Getting rid of redundant parameters for head pose and eye gaze estima…

…tion (a slight simplification).

exe/FeatureExtraction/FeatureExtraction.cpp

@@ -773,8 +773,8 @@ int main (int argc, char **argv)
 
 			if (clm_parameters.track_gaze)
 			{
-				FaceAnalysis::EstimateGaze(clm_model, clm_parameters, gazeDirection0, gazeDirection0_head, fx, fy, cx, cy, true);
-				FaceAnalysis::EstimateGaze(clm_model, clm_parameters, gazeDirection1, gazeDirection1_head, fx, fy, cx, cy, false);
+				FaceAnalysis::EstimateGaze(clm_model, gazeDirection0, gazeDirection0_head, fx, fy, cx, cy, true);
+				FaceAnalysis::EstimateGaze(clm_model, gazeDirection1, gazeDirection1_head, fx, fy, cx, cy, false);
 			}
 
 			// Do face alignment
@@ -809,11 +809,11 @@ int main (int argc, char **argv)
 			Vec6d pose_estimate_CLM;
 			if(use_camera_plane_pose)
 			{
-				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy, clm_parameters);
+				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy);
 			}
 			else
 			{
-				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCamera(clm_model, fx, fy, cx, cy, clm_parameters);
+				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCamera(clm_model, fx, fy, cx, cy);
 			}
 
 
@@ -872,7 +872,7 @@ int main (int argc, char **argv)
 				// A rough heuristic for box around the face width
 				int thickness = (int)std::ceil(2.0* ((double)captured_image.cols) / 640.0);
 
-				Vec6d pose_estimate_to_draw = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy, clm_parameters);
+				Vec6d pose_estimate_to_draw = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy);
 
 				// Draw it in reddish if uncertain, blueish if certain
 				CLMTracker::DrawBox(captured_image, pose_estimate_to_draw, Scalar((1 - vis_certainty)*255.0, 0, vis_certainty * 255), thickness, fx, fy, cx, cy);

exe/FeatureExtraction/FeatureExtraction_vs2012.vcxproj.user

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LocalDebuggerCommandArguments>-rigid  -verbose -f "../videos/default.wmv" -op "output_features/default_pose.txt" -of "output_features/default_fp.txt" -of3D "output_features/default_fp3D.txt" -simaligndir "output_features/aligned" -hogalign "output_features/default.hog" -oparams "output_features/default.params.txt" -oaus "output_features/aus.txt"</LocalDebuggerCommandArguments>
+    <LocalDebuggerCommandArguments>-rigid  -verbose -f "../videos/default.wmv" -op "output_features/default_pose.txt" -of "output_features/default_fp.txt" -of3D "output_features/default_fp3D.txt" -simaligndir "output_features/aligned" -hogalign "output_features/default.hog" -oparams "output_features/default.params.txt" -oaus "output_features/aus.txt" -ogaze "output_features/gaze.txt"</LocalDebuggerCommandArguments>
     <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
     <LocalDebuggerWorkingDirectory>$(TargetDir)</LocalDebuggerWorkingDirectory>
   </PropertyGroup>

exe/MultiTrackCLM/MultiTrackCLM.cpp

@@ -397,7 +397,7 @@ int main (int argc, char **argv)
 					int thickness = (int)std::ceil(2.0* ((double)captured_image.cols) / 640.0);
 
 					// Work out the pose of the head from the tracked model
-					Vec6d pose_estimate_CLM = CLMTracker::GetCorrectedPoseCameraPlane(clm_models[model], fx, fy, cx, cy, clm_parameters[model]);
+					Vec6d pose_estimate_CLM = CLMTracker::GetCorrectedPoseCameraPlane(clm_models[model], fx, fy, cx, cy);
 
 					// Draw it in reddish if uncertain, blueish if certain
 					CLMTracker::DrawBox(disp_image, pose_estimate_CLM, Scalar((1-detection_certainty)*255.0,0, detection_certainty*255), thickness, fx, fy, cx, cy);

exe/SimpleCLM/SimpleCLM.cpp

@@ -254,11 +254,11 @@ int main (int argc, char **argv)
 			Vec6d pose_estimate_CLM;
 			if(use_camera_plane_pose)
 			{
-				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy, clm_parameters);
+				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy);
 			}
 			else
 			{
-				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCamera(clm_model, fx, fy, cx, cy, clm_parameters);
+				pose_estimate_CLM = CLMTracker::GetCorrectedPoseCamera(clm_model, fx, fy, cx, cy);
 			}
 
 			// Visualising the results
@@ -282,7 +282,7 @@ int main (int argc, char **argv)
 				// A rough heuristic for box around the face width
 				int thickness = (int)std::ceil(2.0* ((double)captured_image.cols) / 640.0);
 
-				Vec6d pose_estimate_to_draw = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy, clm_parameters);
+				Vec6d pose_estimate_to_draw = CLMTracker::GetCorrectedPoseCameraPlane(clm_model, fx, fy, cx, cy);
 
