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ex_pnp_head_pose_estimation_webcam.py
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ex_pnp_head_pose_estimation_webcam.py
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#!/usr/bin/env python
##
# Massimiliano Patacchiola, Plymouth University 2016
#
# This is an example of head pose estimation with solvePnP.
# It uses the dlib library and openCV
#
import numpy
import cv2
import sys
from deepgaze.haar_cascade import haarCascade
from deepgaze.face_landmark_detection import faceLandmarkDetection
#If True enables the verbose mode
DEBUG = True
#Antropometric constant values of the human head.
#Found on wikipedia and on:
# "Head-and-Face Anthropometric Survey of U.S. Respirator Users"
#
#X-Y-Z with X pointing forward and Y on the left.
#The X-Y-Z coordinates used are like the standard
# coordinates of ROS (robotic operative system)
P3D_RIGHT_SIDE = numpy.float32([-100.0, -77.5, -5.0]) #0
P3D_GONION_RIGHT = numpy.float32([-110.0, -77.5, -85.0]) #4
P3D_MENTON = numpy.float32([0.0, 0.0, -122.7]) #8
P3D_GONION_LEFT = numpy.float32([-110.0, 77.5, -85.0]) #12
P3D_LEFT_SIDE = numpy.float32([-100.0, 77.5, -5.0]) #16
P3D_FRONTAL_BREADTH_RIGHT = numpy.float32([-20.0, -56.1, 10.0]) #17
P3D_FRONTAL_BREADTH_LEFT = numpy.float32([-20.0, 56.1, 10.0]) #26
P3D_SELLION = numpy.float32([0.0, 0.0, 0.0]) #27
P3D_NOSE = numpy.float32([21.1, 0.0, -48.0]) #30
P3D_SUB_NOSE = numpy.float32([5.0, 0.0, -52.0]) #33
P3D_RIGHT_EYE = numpy.float32([-20.0, -65.5,-5.0]) #36
P3D_RIGHT_TEAR = numpy.float32([-10.0, -40.5,-5.0]) #39
P3D_LEFT_TEAR = numpy.float32([-10.0, 40.5,-5.0]) #42
P3D_LEFT_EYE = numpy.float32([-20.0, 65.5,-5.0]) #45
#P3D_LIP_RIGHT = numpy.float32([-20.0, 65.5,-5.0]) #48
#P3D_LIP_LEFT = numpy.float32([-20.0, 65.5,-5.0]) #54
P3D_STOMION = numpy.float32([10.0, 0.0, -75.0]) #62
#The points to track
#These points are the ones used by PnP
# to estimate the 3D pose of the face
TRACKED_POINTS = (0, 4, 8, 12, 16, 17, 26, 27, 30, 33, 36, 39, 42, 45, 62)
ALL_POINTS = list(range(0,68)) #Used for debug only
def main():
#Defining the video capture object
video_capture = cv2.VideoCapture(0)
if(video_capture.isOpened() == False):
print("Error: the resource is busy or unvailable")
else:
print("The video source has been opened correctly...")
#Create the main window and move it
cv2.namedWindow('Video')
cv2.moveWindow('Video', 20, 20)
#Obtaining the CAM dimension
cam_w = int(video_capture.get(3))
cam_h = int(video_capture.get(4))
#Defining the camera matrix.
#To have better result it is necessary to find the focal
# lenght of the camera. fx/fy are the focal lengths (in pixels)
# and cx/cy are the optical centres. These values can be obtained
# roughly by approximation, for example in a 640x480 camera:
# cx = 640/2 = 320
# cy = 480/2 = 240
# fx = fy = cx/tan(60/2 * pi / 180) = 554.26
c_x = cam_w / 2
c_y = cam_h / 2
f_x = c_x / numpy.tan(60/2 * numpy.pi / 180)
f_y = f_x
#Estimated camera matrix values.
