Minor improvements

rt_gene/scripts/estimate_gaze.py

@@ -41,8 +41,8 @@ def __init__(self, device_id_gaze, model_files):
         self.headpose_frame = self.tf_prefix + "/head_pose_estimated"
         self.ros_tf_frame = rospy.get_param("~ros_tf_frame", "/kinect2_nonrotated_link")
 
-        self.image_subscriber = rospy.Subscriber('/subjects/images', MSG_SubjectImagesList, self.image_callback, queue_size=3, buff_size=2**24)
-        self.subjects_gaze_img = rospy.Publisher('/subjects/gazeimages', Image, queue_size=3)
+        self.image_subscriber = rospy.Subscriber("/subjects/images", MSG_SubjectImagesList, self.image_callback, queue_size=3, buff_size=2**24)
+        self.subjects_gaze_img = rospy.Publisher("/subjects/gazeimages", Image, queue_size=3)
 
         self.visualise_eyepose = rospy.get_param("~visualise_eyepose", default=True)
 
@@ -59,7 +59,6 @@ def image_callback(self, subject_image_list):
         and this image is published along with the estimated gaze vector (see :meth:`publish_image` and
         :func:`publish_gaze`)"""
         timestamp = subject_image_list.header.stamp
-        subjects_gaze_img = None
 
         subjects_dict = self.subjects_bridge.msg_to_images(subject_image_list)
         input_r_list = []
@@ -87,6 +86,7 @@ def image_callback(self, subject_image_list):
                                               inference_input_right_list=input_r_list,
                                               inference_headpose_list=input_head_list)
 
+        subjects_gaze_img_list = []
         for subject_id, gaze in zip(valid_subject_list, gaze_est.tolist()):
             self.publish_gaze(gaze, timestamp, subject_id)
 
@@ -95,14 +95,11 @@ def image_callback(self, subject_image_list):
                 r_gaze_img = self.visualize_eye_result(s.right, gaze)
                 l_gaze_img = self.visualize_eye_result(s.left, gaze)
                 s_gaze_img = np.concatenate((r_gaze_img, l_gaze_img), axis=1)
+                subjects_gaze_img_list.append(s_gaze_img)
 
-                if subjects_gaze_img is None:
-                    subjects_gaze_img = s_gaze_img
-                else:
-                    subjects_gaze_img = np.concatenate((subjects_gaze_img, s_gaze_img), axis=0)
-
-        if subjects_gaze_img is not None:
-            gaze_img_msg = self.bridge.cv2_to_imgmsg(subjects_gaze_img.astype(np.uint8), "bgr8")
+        if len(subjects_gaze_img_list) > 0:
+            gaze_img_msg = self.bridge.cv2_to_imgmsg(np.hstack(subjects_gaze_img_list).astype(np.uint8), "bgr8")
+            gaze_img_msg.header.stamp = timestamp
             self.subjects_gaze_img.publish(gaze_img_msg)
 
     def publish_gaze(self, est_gaze, msg_stamp, subject_id):
@@ -115,11 +112,11 @@ def publish_gaze(self, est_gaze, msg_stamp, subject_id):
                                           quaternion_gaze, msg_stamp, self.tf_prefix + "/world_gaze" + str(subject_id), self.headpose_frame + str(subject_id))
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     try:
-        rospy.init_node('estimate_gaze')
+        rospy.init_node("estimate_gaze")
         gaze_estimator = GazeEstimatorROS(rospy.get_param("~device_id_gazeestimation", default="/gpu:0"),
-                                          [os.path.join(rospkg.RosPack().get_path('rt_gene'), model_file) for model_file in rospy.get_param("~model_files")])
+                                          [os.path.join(rospkg.RosPack().get_path("rt_gene"), model_file) for model_file in rospy.get_param("~model_files")])
         rospy.spin()
     except rospy.exceptions.ROSInterruptException:
         print("See ya")

rt_gene/scripts/extract_landmarks_node.py

@@ -97,7 +97,7 @@ def process_image(self, color_msg):
 
         self.subject_tracker.update_eye_images(self.eye_image_size)
 
-        final_head_pose_images = None
+        final_head_pose_images = []
         for subject_id, subject in self.subject_tracker.get_tracked_elements().items():
             if subject.left_eye_color is None or subject.right_eye_color is None:
                 continue
@@ -114,20 +114,15 @@ def process_image(self, color_msg):
                     roll_pitch_yaw = gaze_tools.limit_yaw(head_rpy)
                     face_image_resized = cv2.resize(subject.face_color, dsize=(224, 224), interpolation=cv2.INTER_CUBIC)
 
-                    head_pose_image = LandmarkMethodROS.visualize_headpose_result(face_image_resized, gaze_tools.get_phi_theta_from_euler(roll_pitch_yaw))
-
-                    if final_head_pose_images is None:
-                        final_head_pose_images = head_pose_image
-                    else:
-                        final_head_pose_images = np.concatenate((final_head_pose_images, head_pose_image), axis=1)
+                    final_head_pose_images.append(LandmarkMethodROS.visualize_headpose_result(face_image_resized, gaze_tools.get_phi_theta_from_euler(roll_pitch_yaw)))
             else:
                 tqdm.write("Could not get head pose properly")
 
         if len(self.subject_tracker.get_tracked_elements().items()) > 0:
             self.publish_subject_list(timestamp, self.subject_tracker.get_tracked_elements())
 
