Rudimentary visualisation
This commit is contained in:
Ruben
parent
9be539e3a4
commit
1b049b9e5a
3 changed files with 203 additions and 64 deletions
144
head_pose.py
144
head_pose.py
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@ -5,8 +5,13 @@ import dlib
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import numpy as np
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import os
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import pickle
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import logging
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from scipy.ndimage.filters import gaussian_filter
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import Tkinter
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from PIL import Image, ImageDraw,ImageTk
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from PIL import Image, ImageDraw
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logging.basicConfig( format='%(asctime)-15s %(name)s %(levelname)s: %(message)s' )
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logger = logging.getLogger(__name__)
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# Read Image
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c = cv2.VideoCapture(0)
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@ -20,6 +25,10 @@ predictor = dlib.shape_predictor(predictor_path)
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screenDrawCorners = np.array([[10,60], [90, 60], [10, 110], [90, 110]])
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# metrics matrix
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metricsSize = [1920,1080]
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metrics = np.zeros(metricsSize)
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screenDrawCorners = np.array([[0,0], [1919,0], [0, 1079], [1919,1079]])
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def create_perspective_transform_matrix(src, dst):
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""" Creates a perspective transformation matrix which transforms points
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@ -42,24 +51,10 @@ def create_perspective_transform_matrix(src, dst):
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B = np.array(dst).reshape(8)
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af = np.dot(np.linalg.inv(A.T * A) * A.T, B)
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m = np.append(np.array(af).reshape(8), 1).reshape((3, 3))
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print("Created transformmatrix:", src, dst, m)
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logger.info("Created transformmatrix: src %s dst %s m %s", src, dst, m)
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return m
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def transMatrix2(fromMatrix, toMatrix):
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matrix = []
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for p1, p2 in zip(toMatrix, fromMatrix):
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matrix.append([p1[0], p1[1], 1, 0, 0, 0, -p2[0]*p1[0], -p2[0]*p1[1]])
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matrix.append([0, 0, 0, p1[0], p1[1], 1, -p2[1]*p1[0], -p2[1]*p1[1]])
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A = np.matrix(matrix, dtype=np.float)
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B = np.array(fromMatrix).reshape(8)
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res = np.dot(np.linalg.inv(A.T * A) * A.T, B)
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m = np.append(np.array(res).reshape(8), 1).reshape((3,3))
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return m
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# got this amazing thing from here: https://stackoverflow.com/a/24088499
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def create_perspective_transform(src, dst, round=False, splat_args=False):
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""" Returns a function which will transform points in quadrilateral
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``src`` to the corresponding points on quadrilateral ``dst``::
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@ -139,24 +134,23 @@ def coordinatesToSrc(coordinates):
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# coordinates of the screen boundaries
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if os.path.exists("coordinates.p"):
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coordinates = pickle.load(open("coordinates.p", "rb"))
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transformationMatrix = create_perspective_transform_matrix(coordinatesToSrc(coordinates), screenDrawCorners)
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transformationMatrix2 = transMatrix2(coordinatesToSrc(coordinates), screenDrawCorners)
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transform = create_perspective_transform(coordinatesToSrc(coordinates), screenDrawCorners)
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a = [np.array([ 1312.15541183]), np.array([ 244.56278002]), 0]
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# a = [np.array([ 100.15541183]), np.array([ 244.56278002]), 0]
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print("Coords", coordinatesToSrc(coordinates))
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print("Corners:", screenDrawCorners)
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print("src", a)
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print("C", transformationMatrix)
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print("C2", transformationMatrix2)
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print("new point", np.dot(a, transformationMatrix))
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print("new point 2", np.dot(a, transformationMatrix2))
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print("new point 2", np.dot(transformationMatrix2, a))
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print("new point 3", transform(a[0:2]))
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logger.info("Loaded coordinates: %s", coordinatesToSrc(coordinates))
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logger.debug("Corners: %s", screenDrawCorners)
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logger.debug("Test point %s", a)
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logger.debug("Transformed point %s", transform(a[0:2]))
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# exit()
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else:
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coordinates = {'tl': None, 'tr': None, 'bl': None, 'br': None}
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transformationMatrix = None
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transform = None
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windowRoot = Tkinter.Tk()
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windowSize = (1000,1000)
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windowRoot.geometry('%dx%d+%d+%d' % (windowSize[0],windowSize[1],0,0))
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canvas = Tkinter.Canvas(windowRoot,width=1000,height=1000)
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canvas.pack()
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while True:
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_, im = c.read()
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@ -167,7 +161,7 @@ while True:
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# will make everything bigger and allow us to detect more faces.
