gaze_mappers.py 文件源码

def _map_monocular(self,p):
        if '3d' not in p['method']:
            return None

        p_id = p['id']
        gaze_point =  np.array(p['circle_3d']['normal'] ) * self.last_gaze_distance  + np.array( p['sphere']['center'] )
        image_point, _  =  cv2.projectPoints( np.array([gaze_point]) , self.rotation_vectors[p_id], self.translation_vectors[p_id] , self.camera_matrix , self.dist_coefs )
        image_point = image_point.reshape(-1,2)
        image_point = normalize( image_point[0], self.world_frame_size , flip_y = True)
        image_point = _clamp_norm_point(image_point)
        if p_id == 0:
            eye_center = self.eye0_to_World(p['sphere']['center'])
            gaze_3d = self.eye0_to_World(gaze_point)
        else:
            eye_center = self.eye1_to_World(p['sphere']['center'])
            gaze_3d = self.eye1_to_World(gaze_point)

        normal_3d = np.dot( self.rotation_matricies[p_id], np.array( p['circle_3d']['normal'] ) )

        g = {
                'topic':'gaze',
                'norm_pos':image_point,
                'eye_centers_3d':{p['id']:eye_center.tolist()},
                'gaze_normals_3d':{p['id']:normal_3d.tolist()},
                'gaze_point_3d':gaze_3d.tolist(),
                'confidence':p['confidence'],
                'timestamp':p['timestamp'],
                'base_data':[p]}


        if self.visualizer.window:
            if p_id == 0:
                self.gaze_pts_debug0.append(gaze_3d)
                self.sphere0['center'] = eye_center
                self.sphere0['radius'] = p['sphere']['radius']
            else:
                self.gaze_pts_debug1.append(gaze_3d)
                self.sphere1['center'] = eye_center
                self.sphere1['radius'] = p['sphere']['radius']

        return g