-        if final_head_pose_images is not None:
-            headpose_image_ros = self.bridge.cv2_to_imgmsg(final_head_pose_images, "bgr8")
+        if len(final_head_pose_images) > 0:
+            headpose_image_ros = self.bridge.cv2_to_imgmsg(np.hstack(final_head_pose_images), "bgr8")
             headpose_image_ros.header.stamp = timestamp
             self.subject_faces_pub.publish(headpose_image_ros)
 

rt_gene/src/rt_gene/estimate_gaze_base.py

@@ -5,7 +5,7 @@
 import cv2
 import numpy as np
 import tensorflow as tf
-from rt_gene.gaze_tools import accuracy_angle, angle_loss, get_endpoint
+from rt_gene.gaze_tools import get_endpoint
 from tqdm import tqdm
 
 
@@ -47,8 +47,7 @@ def __init__(self, device_id_gaze, model_files):
 
         for model_file in model_files:
             tqdm.write('Load model ' + model_file)
-            models.append(tf.keras.models.load_model(model_file,
-                                                     custom_objects={'accuracy_angle': accuracy_angle, 'angle_loss': angle_loss}))
+            models.append(tf.keras.models.load_model(model_file, compile=False))
             # noinspection PyProtectedMember
             models[-1]._name = "model_{}".format(len(models))
 

rt_gene/src/rt_gene/subject_ros_bridge.py

@@ -22,9 +22,9 @@ def __init__(self):
 
     def msg_to_images(self, subject_msg):
         subject = SubjectImages(subject_msg.subject_id)
-        subject.face = self.__cv_bridge.imgmsg_to_cv2(subject_msg.face_img, 'rgb8')
-        subject.right = self.__cv_bridge.imgmsg_to_cv2(subject_msg.right_eye_img, 'rgb8')
-        subject.left = self.__cv_bridge.imgmsg_to_cv2(subject_msg.left_eye_img, 'rgb8')
+        subject.face = self.__cv_bridge.imgmsg_to_cv2(subject_msg.face_img, "rgb8")
+        subject.right = self.__cv_bridge.imgmsg_to_cv2(subject_msg.right_eye_img, "rgb8")
+        subject.left = self.__cv_bridge.imgmsg_to_cv2(subject_msg.left_eye_img, "rgb8")
         return subject
 
     def images_to_msg(self, subject_id, subject):

rt_gene_inpainting/README.md

@@ -1,6 +1,6 @@
 # RT-GENE: Real-Time Eye Gaze Estimation in Natural Environments
 [![License: CC BY-NC-SA 4.0](https://img.shields.io/badge/License-CC%20BY--NC--SA%204.0-lightgrey.svg?style=flat-square)](https://creativecommons.org/licenses/by-nc-sa/4.0/)
-[![HitCount](http://hits.dwyl.io/Tobias-Fischer/rt_gene.svg)](http://hits.dwyl.io/Tobias-Fischer/rt_gene)
+![HitCount](http://hits.dwyl.io/Tobias-Fischer/rt_gene.svg)
 ![stars](https://img.shields.io/github/stars/Tobias-Fischer/rt_gene.svg?style=flat-square)
 ![GitHub issues](https://img.shields.io/github/issues/Tobias-Fischer/rt_gene.svg?style=flat-square)
 ![GitHub repo size](https://img.shields.io/github/repo-size/Tobias-Fischer/rt_gene.svg?style=flat-square)

rt_gene_model_training/README.md

@@ -1,6 +1,6 @@
 # RT-GENE: Real-Time Eye Gaze Estimation in Natural Environments
 [![License: CC BY-NC-SA 4.0](https://img.shields.io/badge/License-CC%20BY--NC--SA%204.0-lightgrey.svg?style=flat-square)](https://creativecommons.org/licenses/by-nc-sa/4.0/)
-[![HitCount](http://hits.dwyl.io/Tobias-Fischer/rt_gene.svg)](http://hits.dwyl.io/Tobias-Fischer/rt_gene)
+![HitCount](http://hits.dwyl.io/Tobias-Fischer/rt_gene.svg)
 ![stars](https://img.shields.io/github/stars/Tobias-Fischer/rt_gene.svg?style=flat-square)
 ![GitHub issues](https://img.shields.io/github/issues/Tobias-Fischer/rt_gene.svg?style=flat-square)
 ![GitHub repo size](https://img.shields.io/github/repo-size/Tobias-Fischer/rt_gene.svg?style=flat-square)

rt_gene_standalone/README.md

@@ -1,6 +1,6 @@
 # RT-GENE: Real-Time Eye Gaze Estimation in Natural Environments
 [![License: CC BY-NC-SA 4.0](https://img.shields.io/badge/License-CC%20BY--NC--SA%204.0-lightgrey.svg?style=flat-square)](https://creativecommons.org/licenses/by-nc-sa/4.0/)
-[![HitCount](http://hits.dwyl.io/Tobias-Fischer/rt_gene.svg)](http://hits.dwyl.io/Tobias-Fischer/rt_gene)
+![HitCount](http://hits.dwyl.io/Tobias-Fischer/rt_gene.svg)
 ![stars](https://img.shields.io/github/stars/Tobias-Fischer/rt_gene.svg?style=flat-square)
 ![GitHub issues](https://img.shields.io/github/issues/Tobias-Fischer/rt_gene.svg?style=flat-square)
 ![GitHub repo size](https://img.shields.io/github/repo-size/Tobias-Fischer/rt_gene.svg?style=flat-square)