public Mat Plot(ScreenProperties screen, EyeGazeCalibrater calib)
{
var pre = new Point3D[Data.Count];
using (var plot = Plot(screen))
{
int i = 0;
foreach (var item in Data)
{
pre[i] = item.Value.Face.GazeInfo.Vector;
calib.Apply(item.Value.Face, screen);
i++;
}
using (var newPlot = Plot(screen))
{
i = 0;
foreach (var item in Data)
{
item.Value.Face.GazeInfo.Vector = pre[i];
item.Value.Face.GazeInfo.UpdateScreenPoint(item.Value.Face, screen);
i++;
}
var fontsize = Core.Cv.GetFontSize(HersheyFonts.HersheyComplexSmall, 0.5);
var show = MatTool.New(new Size(plot.Width * 2, plot.Height), MatType.CV_8UC3);
Core.Cv.DrawMatAlpha(show, plot, new Point(0, 0));
Core.Cv.DrawMatAlpha(show, newPlot, new Point(plot.Width, 0));
return(show);
}
}
}
public static void DoMatAndPng(string rootName, string path)
{
string assetPath = TCommon.RemovePathPrefix(path);
Material m = AssetDatabase.LoadAssetAtPath <Material>(assetPath);
MatData data = MatTool.MatToJson(m);
string jsonData = JsonMapper.ToJson(data);
StringBuilder sb = new StringBuilder();
JsonWriter write = new JsonWriter(sb);
JsonMapper.ToJson(data, write);
int idx = path.LastIndexOf('\\');
string paraPath = path.Substring(0, idx);
Debug.Log("paraPath:" + paraPath);
paraPath = paraPath + "\\mat.json";
File.WriteAllText(paraPath, sb.ToString());
//对mat_json文件标记ab
AssetImporter importer = AssetImporter.GetAtPath(TCommon.RemovePathPrefix(paraPath));
importer.assetBundleName = $"{rootName}_mat";
importer.assetBundleVariant = TCommon.ABSUFFIX;
AssetImporter importerTex = AssetImporter.GetAtPath(data.attributes[0].texAttri.Item3.bundleDir);
importerTex.assetBundleName = $"{rootName}_png";
importerTex.assetBundleVariant = TCommon.ABSUFFIX;
}
private void RenderProc()
{
//clear buffer
buffer.DrawRectangle(new Rect(0, 0, buffer.Width, buffer.Height), Scalar.BgrWhite, -1);
//project points
Point[] img2dPoints;
double[,] jacobian;
Core.Cv.ProjectPoints(objpoint, rvec.ToArray(), tvec.ToArray(), camera_matrix_buffer, dist_coeffs, out img2dPoints, out jacobian);
//render obj points
for (int i = 0; i < img2dPoints.Length / 2; i++)
{
Scalar s = Scalar.BgrBlack;
if (i < objcolor.Count)
{
s = objcolor[i];
}
Core.Cv.DrawLine(buffer, img2dPoints[i * 2], img2dPoints[i * 2 + 1], s, 2, LineTypes.AntiAlias);
}
//calc rotation vec
theta = Math.Sqrt(rvec[0] * rvec[0] + rvec[1] * rvec[1] + rvec[2] * rvec[2]);
vec = new double[] { rvec[0] / theta, rvec[1] / theta, rvec[2] / theta };
string fmt = "0.0000";
Core.Cv.DrawText(buffer, $"rvec:({rvec[0].ToString(fmt)},{rvec[1].ToString(fmt)},{rvec[2].ToString(fmt)}) | tvec:({tvec[0].ToString(fmt)},{tvec[1].ToString(fmt)},{tvec[2].ToString(fmt)})", new Point(0, 20), HersheyFonts.HersheyPlain, 1, Scalar.BgrGreen, 1, LineTypes.AntiAlias);
Core.Cv.DrawText(buffer, $"vec:({vec[0].ToString(fmt)},{vec[1].ToString(fmt)},{vec[2].ToString(fmt)}) | theta:({theta.ToString(fmt)})", new Point(0, 35), HersheyFonts.HersheyPlain, 1, Scalar.BgrGreen, 1, LineTypes.AntiAlias);
Core.Cv.ImgShow("window", buffer);
//transform image
if (!input.IsEmpty)
{
Profiler.Start("Transform");
Core.Cv.Rodrigues(rvec.ToArray(), out rodriues);
if (rod != null)
{
rod.Dispose();
}
rod = MatTool.New(new Size(3, 3), MatType.CV_64FC1, rodriues);
if (invertROD)
{
rod = rod.Inv();
}
