public TrackData()
{
eyesROI = new Rectangle();
leftROI = new Rectangle();
rightROI = new Rectangle();
pupilDataLeft = new PupilData();
pupilDataRight = new PupilData();
glintDataLeft = new GlintData();
glintDataRight = new GlintData();
calibrationDataLeft = new CalibrationData();
calibrationDataRight = new CalibrationData();
gazeDataRaw = new GTGazeData();
gazeDataSmoothed = new GTGazeData();
//eyeMovement = new GazeTrackingLibrary.EyeMovement.Classifier();
eyesDetected = false;
eyeDetected = false;
pupilLeftDetected = false;
pupilRightDetected = false;
glintsLeftDetected = false;
glintsRightDetected = false;
}
public override bool Calibrate()
{
if (NumImages == 0)
{
//throw new ArgumentException("numImages=0 in Calibrate()");
return false;
}
try
{
CalibrationDataLeft = new CalibrationData();
CalibrationDataRight = new CalibrationData();
var targets = new Matrix<double>(NumImages, 3);
var designMatrixLeft = new Matrix<double>(NumImages, 6);
var designMatrixRight = new Matrix<double>(NumImages, 6);
var rowLeft = new double[6];
var rowRight = new double[6];
int k = 0;
foreach (CalibrationTarget ct in CalibrationTargets)
{
for (int j = 0; j < ct.NumImages; j++)
{
targets[k, 0] = ct.targetCoordinates.X;
targets[k, 1] = ct.targetCoordinates.Y;
double xLeft = ct.pupilCentersLeft[j].X;
double yLeft = ct.pupilCentersLeft[j].Y;
rowLeft[0] = 1;
rowLeft[1] = xLeft;
rowLeft[2] = yLeft;
rowLeft[3] = xLeft*yLeft;
rowLeft[4] = xLeft*xLeft;
rowLeft[5] = yLeft*yLeft;
for (int r = 0; r < 6; r++)
{
designMatrixLeft[k, r] = rowLeft[r];
}
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
double xRight = ct.pupilCentersRight[j].X;
double yRight = ct.pupilCentersRight[j].Y;
rowRight[0] = 1;
rowRight[1] = xRight;
rowRight[2] = yRight;
rowRight[3] = xRight*yRight;
rowRight[4] = xRight*xRight;
rowRight[5] = yRight*yRight;
for (int r = 0; r < 6; r++)
{
designMatrixRight[k, r] = rowRight[r];
}
}
k++;
}
}
CalibrationDataLeft.CoeffsX = new Matrix<double>(6, 1);
CalibrationDataLeft.CoeffsY = new Matrix<double>(6, 1);
CalibrationDataLeft.CoeffsX = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(0));
CalibrationDataLeft.CoeffsY = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(1));
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.CoeffsX = new Matrix<double>(6, 1);
CalibrationDataRight.CoeffsY = new Matrix<double>(6, 1);
CalibrationDataRight.CoeffsX = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(0));
CalibrationDataRight.CoeffsY = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(1));
}
// For each image we calculate the estimated gaze coordinates
foreach (CalibrationTarget ct in CalibrationTargets)
{
// We might be recalibrating so clear estGazeCoords first
ct.estimatedGazeCoordinatesLeft.Clear();
ct.estimatedGazeCoordinatesRight.Clear();
for (int j = 0; j < ct.NumImages; j++)
{
PupilCenterLeft = ct.pupilCentersLeft[j];
ct.estimatedGazeCoordinatesLeft.Add(GetGazeCoordinates(EyeEnum.Left));
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
PupilCenterRight = ct.pupilCentersRight[j];
ct.estimatedGazeCoordinatesRight.Add(GetGazeCoordinates(EyeEnum.Right));
}
}
ct.CalculateAverageCoords();
ct.averageErrorLeft = Operations.Distance(ct.meanGazeCoordinatesLeft, ct.targetCoordinates);
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
ct.averageErrorRight = Operations.Distance(ct.meanGazeCoordinatesRight, ct.targetCoordinates);
}
//calibrated = true;
CalibrationDataLeft.Calibrated = true;
CalculateAverageErrorLeft();
CalculateDegreesLeft();
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.Calibrated = true;
CalculateAverageErrorRight();
