eye gaze ver 1.0

qihang0233 · Jul 2, 2015 · 9a310b6 · 9a310b6
commit 9a310b6
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diff --git a/Makefile b/Makefile
@@ -0,0 +1,50 @@
+# Makefile for Project Timeline
+#
+# Your compiler
+CXX = g++
+
+# Compilation flags
+# '-g' turns debugging flags on.
+# Not Using O2 flag for optimisation.
+CXXFLAGS = -g -I./include -I./src/dlib/all/source.cpp -ljpeg -mavx -lm -lpthread -lX11 -DDLIB_HAVE_BLAS -DNDEBUG  -DDLIB_JPEG_SUPPORT -DDLIB_HAVE_AVX  -O3 `pkg-config --cflags opencv`
+
+# Linker flags
+# When you need to add a library
+LDFLAGS = -ljpeg -mavx -lm -lpthread -lX11 `pkg-config --libs opencv` -DDLIB_HAVE_BLAS -DNDEBUG  -DDLIB_JPEG_SUPPORT -DDLIB_HAVE_AVX  -O3
+
+# all is a target
+# $(VAR) gives value of the variable.
+# $@ stores the target
+# $^ stores the dependency
+all: bin/oic
+
+bin/oic: obj/dlib.o obj/faceDetection.o obj/pupilDetection.o obj/kalmanFilters.o obj/util.o obj/oic.o
+	$(CXX) -o $@ $^ $(LDFLAGS)
+
+obj/dlib.o: src/dlib/all/source.cpp
+	mkdir -p obj bin
+	$(CXX) -c $(CXXFLAGS) -o $@ $<
+
+obj/faceDetection.o: src/faceDetection.cpp
+	$(CXX) -c $(CXXFLAGS) -o $@ $<
+
+obj/pupilDetection.o: src/pupilDetection.cpp
+	$(CXX) -c $(CXXFLAGS) -o $@ $<
+
+obj/kalmanFilters.o: src/kalmanFilters.cpp
+	$(CXX) -c $(CXXFLAGS) -o $@ $<
+
+obj/util.o: src/util.cpp
+	$(CXX) -c $(CXXFLAGS) -o $@ $<
+
+obj/oic.o: src/oic.cpp
+	$(CXX) -c $(CXXFLAGS) -o $@ $<
+
+# .PHONY tells make that 'all' or 'clean' aren't _actually_ files, and always
+# execute the compilation action when 'make all' or 'make clean' are used
+.PHONY: all oic
+
+# Delete all the temporary files we've created so far
+clean:
+	rm -rf obj/*.o
+	rm -rf bin/oic
diff --git a/bin/oic b/bin/oic
diff --git a/include/constants.h b/include/constants.h
@@ -0,0 +1,8 @@
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+
+double PI = 3.141592653589;
+double Rn = 0.5;
+double Rm = 0.5;
+
+#endif
diff --git a/include/faceDetection.h b/include/faceDetection.h
@@ -0,0 +1,50 @@
+#ifndef FACE_ANALYSIS_H
+#define FACE_ANALYSIS_H
+
+struct FaceFeatures {
+	cv::Point face_centre;
+
+	cv::Point left_eye;
+	cv::Point right_eye;
+	cv::Point mid_eye;
+
+	cv::Point nose_base;
+	cv::Point nose_tip;
+
+	cv::Point mouth;
+
+	void assign(cv::Point c_face_centre, cv::Point c_left_eye, cv::Point c_right_eye, cv::Point c_nose_tip, cv::Point c_mouth);
+};
+
+struct FaceData {
+	double left_eye_nose_distance;
+	double right_eye_nose_distance;
+	double left_eye_right_eye_distance;
+	double nose_mouth_distance;
+
+	double mid_eye_mouth_distance;	//Lf
+	double nose_base_nose_tip_distance;	//Ln
+
+	void assign(FaceFeatures* f);
+};
+
+struct FacePose {
+	double theta, tau;
+	double sigma, symm_x;
+
+	double normal[3];	//Vector for storing Facial normal
+
+	double yaw, pitch;
+
+	double kalman_pitch, kalman_yaw;
+	double kalman_pitch_pre, kalman_yaw_pre;
+
+	void assign(FaceFeatures* f, FaceData* d);
+};
+
+void draw_facial_normal(cv::Mat& img, dlib::full_object_detection shape, std::vector<double> normal);
+void draw_crosshair(cv::Mat img, CvPoint centre, int circle_radius, int line_radius);
+void project_facial_pose(cv::Mat img, double normal[3], double sigma, double theta);
+double find_sigma(int ln, int lf, double Rn, double theta);
+
+#endif
diff --git a/include/kalmanFilters.h b/include/kalmanFilters.h
@@ -0,0 +1,34 @@
+#ifndef KALMAN_FILTERS_H
+#define KALMAN_FILTERS_H
+
+void init_kalman_point_p_l(cv::Point pt_pos_l);
+cv::Point2f kalman_correct_point_p_l(cv::Point pt_pos_l, cv::Point pt_pos_l_old, cv::Point pt_vel_old);
+
+void init_kalman_point_p_r(cv::Point pt_pos_r);
+cv::Point2f kalman_correct_point_p_r(cv::Point pt_pos_r, cv::Point pt_pos_r_old, cv::Point pt_vel_old);
+
+void init_kalman_point_e_l(cv::Point pt_pos_l);
+cv::Point2f kalman_correct_point_e_l(cv::Point pt_pos_l, cv::Point pt_pos_l_old);
+
+void init_kalman_point_e_r(cv::Point pt_pos_r);
+cv::Point2f kalman_correct_point_e_r(cv::Point pt_pos_r, cv::Point pt_pos_r_old);
+