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dets = detector(im, 1)
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print("Number of faces detected: {}".format(len(dets)))
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logger.debug("Number of faces detected: {}".format(len(dets)))
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# We use this later for calibrating
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currentPoint = None
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@ -178,7 +172,6 @@ while True:
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for d in dets:
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shape = predictor(im, d)
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print(shape.part(30).x, shape.part(54))
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#2D image points. If you change the image, you need to change vector
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image_points = np.array([
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(shape.part(30).x,shape.part(30).y), # Nose tip
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@ -218,7 +211,7 @@ while True:
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print("Error determening PnP", success)
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continue
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print ("Rotation Vector:\n {0}".format(rotation_vector))
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logger.debug ("Rotation Vector:\n %s", rotation_vector)
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print ("Translation Vector:\n {0}".format(translation_vector))
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# Project a 3D point (0, 0, 1000.0) onto the image plane.
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@ -286,6 +279,7 @@ while True:
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currentPoint = point
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currentPoints.append(point)
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# TODO only draw nose line now, so we can change color depending whether on screen or not
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# processed all faces, now draw on screen:
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@ -299,12 +293,13 @@ while True:
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# screen is 16:10
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cv2.rectangle(im, (9, 59), (91, 111), (255,255,255), 1)
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if transformationMatrix is None:
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if transform is None:
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cv2.putText(im, "1", (10,70), cv2.FONT_HERSHEY_PLAIN, .7, (255,255,255) if coordinates['tl'] is not None else (0,0,255))
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cv2.putText(im, "2", (85,70), cv2.FONT_HERSHEY_PLAIN, .7, (255,255,255) if coordinates['tr'] is not None else (0,0,255))
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cv2.putText(im, "3", (10,110), cv2.FONT_HERSHEY_PLAIN, .7, (255,255,255) if coordinates['bl'] is not None else (0,0,255))
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cv2.putText(im, "4", (85,110), cv2.FONT_HERSHEY_PLAIN, .7, (255,255,255) if coordinates['br'] is not None else (0,0,255))
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else:
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newMetrics = np.zeros(metricsSize)
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for point in currentPoints:
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# check if within coordinates:
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# dot1 = np.dot(coordinates['tl'] - point, coordinates['tl'] - coordinates['br'])
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@ -315,53 +310,76 @@ while True:
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targetPoint = transform(point)
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print("Looking at", point, targetPoint)
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# cv2.circle(im, (int(targetPoint[0]), int(targetPoint[1])), 2, (0,255,0), -1)
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cv2.circle(im, (int(targetPoint[0]), int(targetPoint[1])), 2, (0,255,0), -1)
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# from 1920x1080 to 80x50
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miniTargetPoint = (int(targetPoint[0] / 1920 * 80 + 10), int(targetPoint[1] / 1080 * 50 + 60))
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cv2.circle(im, miniTargetPoint, 2, (0,255,0), -1)
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targetInt = (int(targetPoint[0]), int(targetPoint[1]))
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# check if point fits on screen:
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# if so, measure it
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if targetInt[0] >= 0 and targetInt[1] >= 0 and targetInt[0] < metrics.shape[0] and targetInt[1] < metrics.shape[1]:
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newMetrics[targetInt[0],targetInt[1]] += 1
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# after we collected all new metrics, blur them foor smoothness
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# and add to all metrics collected
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metrics = metrics + gaussian_filter(newMetrics, sigma = 8)
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# Display image
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# Display webcam image with overlays
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cv2.imshow("Output", im)
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logger.debug("showed webcam image")
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# blur smooth the heatmap
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logger.debug("Max blurred metrics: %f", np.max(metrics))
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# update the heatmap output
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normalisedMetrics = metrics / (np.max(metrics)/255)
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logger.debug("Max normalised metrics: %f", np.max(normalisedMetrics))
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print(normalisedMetrics)
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image = Image.fromarray(normalisedMetrics)
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wpercent = (windowSize[0] / float(image.size[0]))
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hsize = int((float(image.size[1]) * float(wpercent)))