CalculateDegreesRight();
}
}
catch (Exception ex)
{
//IsCalibrated = false;
return true; // what to do here
}
IsCalibrated = true;
return IsCalibrated;
//OnCalibrationComplete(EventArgs.Empty); // Raise event
}
public override bool Calibrate()
{
if (NumImages == 0)
{
//throw new ArgumentException("numImages=0 in Calibrate()");
return(false);
}
try
{
CalibrationDataLeft = new CalibrationData();
CalibrationDataRight = new CalibrationData();
var targets = new Matrix <double>(NumImages, 3);
var designMatrixLeft = new Matrix <double>(NumImages, 6);
var designMatrixRight = new Matrix <double>(NumImages, 6);
var rowLeft = new double[6];
var rowRight = new double[6];
int k = 0;
foreach (CalibrationTarget ct in CalibrationTargets)
{
for (int j = 0; j < ct.NumImages; j++)
{
targets[k, 0] = ct.targetCoordinates.X;
targets[k, 1] = ct.targetCoordinates.Y;
double xLeft = ct.pupilCentersLeft[j].X;
double yLeft = ct.pupilCentersLeft[j].Y;
rowLeft[0] = 1;
rowLeft[1] = xLeft;
rowLeft[2] = yLeft;
rowLeft[3] = xLeft * yLeft;
rowLeft[4] = xLeft * xLeft;
rowLeft[5] = yLeft * yLeft;
for (int r = 0; r < 6; r++)
{
designMatrixLeft[k, r] = rowLeft[r];
}
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
double xRight = ct.pupilCentersRight[j].X;
double yRight = ct.pupilCentersRight[j].Y;
rowRight[0] = 1;
rowRight[1] = xRight;
rowRight[2] = yRight;
rowRight[3] = xRight * yRight;
rowRight[4] = xRight * xRight;
rowRight[5] = yRight * yRight;
for (int r = 0; r < 6; r++)
{
designMatrixRight[k, r] = rowRight[r];
}
}
k++;
}
}
CalibrationDataLeft.CoeffsX = new Matrix <double>(6, 1);
CalibrationDataLeft.CoeffsY = new Matrix <double>(6, 1);
CalibrationDataLeft.CoeffsX = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(0));
CalibrationDataLeft.CoeffsY = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(1));
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.CoeffsX = new Matrix <double>(6, 1);
CalibrationDataRight.CoeffsY = new Matrix <double>(6, 1);
CalibrationDataRight.CoeffsX = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(0));
CalibrationDataRight.CoeffsY = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(1));
}
// For each image we calculate the estimated gaze coordinates
foreach (CalibrationTarget ct in CalibrationTargets)
{
// We might be recalibrating so clear estGazeCoords first
ct.estimatedGazeCoordinatesLeft.Clear();
ct.estimatedGazeCoordinatesRight.Clear();
for (int j = 0; j < ct.NumImages; j++)
{
PupilCenterLeft = ct.pupilCentersLeft[j];
ct.estimatedGazeCoordinatesLeft.Add(GetGazeCoordinates(EyeEnum.Left));
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
PupilCenterRight = ct.pupilCentersRight[j];
ct.estimatedGazeCoordinatesRight.Add(GetGazeCoordinates(EyeEnum.Right));
}
}
ct.CalculateAverageCoords();
ct.averageErrorLeft = Operations.Distance(ct.meanGazeCoordinatesLeft, ct.targetCoordinates);
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
ct.averageErrorRight = Operations.Distance(ct.meanGazeCoordinatesRight, ct.targetCoordinates);
}
}
//calibrated = true;
CalibrationDataLeft.Calibrated = true;
CalculateAverageErrorLeft();
CalculateDegreesLeft();
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.Calibrated = true;
CalculateAverageErrorRight();
CalculateDegreesRight();
}
}
catch (Exception ex)
{
//IsCalibrated = false;
return(true); // what to do here
}
IsCalibrated = true;
return(IsCalibrated);
//OnCalibrationComplete(EventArgs.Empty); // Raise event
}
public override bool Calibrate()
{
if (numOutliersRemovedLeft == 0 && numOutliersRemovedRight == 0)
RemoveOutliers(); // Only works sometimes, tried fixing it..
