align.cpp
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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* Copyright 2015 Noblis *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#include <opencv2/opencv.hpp>
#include "openbr/plugins/openbr_internal.h"
#include "openbr/core/qtutils.h"
#include "openbr/core/opencvutils.h"
#include "openbr/core/eigenutils.h"
#include "openbr/core/common.h"
#include <QString>
#include <Eigen/SVD>
#include <Eigen/Dense>
using namespace std;
using namespace cv;
using namespace Eigen;
namespace br
{
/*!
* \ingroup transforms
* \brief Improved procrustes alignment of points, to include a post processing scaling of points
* to faciliate subsequent texture mapping.
* \author Brendan Klare \cite bklare
*
* \br_property float width Width of output coordinate space (before padding)
* \br_property float padding Amount of padding around the coordinate space
* \br_property bool useFirst Whether or not to use the first instance as the reference object
*/
class ProcrustesAlignTransform : public Transform
{
Q_OBJECT
Q_PROPERTY(float width READ get_width WRITE set_width RESET reset_width STORED false)
Q_PROPERTY(float padding READ get_padding WRITE set_padding RESET reset_padding STORED false)
Q_PROPERTY(bool useFirst READ get_useFirst WRITE set_useFirst RESET reset_useFirst STORED false)
BR_PROPERTY(float, width, 80)
BR_PROPERTY(float, padding, 8)
BR_PROPERTY(bool, useFirst, false)
Eigen::MatrixXf referenceShape;
float minX;
float minY;
float maxX;
float maxY;
float aspectRatio;
void init() {
aspectRatio = 0;
}
static MatrixXf getRotation(MatrixXf ref, MatrixXf sample) {
MatrixXf R = sample.transpose() * ref;
JacobiSVD<MatrixXf> svd(R, ComputeFullU | ComputeFullV);
R = svd.matrixU() * svd.matrixV().transpose();
return R;
}
//Converts x y points in a single vector to two column matrix
static MatrixXf vectorToMatrix(MatrixXf vector) {
int n = vector.rows();
MatrixXf matrix(n / 2, 2);
for (int i = 0; i < n / 2; i++) {
for (int j = 0; j < 2; j++) {
matrix(i, j) = vector(i * 2 + j);
}
}
return matrix;
}
static MatrixXf matrixToVector(MatrixXf matrix) {
int n2 = matrix.rows();
MatrixXf vector(n2 * 2, 1);
for (int i = 0; i < n2; i++) {
for (int j = 0; j < 2; j++) {
vector(i * 2 + j) = matrix(i, j);
}
}
return vector;
}
void train(const TemplateList &data)
{
MatrixXf points(data[0].file.points().size() * 2, data.size());
// Normalize all sets of points
int skip = 0;
for (int j = 0; j < data.size(); j++) {
QList<QPointF> imagePoints = data[j].file.points();
if (imagePoints.size() == 0) {
skip++;
continue;
}
float meanX = 0,
meanY = 0;
for (int i = 0; i < imagePoints.size(); i++) {
points(i * 2, j - skip) = imagePoints[i].x();
points(i * 2 + 1, j - skip) = imagePoints[i].y();
meanX += imagePoints[i].x();
meanY += imagePoints[i].y();
}
meanX /= imagePoints.size();
meanY /= imagePoints.size();
for (int i = 0; i < imagePoints.size(); i++) {
points(i * 2, j - skip) -= meanX;
points(i * 2 + 1, j - skip) -= meanY;
}
}