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image = image.resize((windowSize[0], hsize))
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tkpi = ImageTk.PhotoImage(image)
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canvas.delete("IMG")
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imagesprite = canvas.create_image(500,500,image=tkpi, tags="IMG")
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windowRoot.update()
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logger.debug("updated window")
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# (optionally) very slowly fade out previous metrics:
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# metrics = metrics * .999
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keyPress = cv2.waitKey(5)
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if keyPress==27:
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break
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elif keyPress == ord('d'):
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logger.setLevel(logging.DEBUG)
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elif keyPress > -1 and currentPoint is not None:
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recalculate = False
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if keyPress == ord('1'):
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coordinates['tl'] = currentPoint
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recalculate = True
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elif keyPress == ord('2'):
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coordinates['tr'] = currentPoint
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recalculate = True
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elif keyPress == ord('3'):
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coordinates['bl'] = currentPoint
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recalculate = True
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elif keyPress == ord('4'):
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coordinates['br'] = currentPoint
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recalculate = True
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elif keyPress == ord('t') and transform is not None:
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print("Coordinates", coordinates)
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print("Drawing area", screenDrawCorners)
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print("Test point %s", currentPoint )
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print("Transformed point %s", transform(currentPoint))
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print(coordinates.values())
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pickle.dump( coordinates, open( "coordinates.p", "wb" ) )
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print("Saved coordinates")
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if not any (x is None for x in coordinates.values()):
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# measured corners for corner pin
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# fromMatrix = np.array(coordinates.values())
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# # Drawing area:
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# toMatrix = screenDrawCorners
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# matrix = []
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# for p1, p2 in zip(toMatrix, fromMatrix):
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# matrix.append([p1[0], p1[1], 1, 0, 0, 0, -p2[0]*p1[0], -p2[0]*p1[1]])
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# matrix.append([0, 0, 0, p1[0], p1[1], 1, -p2[1]*p1[0], -p2[1]*p1[1]])
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if recalculate is True and not any (x is None for x in coordinates.values()):
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logger.debug(coordinates.values())
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pickle.dump( coordinates, open( "coordinates.p", "wb" ) )
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logger.info("Saved coordinates")
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# A = np.matrix(matrix, dtype=np.float)
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# B = np.array(fromMatrix).reshape(8)
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# res = np.dot(np.linalg.inv(A.T * A) * A.T, B)
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# transformationMatrix = np.array(res).reshape(8)
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transformationMatrix = create_perspective_transform_matrix(coordinatesToSrc(coordinates), screenDrawCorners)
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# measured corners for corner pin
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# fromMatrix = np.array(coordinates.values())
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# # Drawing area:
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# toMatrix = np.array([[10,60], [90, 60], [10, 110], [90, 110]])
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# print(fromMatrix, toMatrix)
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# print(np.linalg.inv(toMatrix))
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# # matrix to transform from measured to drawed space
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# transformationMatrix = np.dot(fromMatrix, np.linalg.inv(toMatrix))
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transform = create_perspective_transform(coordinatesToSrc(coordinates), screenDrawCorners)
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101
helpers.py
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101
helpers.py
Normal file
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@ -0,0 +1,101 @@
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import numpy as np
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def coordinatesToSrc(coordinates):
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return np.array([coordinates['tl'], coordinates['tr'],coordinates['bl'], coordinates['br']])
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def create_perspective_transform_matrix(src, dst):
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""" Creates a perspective transformation matrix which transforms points
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in quadrilateral ``src`` to the corresponding points on quadrilateral
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``dst``.
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Will raise a ``np.linalg.LinAlgError`` on invalid input.