if (NumImages == 0)
{
//throw new ArgumentException("numImages=0 in Calibrate()");
IsCalibrated = false;
return false;
}
#region Initialize variabels
CalibrationDataLeft = new CalibrationData();
CalibrationDataRight = new CalibrationData();
var targets = new Matrix<double>(NumImages, 3);
var designMatrixLeft = new Matrix<double>(NumImages, 6);
var designMatrixRight = new Matrix<double>(NumImages, 6);
var rowLeft = new double[6];
var rowRight = new double[6];
int k = 0;
#endregion
#region Build matrices
foreach (CalibrationTarget ct in CalibrationTargets)
{
for (int j = 0; j < ct.NumImages; j++)
{
#region Left
if (j < ct.pupilCentersLeft.Count && j < ct.glintsLeft.Count)
{
GTPoint pupilCenterLeft = ct.pupilCentersLeft.ElementAt(j);
GlintConfiguration glintsLeft = ct.glintsLeft.ElementAt(j);
if (pupilCenterLeft != null && glintsLeft != null && glintsLeft.Count > 0)
{
targets[k, 0] = ct.targetCoordinates.X;
targets[k, 1] = ct.targetCoordinates.Y;
double xLeft = pupilCenterLeft.X - glintsLeft.AverageCenter.X;
double yLeft = pupilCenterLeft.Y - glintsLeft.AverageCenter.Y;
rowLeft[0] = 1;
rowLeft[1] = xLeft;
rowLeft[2] = yLeft;
rowLeft[3] = xLeft*yLeft;
rowLeft[4] = xLeft*xLeft;
rowLeft[5] = yLeft*yLeft;
for (int r = 0; r < 6; r++)
designMatrixLeft[k, r] = rowLeft[r];
}
}
#endregion
#region Right
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
if (ct.pupilCentersRight.Count - 1 > j && ct.glintsRight.Count - 1 > j)
{
GTPoint pupilCenterRight = ct.pupilCentersRight.ElementAt(j);
GlintConfiguration glintsRight = ct.glintsRight.ElementAt(j);
if (pupilCenterRight != null && glintsRight != null && glintsRight.Count > 0)
{
double xRight = pupilCenterRight.X - glintsRight.AverageCenter.X;
double yRight = pupilCenterRight.Y - glintsRight.AverageCenter.Y;
rowRight[0] = 1;
rowRight[1] = xRight;
rowRight[2] = yRight;
rowRight[3] = xRight*yRight;
rowRight[4] = xRight*xRight;
rowRight[5] = yRight*yRight;
for (int r = 0; r < 6; r++)
{
designMatrixRight[k, r] = rowRight[r];
}
}
}
}
#endregion
k++;
}
}
#endregion
#region SolveLeastSquares
CalibrationDataLeft.CoeffsX = new Matrix<double>(6, 1);
CalibrationDataLeft.CoeffsY = new Matrix<double>(6, 1);
CalibrationDataLeft.CoeffsX = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(0));
CalibrationDataLeft.CoeffsY = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(1));
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.CoeffsX = new Matrix<double>(6, 1);
CalibrationDataRight.CoeffsY = new Matrix<double>(6, 1);
CalibrationDataRight.CoeffsX = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(0));
CalibrationDataRight.CoeffsY = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(1));
}
#endregion
#region Calculated est. gaze coordinates (per image)
// For each image we calculate the estimated gaze coordinates
foreach (CalibrationTarget ct in CalibrationTargets)
{
// We might be recalibrating so clear estGazeCoords first
ct.estimatedGazeCoordinatesLeft.Clear();
ct.estimatedGazeCoordinatesRight.Clear();
for (int j = 0; j < ct.NumImages; j++)
{
#region Left
if (ct.pupilCentersLeft.Count - 1 >= j && ct.glintsLeft.Count - 1 >= j)
{
var pupilCenterLeft = new GTPoint(0, 0);
var glintConfigLeft = new GlintConfiguration(new Blobs());
