuracy)
singleeyefitter::Sphere<double> tempCircle =
eye_model_updaters[cam]->eyeModelFilter(eye_model_updaters[cam]->fitter().eye, eyes[cam], medianTotal, ignoreNewEye, originalModels[cam]);
singleeyefitter::EyeModelFitter::Sphere filteredEye(tempCircle.centre, tempCircle.radius);
cv::RotatedRect rr_eye = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(
singleeyefitter::project(filteredEye, focal_length)), img, 1.0f);
cv::RotatedRect originalRadius = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(
singleeyefitter::project(originalModels[cam], focal_length)), img, 1.0f); //projection of last 3D radius into 2D coordinates
cv::RotatedRect newRadius = eye_tracker::toImgCoord(singleeyefitter::toRotatedRect(
singleeyefitter::project(tempCircle, focal_length)), img, 1.0f); //projection of new 3D radius into 2D coordinates
//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();
//note: radius of 0 returned from filter if model was bad
if (eyes[cam].size() > 0 && tempCircle.radius != 0 && std::abs(originalRadius.size.height - newRadius.size.height) < 30){
//2D projections of radii were non-zero and did not differ significantly from originals
medianCircle = tempCircle; //pass on for model update
lastGoodEyes[cam] = tempCircle; //update last good eye (for possible use in next frame)
}
else if(lastGoodEyes[cam].radius != 0){ //filter returned 0
medianCircle = lastGoodEyes[cam]; //use last known good eye model (last frame)
}
}
else if (lastGoodEyes[cam].radius != 0){ //new model not built
medianCircle = lastGoodEyes[cam]; //use last known good eye model
}
if (medianCircle.radius > 0) { // filtered eye was good -> render to screen and output coordinates
eye_model_updaters[cam]->render_status(img_rgb_debug);
eye_model_updaters[cam]->setEye(medianCircle); //set eye model to
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);
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, 255, 255), 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);
//External code
//cout << "cam: " << cam << ", center x: " << rr_eye.center.x << ", center y: " << rr_eye.center.x << endl;
//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;
// if (cam == 0) {//append eye 0 model data to output string (3D pupil center in c_end; 3D eye center in filteredEye)
eyeVector[cam] << "" << c_end.centre.x() << "," << c_end.centre.y() << "," << c_end.centre.z()
<< "," << filteredEye.centre[0] << "," << filteredEye.centre[1] << "," << filteredEye.centre[2];
camSpheres[0 + cam * 3] = filteredEye.centre[0];
camSpheres[1 + cam * 3] = filteredEye.centre[1];
camSpheres[2 + cam * 3] = filteredEye.centre[2];
}//end if: returned model radius was 0
}
}else{
}else{//model not built, just render current ellipses
eye_model_updaters[cam]->render_status(img_rgb_debug);
cv::putText(img, "Sample #: " + std::to_string(eye_model_updaters[cam]->fitter_count()) + "/" + std::to_string(eye_model_updaters[cam]->fitter_end_count()),
cv::Point(30, 440), cv::FONT_HERSHEY_SIMPLEX, 1.0, cv::Scalar(0, 128, 255), 2);
}
float confidence = 0;
//outputVideo1 << img_rgb_debug;
//outputVideo1 << img_rgb_debug; //custom video write
//show eye camera windows
cv::imshow(window_names[cam], img_rgb_debug);
} // Visualization
} // end loop for each camera
} // For each cameras
// Compute FPS
frame_rate_counter.count();
// Print current frame data
static int ss = 0;
if (ss++ > 100) {
std::cout << "Frame #" << frame_rate_counter.frame_count() << ", FPS=" << frame_rate_counter.fps() << std::endl;
ss = 0;
//OUTPUT DATA IS HERE*******
//each eyeVector string contains six comma separated values:
// eye center 0 (x, y, z); pupil center 0 (x, y, z); eye center 1 (x, y, z); pupil center 1 (x, y, z)
if (eyeVector[0].str().length() > 0 && eyeVector[1].str().length() > 0) {//check to ensure strings both have data (both eyes found)
std::ofstream myfile(folderPath); //to-Unity write
//std::ofstream myfile; //for recording experiment data
//myfile.open("C:\\Storage\\Research\\Eye Tracking\\testcoordinates.txt", std::ios_base::app);
myfile << "" << eyeVector[0].str() << "," << eyeVector[1].str() << endl;
myfile.close();
}
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
// Compute FPS
//frame_rate_counter.count();
//// Print current frame data
//static int ss = 0;
//if (ss++ > 100) {
// std::cout << "Frame #" << frame_rate_counter.frame_count() << ", FPS=" << frame_rate_counter.fps() << std::endl;
// ss = 0;
//}
//cout << "dist: " << pupilFitter.getInterpupillaryDifference(cam0Sphere, cam1Sphere) << endl;
//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;
//outputVideo1.release(); // custom video
return 0;
}