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"""
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# See:
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# * http://xenia.media.mit.edu/~cwren/interpolator/
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# * http://stackoverflow.com/a/14178717/71522
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in_matrix = []
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for (x, y), (X, Y) in zip(src, dst):
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in_matrix.extend([
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[x, y, 1, 0, 0, 0, -X * x, -X * y],
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[0, 0, 0, x, y, 1, -Y * x, -Y * y],
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])
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A = np.matrix(in_matrix, dtype=np.float)
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B = np.array(dst).reshape(8)
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af = np.dot(np.linalg.inv(A.T * A) * A.T, B)
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m = np.append(np.array(af).reshape(8), 1).reshape((3, 3))
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return m
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# got this amazing thing from here: https://stackoverflow.com/a/24088499
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def create_perspective_transform(src, dst, round=False, splat_args=False):
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""" Returns a function which will transform points in quadrilateral
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``src`` to the corresponding points on quadrilateral ``dst``::
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>>> transform = create_perspective_transform(
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... [(0, 0), (10, 0), (10, 10), (0, 10)],
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... [(50, 50), (100, 50), (100, 100), (50, 100)],
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... )
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>>> transform((5, 5))
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(74.99999999999639, 74.999999999999957)
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If ``round`` is ``True`` then points will be rounded to the nearest
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integer and integer values will be returned.
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>>> transform = create_perspective_transform(
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... [(0, 0), (10, 0), (10, 10), (0, 10)],
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... [(50, 50), (100, 50), (100, 100), (50, 100)],
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... round=True,
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... )
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>>> transform((5, 5))
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(75, 75)
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If ``splat_args`` is ``True`` the function will accept two arguments
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instead of a tuple.
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>>> transform = create_perspective_transform(
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... [(0, 0), (10, 0), (10, 10), (0, 10)],
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... [(50, 50), (100, 50), (100, 100), (50, 100)],
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... splat_args=True,
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... )
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>>> transform(5, 5)
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(74.99999999999639, 74.999999999999957)
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If the input values yield an invalid transformation matrix an identity
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function will be returned and the ``error`` attribute will be set to a
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description of the error::
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>>> tranform = create_perspective_transform(
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... np.zeros((4, 2)),
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... np.zeros((4, 2)),
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... )
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>>> transform((5, 5))
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(5.0, 5.0)
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>>> transform.error
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'invalid input quads (...): Singular matrix
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"""
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try:
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transform_matrix = create_perspective_transform_matrix(src, dst)
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error = None
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except np.linalg.LinAlgError as e:
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transform_matrix = np.identity(3, dtype=np.float)
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error = "invalid input quads (%s and %s): %s" %(src, dst, e)
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error = error.replace("\n", "")
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to_eval = "def perspective_transform(%s):\n" %(
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splat_args and "*pt" or "pt",
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)
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to_eval += " res = np.dot(transform_matrix, ((pt[0], ), (pt[1], ), (1, )))\n"
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to_eval += " res = res / res[2]\n"
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if round:
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to_eval += " return (int(round(res[0][0])), int(round(res[1][0])))\n"
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else:
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to_eval += " return (res[0][0], res[1][0])\n"
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locals = {
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"transform_matrix": transform_matrix,
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}
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locals.update(globals())
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exec to_eval in locals, locals
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res = locals["perspective_transform"]
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res.matrix = transform_matrix
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res.error = error
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return res
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20
test.py
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20
test.py
Normal file
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@ -0,0 +1,20 @@
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import helpers
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import numpy as np
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import pickle
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screenDrawCorners = np.array([[10,60], [90, 60], [10, 110], [90, 110]])
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coordinates = pickle.load(open("coordinates.p", "rb"))
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print("Loaded coordinates: %s", helpers.coordinatesToSrc(coordinates))
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print("Corners: %s", screenDrawCorners)
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transform = helpers.create_perspective_transform(helpers.coordinatesToSrc(coordinates), screenDrawCorners)
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a = [np.array([ 1312.15541183]), np.array([ 244.56278002])]
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midpointTop = (coordinates['tr'] - coordinates['tl'])/2 + coordinates['tl']
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midpointCenter = (coordinates['tr'] - coordinates['bl'])/2 + coordinates['bl']
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print("Test point %s", a)
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print("Transformed point %s", transform(a))
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print("Test point %s", midpointTop )
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print("Transformed point %s", transform(midpointTop))
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print("Test point %s", midpointCenter )
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print("Transformed point %s", transform(midpointCenter))
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