if (ct.pupilCentersLeft.ElementAt(j) != null)
pupilCenterLeft = ct.pupilCentersLeft[j];
if (ct.glintsLeft.ElementAt(j) != null)
glintConfigLeft = ct.glintsLeft[j];
if (pupilCenterLeft.Y != 0)
ct.estimatedGazeCoordinatesLeft.Add(GetGazeCoordinates(EyeEnum.Left, pupilCenterLeft,
glintConfigLeft));
}
#endregion
#region Right
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
if (ct.pupilCentersRight.Count - 1 > j && ct.glintsRight.Count - 1 > j)
{
var pupilCenterRight = new GTPoint(0, 0);
var glintConfigRight = new GlintConfiguration(new Blobs());
if (ct.pupilCentersRight.ElementAt(j) != null)
pupilCenterRight = ct.pupilCentersRight[j];
if (ct.glintsRight.ElementAt(j) != null)
glintConfigRight = ct.glintsRight[j];
if (pupilCenterRight.Y != 0)
ct.estimatedGazeCoordinatesRight.Add(GetGazeCoordinates(EyeEnum.Right, pupilCenterRight,
glintConfigRight));
}
}
#endregion
}
ct.CalculateAverageCoords();
ct.averageErrorLeft = Operations.Distance(ct.meanGazeCoordinatesLeft, ct.targetCoordinates);
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
ct.averageErrorRight = Operations.Distance(ct.meanGazeCoordinatesRight, ct.targetCoordinates);
}
CalibrationDataLeft.Calibrated = true;
CalculateAverageErrorLeft();
CalculateDegreesLeft();
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.Calibrated = true;
CalculateAverageErrorRight();
CalculateDegreesRight();
}
#endregion
IsCalibrated = true;
return IsCalibrated;
}
public override bool Calibrate()
{
if (numOutliersRemovedLeft == 0 && numOutliersRemovedRight == 0)
{
RemoveOutliers(); // Only works sometimes, tried fixing it..
}
if (NumImages == 0)
{
//throw new ArgumentException("numImages=0 in Calibrate()");
IsCalibrated = false;
return(false);
}
#region Initialize variabels
CalibrationDataLeft = new CalibrationData();
CalibrationDataRight = new CalibrationData();
var targets = new Matrix <double>(NumImages, 3);
var designMatrixLeft = new Matrix <double>(NumImages, 6);
var designMatrixRight = new Matrix <double>(NumImages, 6);
var rowLeft = new double[6];
var rowRight = new double[6];
int k = 0;
#endregion
#region Build matrices
foreach (CalibrationTarget ct in CalibrationTargets)
{
for (int j = 0; j < ct.NumImages; j++)
{
#region Left
if (j < ct.pupilCentersLeft.Count && j < ct.glintsLeft.Count)
{
GTPoint pupilCenterLeft = ct.pupilCentersLeft.ElementAt(j);
GlintConfiguration glintsLeft = ct.glintsLeft.ElementAt(j);
if (pupilCenterLeft != null && glintsLeft != null && glintsLeft.Count > 0)
{
targets[k, 0] = ct.targetCoordinates.X;
targets[k, 1] = ct.targetCoordinates.Y;
double xLeft = pupilCenterLeft.X - glintsLeft.AverageCenter.X;
double yLeft = pupilCenterLeft.Y - glintsLeft.AverageCenter.Y;
rowLeft[0] = 1;
rowLeft[1] = xLeft;
rowLeft[2] = yLeft;
rowLeft[3] = xLeft * yLeft;
rowLeft[4] = xLeft * xLeft;
rowLeft[5] = yLeft * yLeft;
for (int r = 0; r < 6; r++)
{
designMatrixLeft[k, r] = rowLeft[r];
}
}
}
#endregion
#region Right
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
if (ct.pupilCentersRight.Count - 1 > j && ct.glintsRight.Count - 1 > j)
{
GTPoint pupilCenterRight = ct.pupilCentersRight.ElementAt(j);
GlintConfiguration glintsRight = ct.glintsRight.ElementAt(j);
