/// <summary>
/// Calculates the optimal valid configuration and eliminates the rest of the blobs.
/// It uses the number of light sources.
/// </summary>
public GlintConfiguration GetValidConfiguration(Blobs blobs, GTPoint initialLocation)
{
var validConfig = new GlintConfiguration(4);
var candidateGlintCenters = new Matrix <double>(blobs.Count, blobs.Count);
Matrix <int> distMatrixThr;
var combinations = new List <Point>();
var validConfigurations = new List <GlintConfiguration>();
var indicesValidConfigs = new List <int>();
distMatrixThr = GetDistanceMatrix(blobs, MinDistBetweenGlints, MaxDistBetweenGlints);
for (int i = 0; i < distMatrixThr.Rows; i++)
{
combinations.AddRange(GetCombinations(distMatrixThr.GetRow(i).Clone(), i));
}
if (combinations.Count > 0)
{
validConfig = FilterConfigsByDistance(blobs, combinations, initialLocation);
}
else
{
validConfig = new GlintConfiguration(1);
}
return(validConfig);
}
public GlintConfiguration(GlintConfiguration src)
{
count = src.Count;
centers = new GTPoint[count];
blobs = new Blobs();
for (int i = 0; i < count; i++)
{
centers[i] = new GTPoint(src.centers[i]);
blobs.BlobDir[i] = new Blob();
blobs.BlobDir[i] = src.blobs.BlobDir.ElementAt(i).Value;
}
}
public GlintConfiguration(GlintConfiguration src)
{
count = src.Count;
centers = new GTPoint[count];
blobs = new Blobs();
for (int i = 0; i < count; i++)
{
centers[i] = new GTPoint(src.centers[i]);
blobs.BlobDir[i] = new Blob();
blobs.BlobDir[i] = src.blobs.BlobDir.ElementAt(i).Value;
}
}
public GlintData()
{
Glints = new GlintConfiguration(10);
}
public GlintData()
{
Glints = new GlintConfiguration(10);
}
/// <summary>
/// Calculates the optimal valid configuration and eliminates the rest of the blobs.
/// It uses the number of light sources.
/// </summary>
public GlintConfiguration GetValidConfiguration(Blobs blobs, GTPoint initialLocation)
{
var validConfig = new GlintConfiguration(4);
var candidateGlintCenters = new Matrix<double>(blobs.Count, blobs.Count);
Matrix<int> distMatrixThr;
var combinations = new List<Point>();
var validConfigurations = new List<GlintConfiguration>();
var indicesValidConfigs = new List<int>();
distMatrixThr = GetDistanceMatrix(blobs, MinDistBetweenGlints, MaxDistBetweenGlints);
for (int i = 0; i < distMatrixThr.Rows; i++)
{
combinations.AddRange(GetCombinations(distMatrixThr.GetRow(i).Clone(), i));
}
if (combinations.Count > 0)
validConfig = FilterConfigsByDistance(blobs, combinations, initialLocation);
else
validConfig = new GlintConfiguration(1);
return validConfig;
}
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 GTPoint GetGazeCoordinates(EyeEnum eye, GTPoint pupilCenter, GlintConfiguration glintConfig)
{
var row = new Matrix<double>(6, 1);
var screenCoordinates = new Matrix<double>(2, 1);
var gazedPoint = new GTPoint();
double X, Y;
try
{
X = pupilCenter.X - glintConfig.AverageCenter.X;
Y = pupilCenter.Y - glintConfig.AverageCenter.Y;
row[0, 0] = 1;
row[1, 0] = X;
row[2, 0] = Y;
row[3, 0] = X*Y;
row[4, 0] = X*X;
row[5, 0] = Y*Y;
if (eye == EyeEnum.Left)
{
gazedPoint.X = CvInvoke.cvDotProduct(row.Ptr, CalibrationDataLeft.CoeffsX.Ptr);
gazedPoint.Y = CvInvoke.cvDotProduct(row.Ptr, CalibrationDataLeft.CoeffsY.Ptr);
}
else
{
gazedPoint.X = CvInvoke.cvDotProduct(row.Ptr, CalibrationDataRight.CoeffsX.Ptr);
gazedPoint.Y = CvInvoke.cvDotProduct(row.Ptr, CalibrationDataRight.CoeffsY.Ptr);
}
}
catch (Exception ex)
{
Console.Out.WriteLine("Calibration.cs, exception in GetGazeCoordinates(), message: " + ex.Message);
}
return gazedPoint;
}
private void DrawGlints(GlintConfiguration glints, int lineLenght)
{
if (glints != null)
{
for (int i = 0; i < glints.Count; i++)
{
Point gcPoint = new Point(Convert.ToInt32(glints.Centers[i].X), Convert.ToInt32(glints.Centers[i].Y));
switch (Settings.Instance.Visualization.VideoMode)
{
case VideoModeEnum.Normal:
gray.Draw(new Cross2DF(gcPoint, lineLenght, lineLenght), new Gray(Settings.Instance.Visualization.GlintCrossGray), 1);
break;
case VideoModeEnum.Processed:
processed.Draw(new Cross2DF(gcPoint, lineLenght, lineLenght), new Bgr(Settings.Instance.Visualization.GlintCrossColor), 1);
break;
}
}
}
}