public Point_Obj get_gaze_pt(Point_Obj right_eye, Point_Obj left_eye, float alpha, float beta, float gamma)
{
// Compute Z coordinate of head/eyes in the WCS (World Coordinate System)
float Z = (-f * EYE_DIST) / (left_eye.get_x() - right_eye.get_x());
Console.WriteLine("EST Z: {0}", Z);
// Use computed Z coordinate to get X,Y world coordinates of the eyes
float X_r = Z * (right_eye.get_x() - princ_pt.get_x()) / (-f);
float Y_r = Z * (right_eye.get_y() - princ_pt.get_y()) / (-f);
float X_l = Z * (left_eye.get_x() - princ_pt.get_x()) / (-f);
float Y_l = Z * (left_eye.get_y() - princ_pt.get_y()) / (-f);
// Compute direction vector (d) of eyes using rotation angles (alpha, beta, gamma)
DenseVector k_hat = new DenseVector(3);
k_hat[2] = 1;
//DenseMatrix R = get_rotation_mat(alpha, beta, gamma);
DenseMatrix R = get_rotation_mat(alpha, beta, gamma);
DenseVector d = R * k_hat;
// Get point of intersection using eye points and direction vector d
DenseVector P_r = new DenseVector(new[]{Convert.ToDouble(X_r), Convert.ToDouble(Y_r), Convert.ToDouble(Z)});
DenseVector P_l = new DenseVector(new[] { Convert.ToDouble(X_l), Convert.ToDouble(Y_l), Convert.ToDouble(Z)});
DenseVector p_hat_r = P_r + d * (-P_r[2] / d[2]);
DenseVector p_hat_l = P_l + d * (-P_l[2] / d[2]);
DenseVector p_hat_avg = (p_hat_r + p_hat_l) / 2;
return new Point_Obj(Convert.ToSingle(p_hat_avg[0]), Convert.ToSingle(p_hat_avg[1]));
}
private void process_float_data(float[] input_array)
{
float frame_num = input_array[0];
float success_flag = input_array[1];
Point_Obj left_eye = new Point_Obj(input_array[2], input_array[3], input_array[4]);
Point_Obj right_eye = new Point_Obj(input_array[5], input_array[6], input_array[7]);
float alpha = input_array[8]*180;
float beta = input_array[9]*180;
float gamma = input_array[10]*180;
if (success_flag == 0.0)
{
Console.WriteLine("{0}: Tracking Failure", Convert.ToInt32(frame_num));
plot_gaze_point(new Point_Obj(-1000,-1000));
return;
}
Gaze_Comp G = new Gaze_Comp();
Point_Obj p = G.get_gaze_pt(right_eye, left_eye, alpha, beta, gamma);
Console.WriteLine("GAZE POINT (X, Y): ({0}, {1})", p.get_x(), p.get_y());
Point_Obj disp_pt = new Point_Obj(-p.get_x(), p.get_y()+ MONITOR_DIM_Y/2);
plot_gaze_point(disp_pt);
Console.WriteLine("TRANSF GAZE POINT (X, Y): ({0}, {1})", disp_pt.get_x(), disp_pt.get_y());
// Plot Rotation Angles
plot_point("Pitch", Convert.ToDouble(alpha));
plot_point("Yaw", Convert.ToDouble(beta));
plot_point("Roll", Convert.ToDouble(gamma));
set_axis();
}
private void plot_gaze_point(Point_Obj p)
{
if (this.chart2.InvokeRequired)
{
//ChartCallback c = new ChartCallback(plot_point);
GazeChartCallback gC = new GazeChartCallback(plot_gaze_point);
this.Invoke(gC, new object[] { p });
}
else
{
this.chart2.Series["Series1"].Points.AddXY(p.get_x(), p.get_y());
int L = this.chart2.Series["Series1"].Points.Count;
if (p.get_x() < -MONITOR_DIM_X / 2 || p.get_x() > MONITOR_DIM_X / 2)
{
this.chart2.Series["Series1"].Points[L - 1].Color = Color.Red;
}
else if (p.get_y() < -MONITOR_DIM_Y / 2 || p.get_y() > MONITOR_DIM_Y / 2)
{
this.chart2.Series["Series1"].Points[L - 1].Color = Color.Red;
}
else
{
this.chart2.Series["Series1"].Points[L - 1].Color = Color.Blue;
}
if(L > 25)
{
DataPoint d = new DataPoint(this.chart2.Series["Series1"].Points[0].XValue, this.chart2.Series["Series1"].Points[0].YValues[0]);
saved_pts.Add(d);
this.chart2.Series["Series1"].Points.RemoveAt(0);
}
}
}