points = MatrixXf(points.leftCols(data.size() - skip));
//normalize scale
for (int i = 0; i < points.cols(); i++)
points.col(i) = points.col(i) / points.col(i).norm();
//Normalize rotation
if (!useFirst) {
referenceShape = vectorToMatrix(points.rowwise().sum() / points.cols());
} else {
referenceShape = vectorToMatrix(points.col(0));
}
for (int i = 0; i < points.cols(); i++) {
MatrixXf p = vectorToMatrix(points.col(i));
MatrixXf R = getRotation(referenceShape, p);
points.col(i) = matrixToVector(p * R);
}
//Choose crop boundaries and adjustments that captures most data
MatrixXf minXs(points.cols(),1);
MatrixXf minYs(points.cols(),1);
MatrixXf maxXs(points.cols(),1);
MatrixXf maxYs(points.cols(),1);
for (int j = 0; j < points.cols(); j++) {
minX = FLT_MAX,
minY = FLT_MAX,
maxX = -FLT_MAX,
maxY = -FLT_MAX;
for (int i = 0; i < points.rows(); i++) {
if (i % 2 == 0) {
if (points(i,j) > maxX)
maxX = points(i, j);
if (points(i,j) < minX)
minX = points(i, j);
} else {
if (points(i,j) > maxY)
maxY = points(i, j);
if (points(i,j) < minY)
minY = points(i, j);
}
}
minXs(j) = minX;
maxXs(j) = maxX;
minYs(j) = minY;
maxYs(j) = maxY;
}
minX = minXs.mean() - 0 * EigenUtils::stddev(minXs);
minY = minYs.mean() - 0 * EigenUtils::stddev(minYs);
maxX = maxXs.mean() + 0 * EigenUtils::stddev(maxXs);
maxY = maxYs.mean() + 0 * EigenUtils::stddev(maxYs);
aspectRatio = (maxX - minX) / (maxY - minY);
}
void project(const Template &src, Template &dst) const
{
QList<QPointF> imagePoints = src.file.points();
if (imagePoints.size() == 0) {
dst.file.fte = true;
qDebug() << "No points for file " << src.file.name;
return;
}
MatrixXf p(imagePoints.size() * 2, 1);
for (int i = 0; i < imagePoints.size(); i++) {
p(i * 2) = imagePoints[i].x();
p(i * 2 + 1) = imagePoints[i].y();
}
p = vectorToMatrix(p);
//Normalize translation
p.col(0) = p.col(0) - MatrixXf::Ones(p.rows(),1) * (p.col(0).sum() / p.rows());
p.col(1) = p.col(1) - MatrixXf::Ones(p.rows(),1) * (p.col(1).sum() / p.rows());
//Normalize scale
p /= matrixToVector(p).norm();
//Normalize rotation
MatrixXf R = getRotation(referenceShape, p);
p = p * R;
//Translate and scale into output space and store in output list
QList<QPointF> procrustesPoints;
for (int i = 0; i < p.rows(); i++)
procrustesPoints.append( QPointF(
(p(i, 0) - minX) / (maxX - minX) * (width - 1) + padding,
(p(i, 1) - minY) / (maxY - minY) * (qRound( width / aspectRatio) - 1) + padding));
dst = src;
dst.file.setList<QPointF>("ProcrustesPoints", procrustesPoints);
dst.file.set("ProcrustesBound", QRectF(0, 0, width + 2 * padding, (qRound(width / aspectRatio) + 2 * padding)));
dst.file.set("ProcrustesPadding", padding);
}
void store(QDataStream &stream) const
{
stream << referenceShape;
stream << minX;
stream << minY;
stream << maxX;
stream << maxY;
stream << aspectRatio;
}
void load(QDataStream &stream)
{
stream >> referenceShape;
stream >> minX;
stream >> minY;
stream >> maxX;
stream >> maxY;
stream >> aspectRatio;
}
};
BR_REGISTER(Transform, ProcrustesAlignTransform)
/*!