using (Mat output = MatTool.New())
{
transform.Transform(input, output, rod);
Core.Cv.ImgShow("transform", output);
}
Profiler.End("Transform");
}
}
public ThreeDimTests()
{
buffer = MatTool.New(new Size(500, 500), MatType.CV_8UC3);
center = new Point(buffer.Cols / 2, buffer.Rows / 2);
focal_length = buffer.Cols;
camera_matrix_buffer = new double[, ]
{
{ focal_length, 0, center.X },
{ 0, focal_length, center.Y },
{ 0, 0, 1 }
};
input = MatTool.New(new Size(500, 500), MatType.CV_8UC3);
for (int i = 0; i < 10; i++)
{
double margin = i * (input.Width / 20);
input.DrawRectangle(new Rect(margin, margin, input.Width - 2 * margin, input.Height - 2 * margin), Scalar.Random(), -1);
}
transform = new RotationMatrixTransform();
}
public Mat Plot(ScreenProperties screen)
{
var errorList = new List <double>();
var errorMM = new List <double>();
var ptList = new List <Point>();
var ptDistList = new List <Point>();
var frameMargin = new Point(12, 12);
var frameSize = new Size(480, 480);
var frameBackSize = frameSize.Clone();
frameBackSize.Width += frameMargin.Y * 2;
frameBackSize.Height += frameMargin.Y * 2;
var frame = MatTool.New(frameBackSize, MatType.CV_8UC3);
using (Mat m = MatTool.New(frameSize, MatType.CV_8UC3))
{
m.DrawRectangle(new Rect(0, 0, m.Width, m.Height), Scalar.BgrWhite, -1);
foreach (var item in Data)
{
var pt = frameSize.Center;
var ptDist = pt.Clone();
var key3d = item.Key * (-1 / item.Key.Z);
var key = new Point(key3d.X, key3d.Y);
pt.X *= key.X;
pt.Y *= key.Y;
var gazeVec = item.Value.Face.GazeInfo.Vector;
ptDist.X *= gazeVec.X;
ptDist.Y *= gazeVec.Y;
pt += frameSize.Center;
ptDist += frameSize.Center;
ptList.Add(pt);
ptDistList.Add(ptDist);
var errorDiff = key - new Point(gazeVec.X, gazeVec.Y);
var error = Math.Sqrt(Math.Pow(errorDiff.X, 2) + Math.Pow(errorDiff.Y, 2));
errorList.Add(error);
var mmDist = item.Value.Face.LandmarkTransform.Z / item.Value.Face.UnitPerMM;
errorMM.Add(Math.Abs(screen.Origin.Z - mmDist) * error / 10);
}
var errorMax = errorList.Max();
var errorMin = errorList.Min();
var errorAvg = errorList.Average();
var errorMMAvg = errorMM.Average();
for (int i = 0; i < ptList.Count; i++)
{
var pt = ptList[i];
var ptDist = ptDistList[i];
var error = errorList[i];
var alpha = (error - errorMin) / (errorMax - errorMin);
var color = Scalar.Blend(Scalar.BgrBlue, 1 - alpha, Scalar.BgrRed, alpha);
m.DrawArrow(pt, ptDist, color, 1, LineTypes.AntiAlias, 0.15);
}
Core.Cv.DrawText(m,
$"Mean error: {errorAvg.ToString("0.000")}\n" +
$"Mean error(cm): {errorMMAvg.ToString("0.00")}\n" +
$"Mean error(degree): {(Math.Atan(errorAvg) / Math.PI * 180).ToString("0.00")}\n" +
$"Samples: {errorList.Count}",
new Point(10, 25), HersheyFonts.HersheyComplexSmall, 0.5, Scalar.BgrBlack, 1);
frame.DrawRectangle(new Rect(0, 0, frame.Width, frame.Height), new Scalar(64, 64, 64), -1);
Core.Cv.DrawMatAlpha(frame, m, frameMargin);
}
return(frame);
}
public Mat RoiCropByPercent(Mat frame, double percentOfFace = 0.33)
{
double size = Math.Max(Parent.Width, Parent.Height) * percentOfFace;
return(MatTool.New(frame, new Vision.Rect(Parent.X + Center.X - size * 0.5, Parent.Y + Center.Y - size * 0.5, size, size), true));
}
public Mat ROI(Mat frame)
{
return(MatTool.New(frame, new Rect(Parent.X + X, Parent.Y + Y, Width, Height), true));
}