camera_matrix = numpy.float32([[f_x, 0.0, c_x],
[0.0, f_y, c_y],
[0.0, 0.0, 1.0] ])
print("Estimated camera matrix: \n" + str(camera_matrix) + "\n")
#These are the camera matrix values estimated on my webcam with
# the calibration code (see: src/calibration):
camera_matrix = numpy.float32([[602.10618226, 0.0, 320.27333589],
[ 0.0, 603.55869786, 229.7537026],
[ 0.0, 0.0, 1.0] ])
#Distortion coefficients
#camera_distortion = numpy.float32([0.0, 0.0, 0.0, 0.0, 0.0])
#Distortion coefficients estimated by calibration
camera_distortion = numpy.float32([ 0.06232237, -0.41559805, 0.00125389, -0.00402566, 0.04879263])
#This matrix contains the 3D points of the
# 11 landmarks we want to find. It has been
# obtained from antrophometric measurement
# on the human head.
landmarks_3D = numpy.float32([P3D_RIGHT_SIDE,
P3D_GONION_RIGHT,
P3D_MENTON,
P3D_GONION_LEFT,
P3D_LEFT_SIDE,
P3D_FRONTAL_BREADTH_RIGHT,
P3D_FRONTAL_BREADTH_LEFT,
P3D_SELLION,
P3D_NOSE,
P3D_SUB_NOSE,
P3D_RIGHT_EYE,
P3D_RIGHT_TEAR,
P3D_LEFT_TEAR,
P3D_LEFT_EYE,
P3D_STOMION])
#Declaring the two classifiers
my_cascade = haarCascade("./etc/xml/haarcascade_frontalface_alt.xml", "./etc/xml/haarcascade_profileface.xml")
#TODO If missing, example file can be retrieved from http://dlib.net/files/shape_predictor_68_face_landmarks.dat.bz2
my_detector = faceLandmarkDetection('./etc/shape_predictor_68_face_landmarks.dat')
#Error counter definition
no_face_counter = 0
#Variables that identify the face
#position in the main frame.
face_x1 = 0
face_y1 = 0
face_x2 = 0
face_y2 = 0
face_w = 0
face_h = 0
#Variables that identify the ROI
#position in the main frame.
roi_x1 = 0
roi_y1 = 0
roi_x2 = cam_w
roi_y2 = cam_h
roi_w = cam_w
roi_h = cam_h
roi_resize_w = int(cam_w/10)
roi_resize_h = int(cam_h/10)
while(True):
# Capture frame-by-frame
ret, frame = video_capture.read()
gray = cv2.cvtColor(frame[roi_y1:roi_y2, roi_x1:roi_x2], cv2.COLOR_BGR2GRAY)
#Looking for faces with cascade
#The classifier moves over the ROI
#starting from a minimum dimension and augmentig
#slightly based on the scale factor parameter.
#The scale factor for the frontal face is 1.10 (10%)
#Scale factor: 1.15=15%,1.25=25% ...ecc
#Higher scale factors means faster classification
#but lower accuracy.
#
#Return code: 1=Frontal, 2=FrontRotLeft,
# 3=FrontRotRight, 4=ProfileLeft, 5=ProfileRight.
my_cascade.findFace(gray, True, True, True, True, 1.10, 1.10, 1.15, 1.15, 40, 40, rotationAngleCCW=30, rotationAngleCW=-30, lastFaceType=my_cascade.face_type)
#Accumulate error values in a counter
if(my_cascade.face_type == 0):
no_face_counter += 1
#If any face is found for a certain
#number of cycles, then the ROI is reset
if(no_face_counter == 50):
no_face_counter = 0
roi_x1 = 0
roi_y1 = 0
roi_x2 = cam_w
roi_y2 = cam_h
roi_w = cam_w
roi_h = cam_h
#Checking wich kind of face it is returned
if(my_cascade.face_type > 0):
#Face found, reset the error counter
no_face_counter = 0
#Because the dlib landmark detector wants a precise
#boundary box of the face, it is necessary to resize
#the box returned by the OpenCV haar detector.