 				// Draw it in reddish if uncertain, blueish if certain
 				CLMTracker::DrawBox(captured_image, pose_estimate_to_draw, Scalar((1-vis_certainty)*255.0,0, vis_certainty*255), thickness, fx, fy, cx, cy);

lib/local/CLM/include/CLMTracker.h

@@ -93,15 +93,15 @@ namespace CLMTracker
 
 	// The head pose returned is in camera space, however, the orientation can be either with respect to camera itself or the camera plane
 	// The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-	Vec6d GetPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params);
-	Vec6d GetPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params);
+	Vec6d GetPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy);
+	Vec6d GetPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy);
 
 	// Getting a head pose estimate from the currently detected landmarks, with appropriate correction due to orthographic camera issue
 	// This is because rotation estimate under orthographic assumption is only correct close to the centre of the image
 	// These methods attempt to correct for that (Experimental)
 	// The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-	Vec6d GetCorrectedPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params);
-	Vec6d GetCorrectedPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params);
+	Vec6d GetCorrectedPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy);
+	Vec6d GetCorrectedPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy);
 
 	//===========================================================================
 

lib/local/CLM/src/CLMTracker.cpp

@@ -55,7 +55,7 @@ using namespace cv;
 
 // Getting a head pose estimate from the currently detected landmarks (rotation with respect to camera)
 // The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-Vec6d CLMTracker::GetPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params)
+Vec6d CLMTracker::GetPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy)
 {
 	if(!clm_model.detected_landmarks.empty() && clm_model.params_global[0] != 0)
 	{
@@ -74,7 +74,7 @@ Vec6d CLMTracker::GetPoseCamera(const CLM& clm_model, double fx, double fy, doub
 
 // Getting a head pose estimate from the currently detected landmarks (rotation with respect to camera plane)
 // The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-Vec6d CLMTracker::GetPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params)
+Vec6d CLMTracker::GetPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy)
 {
 	if(!clm_model.detected_landmarks.empty() && clm_model.params_global[0] != 0 && clm_model.tracking_initialised)
 	{
@@ -109,7 +109,7 @@ Vec6d CLMTracker::GetPoseCameraPlane(const CLM& clm_model, double fx, double fy,
 // This is because rotation estimate under orthographic assumption is only correct close to the centre of the image
 // This method returns a corrected pose estimate with respect to the camera plane (Experimental)
 // The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-Vec6d CLMTracker::GetCorrectedPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params)
+Vec6d CLMTracker::GetCorrectedPoseCameraPlane(const CLM& clm_model, double fx, double fy, double cx, double cy)
 {
 	if(!clm_model.detected_landmarks.empty() && clm_model.params_global[0] != 0 && clm_model.tracking_initialised)
 	{
@@ -156,7 +156,7 @@ Vec6d CLMTracker::GetCorrectedPoseCameraPlane(const CLM& clm_model, double fx, d
 // This is because rotation estimate under orthographic assumption is only correct close to the centre of the image
 // This method returns a corrected pose estimate with respect to a point camera (NOTE not the camera plane) (Experimental)
 // The format returned is [Tx, Ty, Tz, Eul_x, Eul_y, Eul_z]
-Vec6d CLMTracker::GetCorrectedPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy, const CLMParameters& params)
+Vec6d CLMTracker::GetCorrectedPoseCamera(const CLM& clm_model, double fx, double fy, double cx, double cy)
 {
 	if(!clm_model.detected_landmarks.empty() && clm_model.params_global[0] != 0)
 	{

lib/local/FaceAnalyser/include/GazeEstimation.h

@@ -53,7 +53,7 @@ using namespace cv;
 namespace FaceAnalysis
 {
 
-	void EstimateGaze(const CLMTracker::CLM& clm_model, const CLMTracker::CLMParameters& clm_parameters, Point3f& gaze_absolute, Point3f& gaze_head, float fx, float fy, float cx, float cy, bool left_eye);
+	void EstimateGaze(const CLMTracker::CLM& clm_model, Point3f& gaze_absolute, Point3f& gaze_head, float fx, float fy, float cx, float cy, bool left_eye);
 	void DrawGaze(Mat img, const CLMTracker::CLM& clm_model, Point3f gazeVecAxisLeft, Point3f gazeVecAxisRight, float fx, float fy, float cx, float cy);
 
 }

lib/local/FaceAnalyser/src/GazeEstimation.cpp

@@ -89,9 +89,9 @@ Point3f GetPupilPosition(Mat_<double> eyeLdmks3d){
 	return p;
 }
 
-void FaceAnalysis::EstimateGaze(const CLMTracker::CLM& clm_model, const CLMTracker::CLMParameters& clm_parameters, Point3f& gaze_absolute, Point3f& gaze_head, float fx, float fy, float cx, float cy, bool left_eye)
+void FaceAnalysis::EstimateGaze(const CLMTracker::CLM& clm_model, Point3f& gaze_absolute, Point3f& gaze_head, float fx, float fy, float cx, float cy, bool left_eye)
 {
-	Vec6d headPose = CLMTracker::GetPoseCamera(clm_model, fx, fy, cx, cy, clm_parameters);
+	Vec6d headPose = CLMTracker::GetPoseCamera(clm_model, fx, fy, cx, cy);
 	Vec3d eulerAngles(headPose(3), headPose(4), headPose(5));
 	Matx33d rotMat = CLMTracker::Euler2RotationMatrix(eulerAngles);