* \ingroup transforms
* \brief Maps texture from one set of points to another. Assumes that points are rigidly transformed
* \author Brendan Klare \cite bklare
* \author Scott Klum \cite sklum
*/
class TextureMapTransform : public UntrainableTransform
{
Q_OBJECT
public:
static QRectF getBounds(const QList<QPointF> &points, int dstPadding)
{
float srcMinX = FLT_MAX;
float srcMinY = FLT_MAX;
float srcMaxX = -FLT_MAX;
float srcMaxY = -FLT_MAX;
foreach (const QPointF &point, points) {
if (point.x() < srcMinX) srcMinX = point.x();
if (point.y() < srcMinY) srcMinY = point.y();
if (point.x() > srcMaxX) srcMaxX = point.x();
if (point.y() > srcMaxY) srcMaxY = point.y();
}
const float padding = (srcMaxX - srcMinX) / 80 * dstPadding;
return QRectF(qRound(srcMinX - padding), qRound(srcMinY - padding), qRound(srcMaxX - srcMinX + 2 * padding), qRound(srcMaxY - srcMinY + 2 * padding));
}
static int getVertexIndex(const QPointF &trianglePts, const QList<QPointF> &pts)
{
for (int i = 0; i < pts.size(); i++)
// Check points using single precision accuracy to avoid potential rounding error
if ((float(trianglePts.x()) == float(pts[i].x())) && (float(trianglePts.y()) == float(pts[i].y())))
return i;
qFatal("Couldn't identify index of requested point!");
return -1;
}
static QList<QPointF> addBounds(QList<QPointF> points, const QRectF &bound)
{
points.append(bound.topLeft());
points.append(QPointF(bound.right() - 1, bound.top()));
points.append(QPointF(bound.left(), bound.bottom() - 1));
points.append(QPointF(bound.right() - 1, bound.bottom() - 1));
return points;
}
static QList<QPointF> removeBounds(const QList<QPointF> &points)
{
return points.mid(0, points.size() - 4);
}
//Expand out bounds placed at end of point list by addBounds
static QList<QPointF> expandBounds(QList<QPointF> points, int pad)
{
const int n = points.size();
points[n-4] = QPointF(points[n-4].x() - pad, points[n-4].y() - pad);
points[n-3] = QPointF(points[n-3].x() + pad, points[n-3].y() - pad);
points[n-2] = QPointF(points[n-2].x() - pad, points[n-2].y() + pad);
points[n-1] = QPointF(points[n-1].x() + pad, points[n-1].y() + pad);
return points;
}
//Contract in bounds placed at end of point list by addBounds
static QList<QPointF> contractBounds(QList<QPointF> points, int pad)
{
const int n = points.size();
points[n-4] = QPointF(points[n-4].x() + pad, points[n-4].y() + pad);
points[n-3] = QPointF(points[n-3].x() - pad, points[n-3].y() + pad);
points[n-2] = QPointF(points[n-2].x() + pad, points[n-2].y() - pad);
points[n-1] = QPointF(points[n-1].x() - pad, points[n-1].y() - pad);
return points;
}
static QList<QList<int> > getTriangulation(const QList<QPointF> &points, const QRectF &bound)
{
Subdiv2D subdiv(OpenCVUtils::toRect(bound));
foreach (const QPointF &point, points) {
if (!bound.contains(point))
return QList<QList<int> >();
subdiv.insert(OpenCVUtils::toPoint(point));
}
vector<Vec6f> triangleList;
subdiv.getTriangleList(triangleList);
QList<QList<int> > triangleIndices;
foreach (const Vec6f &triangle, triangleList) {
bool valid = true;
const QPointF vertices[3] = { QPointF(triangle[0], triangle[1]),
QPointF(triangle[2], triangle[3]),
QPointF(triangle[4], triangle[5]) };
for (int j = 0; j < 3; j++)
if (vertices[j].x() > bound.right() || vertices[j].y() > bound.bottom() || vertices[j].x() < bound.left() || vertices[j].y() < bound.top()) {
valid = false;
break;
}
if (valid) {
QList<int> tri;
for (int j = 0; j < 3; j++)
tri.append(getVertexIndex(vertices[j], points));