+void init_kalman_ce_l(std::vector<double> vec);
+void kalman_predict_correct_ce_l(std::vector<double> vec, std::vector<double> old, std::vector<double>& vec_pred);
+
+void init_kalman_ce_r(std::vector<double> vec);
+void kalman_predict_correct_ce_r(std::vector<double> vec, std::vector<double> old, std::vector<double>& vec_pred);
+
+void init_kalman_ep_l(std::vector<double> vec);
+void kalman_predict_correct_ep_l(std::vector<double> vec, std::vector<double> old, std::vector<double>& vec_pred);
+
+void init_kalman_ep_r(std::vector<double> vec);
+void kalman_predict_correct_ep_r(std::vector<double> vec, std::vector<double> old, std::vector<double>& vec_pred);
+
+void init_kalman_cp_l(std::vector<double> vec);
+void kalman_predict_correct_cp_l(std::vector<double> vec, std::vector<double> old, std::vector<double>& vec_pred);
+
+void init_kalman_cp_r(std::vector<double> vec);
+void kalman_predict_correct_cp_r(std::vector<double> vec, std::vector<double> old, std::vector<double>& vec_pred);
+
+#endif
diff --git a/include/pupilDetection.h b/include/pupilDetection.h
@@ -0,0 +1,18 @@
+#ifndef PUPIL_DETECTION_H
+#define PUPIL_DETECTION_H
+
+cv::Point unscale_point(cv::Point p, cv::Rect origSize);
+void scale_standard_size(const cv::Mat &src,cv::Mat &dst);
+cv::Mat compute_x_gradient(const cv::Mat &mat);
+double compute_threshold(const cv::Mat &mat, double stdDevFactor);
+cv::Mat get_matrix_magnitude(const cv::Mat &matX, const cv::Mat &matY);
+bool check_point_in_mat(cv::Point p,int rows,int cols);
+bool is_point_in_mat(const cv::Point &np, const cv::Mat &mat);
+cv::Mat remove_edges(cv::Mat &mat);
+void check_pupil(int x, int y, const cv::Mat &weight,double gx, double gy, cv::Mat &out);
+cv::Point get_pupil_coordinates(cv::Mat eye_mat,cv::Rect eye);
+void draw_eye_gaze(cv::Point pt, std::vector<double> vec_gaze, cv::Rect roi_eye, cv::Mat& img);
+double get_z_component(double Cf_left, cv::Point pt_p_kalman, cv::Point pt_e_kalman, std::vector<double> vec_ce_kalman);
+void retrace_eye_center(cv::Point& pt_e_pos, double normal[3], double mag);
+
+#endif
diff --git a/include/util.h b/include/util.h
@@ -0,0 +1,17 @@
+#ifndef UTIL_H
+#define UTIL_H
+
+void blow_up_rect(cv::Rect& rect, double f);
+void show_images(int e ,int l, int h, std::vector<cv::Mat> imgs);
+double get_distance(cv::Point p1, cv::Point p2);
+cv::Point get_mid_point(cv::Point p1, cv::Point p2);
+double get_vector_magnitude(double vec[], int size);
+void compute_vector_sum(std::vector<double> vec1, std::vector<double> vec2, std::vector<double>& vec_sum);
+double get_angle_between(cv::Point pt1, cv::Point pt2);
+void make_unit_vector(std::vector<double> vec, std::vector<double>& unit_vector);
+double scalar_product(std::vector<double> vec1, std::vector<double> vec2);
+cv::Mat get_rotation_matrix_z(double theta);
+void get_rotated_vector(std::vector<double> vec, std::vector<double>& vec_rot);
+void get_reverse_vector(std::vector<double> vec, std::vector<double>& vec_rot);
+
+#endif
diff --git a/obj/dlib.o b/obj/dlib.o
diff --git a/obj/faceDetection.o b/obj/faceDetection.o
diff --git a/obj/kalmanFilters.o b/obj/kalmanFilters.o
diff --git a/obj/oic.o b/obj/oic.o
diff --git a/obj/pupilDetection.o b/obj/pupilDetection.o
diff --git a/obj/util.o b/obj/util.o
diff --git a/res/shape_predictor_68_face_landmarks.dat b/res/shape_predictor_68_face_landmarks.dat
diff --git a/src/Makefile b/src/Makefile
@@ -0,0 +1,6 @@
+all:
+	oic
+oic:
+
+	g++ -lX11 ./dlib/all/source.cpp oic.cpp faceDetection.cpp kalmanFilters.cpp util.cpp pupilDetection.cpp -o oic -ljpeg -mavx `pkg-config --cflags --libs opencv`
+
diff --git a/src/Makefile~ b/src/Makefile~
@@ -0,0 +1,5 @@
+all:
+	oic
+
+	g++ -lX11 ./dlib/all/source.cpp oic.cpp faceDetection.cpp kalmanFilters.cpp util.cpp pupilDetection.cpp -o oic -ljpeg -mavx `pkg-config --cflags --libs opencv`
+
diff --git a/src/constants.h~ b/src/constants.h~
@@ -0,0 +1,8 @@
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+
+double PI = 3.141592653589;
+double Rn = 0.5;
+double Rm = 0.5;
+
+#endif