3D-Eye-Tracker/main/main.cpp
Jason 51b0b7b3a8
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;
2018-04-17 16:59:05 +09:00

449 lines
15 KiB
C++

/** @mainpage Eye position tracker documentation
@author Yuta Itoh <itoh@in.tum.de>, \n<a href="http://wwwnavab.in.tum.de/Main/YutaItoh">Homepage</a>.
**/
#include <iostream>
#include <fstream>
#include <iomanip>
#include <vector>
#include <string>
#include <sstream>
#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
namespace {
enum InputMode { CAMERA, CAMERA_MONO, VIDEO, IMAGE };
}
int main(int argc, char *argv[]){
// 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]);
media_file_stem = file_name.stem().string();
media_file = kDir + file_name.string();
//kOutputDataDirectory = kDir + "./";
std::cout << "Load " << media_file << std::endl;
std::string media_file_ext = file_name.extension().string();
if (media_file_ext == ".avi" ||
media_file_ext == ".mp4" ||
media_file_ext == ".wmv") {
input_mode = InputMode::VIDEO;
}else{
input_mode = InputMode::IMAGE;
}
}
else {
if (input_mode == InputMode::IMAGE || input_mode == InputMode::VIDEO) {
switch (input_mode)
{
case InputMode::IMAGE:
media_file = kDir + "data3/test.png";
media_file_stem = "test";
break;
case InputMode::VIDEO:
media_file = kDir + "out/test.avi";
media_file_stem = "test";
break;
default:
break;
}
}
}
///////////////
//// Camera intrinsic parameters
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;
return -1;
}
cv::Mat K; // Camera intrinsic matrix in OpenCV format
cv::Vec<double, 8> distCoeffs; // (k1 k2 p1 p2 [k3 [k4 k5 k6]]) // k: radial, p: tangential
ubitrack_calib_text_reader.data_.get_parameters_opencv_default(K, distCoeffs);
// 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)
{
case InputMode::IMAGE:
case InputMode::VIDEO:
case InputMode::CAMERA_MONO:
kCameraNums = 1;
break;
case InputMode::CAMERA:
kCameraNums = 2;
break;
default:
break;
}
// Setup of classes that handle monocular/stereo camera setups
// We can encapslate them into a wrapper class in future update
std::vector<std::unique_ptr<eye_tracker::EyeCameraParent>> eyecams(kCameraNums); // Image sources
std::vector<std::unique_ptr<eye_tracker::CameraUndistorter>> camera_undistorters(kCameraNums); // Camera undistorters
std::vector<std::string> window_names(kCameraNums); // Window names
std::vector<cv::Mat> images(kCameraNums); // buffer images
std::vector<std::string> file_stems(kCameraNums); // Output file stem names
std::vector<int> camera_indices(kCameraNums); // Camera indices for Opencv capture
std::vector<std::unique_ptr<eye_tracker::EyeModelUpdater>> eye_model_updaters(kCameraNums); // 3D eye models
// Instantiate and initialize the class vectors
try{
switch (input_mode)
{
case InputMode::IMAGE:
eyecams[0] = std::make_unique<eye_tracker::EyeCamera>(media_file, false);
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);
window_names = { "Video/Image" };
file_stems = { media_file_stem };
break;
case InputMode::VIDEO:
eyecams[0] = std::make_unique<eye_tracker::EyeCamera>(media_file, false);
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);
window_names = { "Video/Image" };
file_stems = { media_file_stem };
break;
case InputMode::CAMERA:
camera_indices[0] = 0;
camera_indices[1] = 2;
#if 0
// OpenCV HighGUI frame grabber
eyecams[0] = std::make_unique<eye_tracker::EyeCamera>(camera_indices[0], false);
eyecams[1] = std::make_unique<eye_tracker::EyeCamera>(camera_indices[1], false);
#else
// DirectShow frame grabber
eyecams[0] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam1 ID1");
eyecams[1] = std::make_unique<eye_tracker::EyeCameraDS>("Pupil Cam2 ID2");
#endif
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" };
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);
camera_undistorters[0] = std::make_unique<eye_tracker::CameraUndistorter>(K, distCoeffs);
window_names = { "Cam1" };
file_stems = { "cam1" };
break;
default:
break;
}
}
catch (char *c){
std::cout << "Exception: ";
std::cout << c << std::endl;
return 0;
}
////////////////////////
// 2D pupil detector
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
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
const char kTerminate = 27;//Escape 0x1b
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) {
//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) {
kKEY = cv::waitKey(1);
}
switch (kKEY) {
case kTerminate:
is_run = false;
break;
}
// Fetch images
for (size_t cam = 0; cam < kCameraNums; cam++) {
eyecams[cam] -> fetchFrame(images[cam]);
}
// Process each camera images
for (size_t cam = 0; cam < kCameraNums; cam++) {
cv::Mat &img = images[cam];
//img = frame1; //for video
//imshow("test", img);
//waitKey(1);
if (img.empty()) {
//is_run = false;
break;
}
// Undistort a captured image
//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_grey;
switch (kKEY) {
case 'r':
eye_model_updaters[cam]->reset();
break;
case 'p':
eye_model_updaters[cam]->add_fitter_max_count(10);
break;
case 'q':
is_run = false;
break;
case 'z':
eye_model_updaters[cam]->rm_oldest_observation();
break;
default:
break;
}
const clock_t begin_time = clock();
// 2D ellipse detection
std::vector<cv::Point2f> inlier_pts;
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);
//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));
//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;
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;
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;
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
if (cam == 0 && 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;
//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]->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{
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;
cv::imshow(window_names[cam], img_rgb_debug);
} // Visualization
} // 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;
}
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;
}