triangleIndices.append(tri);
}
}
return triangleIndices;
}
private:
void project(const Template &src, Template &dst) const
{
QList<QPointF> dstPoints = dst.file.getList<QPointF>("ProcrustesPoints");
QList<QPointF> srcPoints = dst.file.points();
if (dstPoints.empty() || srcPoints.empty()) {
dst = src;
if (Globals->verbose) {
qWarning("Delauney triangulation failed because points or rects are empty.");
dst.file.fte = true;
}
return;
}
QRectF dstBound = dst.file.get<QRectF>("ProcrustesBound");
dstPoints = addBounds(dstPoints, dstBound);
/*Add a wider bound for triangulation to prevent border triangles from being missing*/
QRectF srcBound = getBounds(srcPoints, dst.file.get<int>("ProcrustesPadding") + 20);
srcPoints = addBounds(srcPoints, srcBound);
QList<QList<int> > triIndices = getTriangulation(srcPoints, srcBound);
/*Remove wider bound for texture mapping*/
srcPoints = removeBounds(srcPoints);
srcBound = getBounds(srcPoints, dst.file.get<int>("ProcrustesPadding"));
srcPoints = addBounds(srcPoints, srcBound);
int dstWidth = dstBound.width() + dstBound.x();
int dstHeight = dstBound.height() + dstBound.y();
dst.m() = Mat::zeros(dstHeight, dstWidth, src.m().type());
for (int i = 0; i < triIndices.size(); i++) {
Point2f srcPoint1[3];
Point2f dstPoint1[3];
for (int j = 0; j < 3; j++) {
srcPoint1[j] = OpenCVUtils::toPoint(srcPoints[triIndices[i][j]]);
dstPoint1[j] = OpenCVUtils::toPoint(dstPoints[triIndices[i][j]]);
}
Mat buffer(dstHeight, dstWidth, src.m().type());
warpAffine(src.m(), buffer, getAffineTransform(srcPoint1, dstPoint1), Size(dstBound.width(), dstBound.height()));
Mat mask = Mat::zeros(dstHeight, dstWidth, CV_8UC1);
Point maskPoints[1][3];
maskPoints[0][0] = dstPoint1[0];
maskPoints[0][1] = dstPoint1[1];
maskPoints[0][2] = dstPoint1[2];
const Point* ppt = { maskPoints[0] };
fillConvexPoly(mask, ppt, 3, Scalar(255, 255, 255), 8);
for (int i = 0; i < dstHeight; i++) {
for (int j = 0; j < dstWidth; j++) {
if (mask.at<uchar>(i,j) == 255) {
if (dst.m().type() == CV_32FC3 || dst.m().type() == CV_8UC3)
dst.m().at<cv::Vec3b>(i,j) = buffer.at<cv::Vec3b>(i,j);
else if (dst.m().type() == CV_32F)
dst.m().at<float>(i,j) = buffer.at<float>(i,j);
else if (dst.m().type() == CV_8U)
dst.m().at<uchar>(i,j) = buffer.at<uchar>(i,j);
else
qFatal("Unsupported pixel format.");
}
}
}
}
dst.file = src.file;
dst.file.clearPoints();
dst.file.clearRects();
dst.file.remove("ProcrustesPoints");
dst.file.remove("ProcrustesPadding");
dst.file.remove("ProcrustesBounds");
}
};
BR_REGISTER(Transform, TextureMapTransform)
// SynthesizePointsTransform helper class
struct TriangleIndicies
{
int indicies[3];
TriangleIndicies()
{
indicies[0] = 0;
indicies[1] = 0;
indicies[2] = 0;
}
TriangleIndicies(QList<int> indexList)
{
assert(indexList.size() == 3);
qSort(indexList);
indicies[0] = indexList[0];
indicies[1] = indexList[1];
indicies[2] = indexList[2];
}
};
inline bool operator==(const TriangleIndicies &a, const TriangleIndicies &b)
{
return (a.indicies[0] == b.indicies[0]) && (a.indicies[1] == b.indicies[1]) && (a.indicies[2] == b.indicies[2]);
}
inline uint qHash(const TriangleIndicies &key)
{
return ::qHash(key.indicies[0]) ^ ::qHash(key.indicies[1]) ^ ::qHash(key.indicies[2]);
}
QDataStream &operator<<(QDataStream &stream, const TriangleIndicies &ti)
{
return stream << ti.indicies[0] << ti.indicies[1] << ti.indicies[2];
}
QDataStream &operator>>(QDataStream &stream, TriangleIndicies &ti)
{
return stream >> ti.indicies[0] >> ti.indicies[1] >> ti.indicies[2];
}
/*!