if (pupilCenterRight != null && glintsRight != null && glintsRight.Count > 0)
{
double xRight = pupilCenterRight.X - glintsRight.AverageCenter.X;
double yRight = pupilCenterRight.Y - glintsRight.AverageCenter.Y;
rowRight[0] = 1;
rowRight[1] = xRight;
rowRight[2] = yRight;
rowRight[3] = xRight * yRight;
rowRight[4] = xRight * xRight;
rowRight[5] = yRight * yRight;
for (int r = 0; r < 6; r++)
{
designMatrixRight[k, r] = rowRight[r];
}
}
}
}
#endregion
k++;
}
}
#endregion
#region SolveLeastSquares
CalibrationDataLeft.CoeffsX = new Matrix <double>(6, 1);
CalibrationDataLeft.CoeffsY = new Matrix <double>(6, 1);
CalibrationDataLeft.CoeffsX = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(0));
CalibrationDataLeft.CoeffsY = Operations.SolveLeastSquares(designMatrixLeft, targets.GetCol(1));
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.CoeffsX = new Matrix <double>(6, 1);
CalibrationDataRight.CoeffsY = new Matrix <double>(6, 1);
CalibrationDataRight.CoeffsX = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(0));
CalibrationDataRight.CoeffsY = Operations.SolveLeastSquares(designMatrixRight, targets.GetCol(1));
}
#endregion
#region Calculated est. gaze coordinates (per image)
// For each image we calculate the estimated gaze coordinates
foreach (CalibrationTarget ct in CalibrationTargets)
{
// We might be recalibrating so clear estGazeCoords first
ct.estimatedGazeCoordinatesLeft.Clear();
ct.estimatedGazeCoordinatesRight.Clear();
for (int j = 0; j < ct.NumImages; j++)
{
#region Left
if (ct.pupilCentersLeft.Count - 1 >= j && ct.glintsLeft.Count - 1 >= j)
{
var pupilCenterLeft = new GTPoint(0, 0);
var glintConfigLeft = new GlintConfiguration(new Blobs());
if (ct.pupilCentersLeft.ElementAt(j) != null)
{
pupilCenterLeft = ct.pupilCentersLeft[j];
}
if (ct.glintsLeft.ElementAt(j) != null)
{
glintConfigLeft = ct.glintsLeft[j];
}
if (pupilCenterLeft.Y != 0)
{
ct.estimatedGazeCoordinatesLeft.Add(GetGazeCoordinates(EyeEnum.Left, pupilCenterLeft,
glintConfigLeft));
}
}
#endregion
#region Right
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
if (ct.pupilCentersRight.Count - 1 > j && ct.glintsRight.Count - 1 > j)
{
var pupilCenterRight = new GTPoint(0, 0);
var glintConfigRight = new GlintConfiguration(new Blobs());
if (ct.pupilCentersRight.ElementAt(j) != null)
{
pupilCenterRight = ct.pupilCentersRight[j];
}
if (ct.glintsRight.ElementAt(j) != null)
{
glintConfigRight = ct.glintsRight[j];
}
if (pupilCenterRight.Y != 0)
{
ct.estimatedGazeCoordinatesRight.Add(GetGazeCoordinates(EyeEnum.Right, pupilCenterRight,
glintConfigRight));
}
}
}
#endregion
}
ct.CalculateAverageCoords();
ct.averageErrorLeft = Operations.Distance(ct.meanGazeCoordinatesLeft, ct.targetCoordinates);
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
ct.averageErrorRight = Operations.Distance(ct.meanGazeCoordinatesRight, ct.targetCoordinates);
}
}
CalibrationDataLeft.Calibrated = true;
CalculateAverageErrorLeft();
CalculateDegreesLeft();
if (Settings.Instance.Processing.TrackingMode == TrackingModeEnum.Binocular)
{
CalibrationDataRight.Calibrated = true;
CalculateAverageErrorRight();
CalculateDegreesRight();
}
#endregion
IsCalibrated = true;
return(IsCalibrated);
}