#Adjusting the frame for profile left
if(my_cascade.face_type == 4):
face_margin_x1 = 20 - 10 #resize_rate + shift_rate
face_margin_y1 = 20 + 5 #resize_rate + shift_rate
face_margin_x2 = -20 - 10 #resize_rate + shift_rate
face_margin_y2 = -20 + 5 #resize_rate + shift_rate
face_margin_h = -0.7 #resize_factor
face_margin_w = -0.7 #resize_factor
#Adjusting the frame for profile right
elif(my_cascade.face_type == 5):
face_margin_x1 = 20 + 10
face_margin_y1 = 20 + 5
face_margin_x2 = -20 + 10
face_margin_y2 = -20 + 5
face_margin_h = -0.7
face_margin_w = -0.7
#No adjustments
else:
face_margin_x1 = 0
face_margin_y1 = 0
face_margin_x2 = 0
face_margin_y2 = 0
face_margin_h = 0
face_margin_w = 0
#Updating the face position
face_x1 = my_cascade.face_x + roi_x1 + face_margin_x1
face_y1 = my_cascade.face_y + roi_y1 + face_margin_y1
face_x2 = my_cascade.face_x + my_cascade.face_w + roi_x1 + face_margin_x2
face_y2 = my_cascade.face_y + my_cascade.face_h + roi_y1 + face_margin_y2
face_w = my_cascade.face_w + int(my_cascade.face_w * face_margin_w)
face_h = my_cascade.face_h + int(my_cascade.face_h * face_margin_h)
#Updating the ROI position
roi_x1 = face_x1 - roi_resize_w
if (roi_x1 < 0): roi_x1 = 0
roi_y1 = face_y1 - roi_resize_h
if(roi_y1 < 0): roi_y1 = 0
roi_w = face_w + roi_resize_w + roi_resize_w
if(roi_w > cam_w): roi_w = cam_w
roi_h = face_h + roi_resize_h + roi_resize_h
if(roi_h > cam_h): roi_h = cam_h
roi_x2 = face_x2 + roi_resize_w
if (roi_x2 > cam_w): roi_x2 = cam_w
roi_y2 = face_y2 + roi_resize_h
if(roi_y2 > cam_h): roi_y2 = cam_h
#Debugging printing utilities
if(DEBUG == True):
print("FACE: ", face_x1, face_y1, face_x2, face_y2, face_w, face_h)
print("ROI: ", roi_x1, roi_y1, roi_x2, roi_y2, roi_w, roi_h)
#Drawing a green rectangle
# (and text) around the face.
text_x1 = face_x1
text_y1 = face_y1 - 3
if(text_y1 < 0): text_y1 = 0
cv2.putText(frame, "FACE", (text_x1,text_y1), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,0), 1);
cv2.rectangle(frame,
(face_x1, face_y1),
(face_x2, face_y2),
(0, 255, 0),
2)
#In case of a frontal/rotated face it
# is called the landamark detector
if(my_cascade.face_type > 0):
landmarks_2D = my_detector.returnLandmarks(frame, face_x1, face_y1, face_x2, face_y2, points_to_return=TRACKED_POINTS)
if(DEBUG == True):
#cv2.drawKeypoints(frame, landmarks_2D)
for point in landmarks_2D:
cv2.circle(frame,( point[0], point[1] ), 2, (0,0,255), -1)
#Applying the PnP solver to find the 3D pose
# of the head from the 2D position of the
# landmarks.
#retval - bool
#rvec - Output rotation vector that, together with tvec, brings
# points from the model coordinate system to the camera coordinate system.
#tvec - Output translation vector.
retval, rvec, tvec = cv2.solvePnP(landmarks_3D,
landmarks_2D,
camera_matrix, camera_distortion)
#Now we project the 3D points into the image plane
#Creating a 3-axis to be used as reference in the image.
axis = numpy.float32([[50,0,0],
[0,50,0],
[0,0,50]])
imgpts, jac = cv2.projectPoints(axis, rvec, tvec, camera_matrix, camera_distortion)
#Drawing the three axis on the image frame.
#The opencv colors are defined as BGR colors such as:
# (a, b, c) >> Blue = a, Green = b and Red = c
#Our axis/color convention is X=R, Y=G, Z=B
sellion_xy = (landmarks_2D[7][0], landmarks_2D[7][1])
cv2.line(frame, sellion_xy, tuple(imgpts[1].ravel()), (0,255,0), 3) #GREEN
cv2.line(frame, sellion_xy, tuple(imgpts[2].ravel()), (255,0,0), 3) #BLUE
cv2.line(frame, sellion_xy, tuple(imgpts[0].ravel()), (0,0,255), 3) #RED
#Drawing a yellow rectangle
# (and text) around the ROI.
if(DEBUG == True):
text_x1 = roi_x1
text_y1 = roi_y1 - 3
if(text_y1 < 0): text_y1 = 0
cv2.putText(frame, "ROI", (text_x1,text_y1), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,255), 1);
cv2.rectangle(frame,
(roi_x1, roi_y1),
(roi_x2, roi_y2),
(0, 255, 255),
2)
#Showing the frame and waiting
# for the exit command
cv2.imshow('Video', frame)
if cv2.waitKey(1) & 0xFF == ord('q'): break
#Release the camera
video_capture.release()
print("Bye...")
if __name__ == "__main__":
main()