* \ingroup transforms
* \brief Synthesize additional points via triangulation.
* \author Josh Klontz \cite jklontz
*/
class SynthesizePointsTransform : public MetadataTransform
{
Q_OBJECT
Q_PROPERTY(float minRelativeDistance READ get_minRelativeDistance WRITE set_minRelativeDistance RESET reset_minRelativeDistance STORED false)
BR_PROPERTY(float, minRelativeDistance, 0) // [0, 1] range controlling whether or not to nearby synthetic points.
// 0 = keep all points, 1 = keep only the most distance point.
QList<TriangleIndicies> triangles;
void train(const TemplateList &data)
{
// Because not all triangulations are the same, we have to decide on a canonical set of triangles at training time.
QHash<TriangleIndicies, int> counts;
foreach (const Template &datum, data) {
const QList<QPointF> points = datum.file.points();
if (points.size() == 0)
continue;
const QList< QList<int> > triangulation = TextureMapTransform::getTriangulation(points, TextureMapTransform::getBounds(points, 10));
if (triangulation.empty())
continue;
foreach (const QList<int> &indicies, triangulation)
counts[TriangleIndicies(indicies)]++;
}
triangles.clear();
QHash<TriangleIndicies, int>::const_iterator i = counts.constBegin();
while (i != counts.constEnd()) {
if (3 * i.value() > data.size())
triangles.append(i.key()); // Keep triangles that occur in at least a third of the training instances
++i;
}
if (minRelativeDistance > 0) { // Discard relatively small triangles
QVector<float> averageMinDistances(triangles.size());
foreach (const Template &datum, data) {
File dst;
projectMetadata(datum.file, dst);
const QList<QPointF> points = dst.points();
QVector<float> minDistances(triangles.size());
for (int i=0; i<triangles.size(); i++) {
// Work backwards so that we can also consider distances between synthetic points
const QPointF &point = points[points.size()-1-i];
float minDistance = std::numeric_limits<float>::max();
for (int j=0; j<points.size()-1-i; j++)
minDistance = min(minDistance, sqrtf(powf(point.x() - points[j].x(), 2.f) + powf(point.y() - points[j].y(), 2.f)));
minDistances[triangles.size()-1-i] = minDistance;
}
const float maxMinDistance = Common::Max(minDistances);
for (int i=0; i<minDistances.size(); i++)
averageMinDistances[i] += (minDistances[i] / maxMinDistance);
}
const float maxAverageMinDistance = Common::Max(averageMinDistances);
for (int i=averageMinDistances.size()-1; i>=0; i--)
if (averageMinDistances[i] / maxAverageMinDistance < minRelativeDistance)
triangles.removeAt(i);
}
if (Globals->verbose)
qDebug() << "Kept" << triangles.size() << "of" << counts.size() << "triangles.";
}
void projectMetadata(const File &src, File &dst) const
{
QList<QPointF> points = src.points();
if (points.size() == 0) {
dst.fte = true;
return;
}
foreach (const TriangleIndicies &triangle, triangles) {
const QPointF &p0 = points[triangle.indicies[0]];
const QPointF &p1 = points[triangle.indicies[1]];
const QPointF &p2 = points[triangle.indicies[2]];
points.append((p0 + p1 + p2) / 3 /* append the centroid of the triangle */);
}
dst.setPoints(points);
}
void store(QDataStream &stream) const
{
stream << triangles;
}
void load(QDataStream &stream)
{
stream >> triangles;
}
};
BR_REGISTER(Transform, SynthesizePointsTransform)
/*!
* \ingroup initializers
* \brief Initialize Procrustes croppings
* \author Brendan Klare \cite bklare
*/
class ProcrustesInitializer : public Initializer
{
Q_OBJECT
void initialize() const
{
Globals->abbreviations.insert("ProcrustesStasmFace","SelectPoints([17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76])+ProcrustesAlign(padding=6,width=120)+TextureMap+Resize(96,96)");
Globals->abbreviations.insert("ProcrustesStasmEyes","SelectPoints([28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47])+ProcrustesAlign(padding=8)+TextureMap+Resize(24,48)");
Globals->abbreviations.insert("ProcrustesStasmPeriocular","SelectPoints([28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47,16,17,18,19,20,21,22,23,24,25,26,27])+ProcrustesAlign(padding=10)+TextureMap+Resize(36,48)");
Globals->abbreviations.insert("ProcrustesStasmBrow","SelectPoints([16,17,18,19,20,21,22,23,24,25,26,27])+ProcrustesAlign(padding=8)+TextureMap+Resize(24,48)");
Globals->abbreviations.insert("ProcrustesStasmNose","SelectPoints([48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58])+ProcrustesAlign(padding=12)+TextureMap+Resize(36,48)");
Globals->abbreviations.insert("ProcrustesStasmMouth","SelectPoints([59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76])+ProcrustesAlign(padding=10)+TextureMap+Resize(36,48)");
Globals->abbreviations.insert("ProcrustesStasmJaw", "SelectPoints([2,3,4,5,6,7,8,9,10])+ProcrustesAlign(padding=8)+TextureMap+Resize(36,48)");
Globals->abbreviations.insert("ProcrustesEyes","SelectPoints([19,20,21,22,23,24,25,26,27,28,29,30])+ProcrustesAlign(padding=8)+TextureMap+Resize(24,48)");
Globals->abbreviations.insert("ProcrustesNose","SelectPoints([12,13,14,15,16,17,18])+ProcrustesAlign(padding=30)+TextureMap+Resize(36,48)");
Globals->abbreviations.insert("ProcrustesMouth","SelectPoints([31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50])+ProcrustesAlign(padding=6)+TextureMap+Resize(36,48)");
Globals->abbreviations.insert("ProcrustesBrow","SelectPoints([0,1,2,3,4,5,6,7,8,9])+ProcrustesAlign(padding=6)+TextureMap+Resize(24,48)");
Globals->abbreviations.insert("ProcrustesFace","ProcrustesAlign(padding=6,width=120)+TextureMap+Resize(96,96)");
Globals->abbreviations.insert("ProcrustesLargeStasmFace","ProcrustesAlign(padding=18)+TextureMap+Resize(480,480)");
Globals->abbreviations.insert("ProcrustesLargeStasmEyes","SelectPoints([28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47])+ProcrustesAlign(padding=8)+TextureMap+Resize(240,480)");
Globals->abbreviations.insert("ProcrustesLargeStasmPeriocular","SelectPoints([28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47,16,17,18,19,20,21,22,23,24,25,26,27])+ProcrustesAlign(padding=10)+TextureMap+Resize(360,480)");
Globals->abbreviations.insert("ProcrustesLargeStasmBrow","SelectPoints([16,17,18,19,20,21,22,23,24,25,26,27])+ProcrustesAlign(padding=8)+TextureMap+Resize(240,480)");
Globals->abbreviations.insert("ProcrustesLargeStasmNose","SelectPoints([48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58])+ProcrustesAlign(padding=12)+TextureMap+Resize(360,480)");
Globals->abbreviations.insert("ProcrustesLargeStasmMouth","SelectPoints([59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76])+ProcrustesAlign(padding=20)+TextureMap+Resize(360,480)");
Globals->abbreviations.insert("ProcrustesLargeStasmJaw", "SelectPoints([2,3,4,5,6,7,8,9,10])+ProcrustesAlign(padding=8)+TextureMap+Resize(360,480)");
}
};
BR_REGISTER(Initializer, ProcrustesInitializer)
} // namespace br
#include "align.moc"