Add arguments & enable saving of frame
This commit is contained in:
Ruben van de Ven
parent
a40478f282
commit
35c53870da
254
head_pose.py
254
head_pose.py
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@ -1,5 +1,5 @@
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#!/usr/bin/env python
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import cv2
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import dlib
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import numpy as np
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@ -10,7 +10,7 @@ from scipy.ndimage.filters import gaussian_filter
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from PIL import Image, ImageDraw,ImageTk
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import pandas as pd
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import seaborn as sns
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from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
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from matplotlib.figure import Figure
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from matplotlib import cm
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@ -20,12 +20,57 @@ if sys.version_info[0] < 3:
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else:
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import tkinter as Tk
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import time
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import datetime
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import coloredlogs
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import argparse
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argParser = argparse.ArgumentParser(description='Draw a heatmap')
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argParser.add_argument(
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'--camera',
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'-c',
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default=0,
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type=int,
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help='The id of the camera'
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)
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argParser.add_argument(
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'--verbose',
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'-v',
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action="store_true",
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)
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argParser.add_argument(
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'--hide-graph',
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action="store_true",
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)
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argParser.add_argument(
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'--hide-preview',
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action="store_true",
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)
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argParser.add_argument(
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'--output-dir',
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'-o',
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help="directory in which to store evey x files",
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)
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argParser.add_argument(
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'--save-interval',
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type=int,
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default=15,
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help="Interval at which to save heatmap frames (in seconds)"
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)
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args = argParser.parse_args()
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coloredlogs.install(
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level=logging.DEBUG if args.verbose else logging.INFO,
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# format='%(asctime)-15s %(name)s %(levelname)s: %(message)s'
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)
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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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c = cv2.VideoCapture(args.camera)
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# im = cv2.imread("headPose.jpg");
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@ -63,7 +108,7 @@ 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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logger.info("Created transformmatrix: src %s dst %s m %s", src, dst, m)
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logger.info("Created transformmatrix: src {} dst {} m {}".format( src, dst, m))
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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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@ -158,25 +203,34 @@ else:
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coordinates = {'tl': None, 'tr': None, 'bl': None, 'br': None}
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transform = None
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windowRoot = Tk.Toplevel()
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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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figure = Figure(figsize=(16, 9), dpi=100)
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axes = figure.add_subplot(111)
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if not args.hide_graph:
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windowRoot = Tk.Toplevel()
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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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figure = Figure(figsize=(16, 9), dpi=100)
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axes = figure.add_subplot(111)
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axes.set_title('Tk embedding')
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axes.set_xlabel('X axis label')
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axes.set_ylabel('Y label')
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# canvas = Tk.Canvas(windowRoot,width=1000,height=1000)
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canvas = FigureCanvasTkAgg(figure,master=windowRoot)
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canvas.show()
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canvas.get_tk_widget().pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
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axes.set_title('Tk embedding')
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axes.set_xlabel('X axis label')
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axes.set_ylabel('Y label')
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# canvas = Tk.Canvas(windowRoot,width=1000,height=1000)
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canvas = FigureCanvasTkAgg(figure,master=windowRoot)
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canvas.draw()
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canvas.get_tk_widget().pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
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imageWindowRoot = Tk.Toplevel()
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imageWindowSize = (1000,1000)
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imageWindowRoot.geometry('%dx%d+%d+%d' % (imageWindowSize[0],imageWindowSize[1],0,0))
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imageWindowRoot.attributes("-fullscreen", True)
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# imageCanvas is where the heatmap image is drawn
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imageCanvas = Tk.Canvas(imageWindowRoot,width=1000,height=1000)
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imageCanvas.pack()
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imageWindowRoot.lift()
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if args.output_dir:
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startTime = time.time()
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lastSaveTime = startTime
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while True:
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t1 = time.time()
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@ -202,7 +256,7 @@ while True:
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shape = predictor(im, d)
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td2 = time.time()
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logger.debug("Found face points in %fs", td2-td1)
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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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@ -212,7 +266,7 @@ while True:
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(shape.part(48).x,shape.part(48).y), # Left Mouth corner
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(shape.part(54).x,shape.part(54).y) # Right mouth corner
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], dtype="double")
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# 3D model points.
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model_points = np.array([
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(0.0, 0.0, 0.0), # Nose tip
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@ -221,9 +275,9 @@ while True:
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(225.0, 170.0, -135.0), # Right eye right corne
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(-150.0, -150.0, -125.0), # Left Mouth corner
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(150.0, -150.0, -125.0) # Right mouth corner
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])
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# Camera internals
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focal_length = size[1]
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center = (size[1]/2, size[0]/2)
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@ -232,26 +286,26 @@ while True:
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[0, focal_length, center[1]],
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[0, 0, 1]], dtype = "double"
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)
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# print ("Camera Matrix :\n {0}".format(camera_matrix))
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# logger.info ("Camera Matrix :\n {0}".format(camera_matrix))
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dist_coeffs = np.zeros((4,1)) # Assuming no lens distortion
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(success, rotation_vector, translation_vector) = cv2.solvePnP(model_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_ITERATIVE)
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if not success:
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print("Error determening PnP", success)
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logger.info("Error determening PnP {}".format(success) )
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continue
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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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logger.info ("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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# We use this to draw a line sticking out of the nose
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(nose_end_point2D, jacobian) = cv2.projectPoints(np.array([(0.0, 0.0, 1000.0)]), rotation_vector, translation_vector, camera_matrix, dist_coeffs)
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for p in image_points:
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cv2.circle(im, (int(p[0]), int(p[1])), 3, (0,0,255), -1)
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p1 = ( int(image_points[0][0]), int(image_points[0][1]))
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p2 = ( int(nose_end_point2D[0][0][0]), int(nose_end_point2D[0][0][1]))
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cv2.line(im, p1, p2, (255,0,0), 2)
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@ -260,33 +314,35 @@ while True:
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cv2.Rodrigues(rotation_vector, rotMatrix, jacobian=0)
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# Find rotation: https://stackoverflow.com/a/15029416
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rx = np.arctan2(rotMatrix[2,1], rotMatrix[2,2])
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ry = np.arctan2(-rotMatrix[2,0], np.sqrt(np.square(rotMatrix[2,1]) + np.square(rotMatrix[2,2])))
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rz = np.arctan2(rotMatrix[1,0],rotMatrix[0,0])
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print("rotation", rx, ry, rz)
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ry = - np.arcsin(rotMatrix[0,2])
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rx = np.arctan2(rotMatrix[1,2]/np.cos(ry), rotMatrix[2,2]/np.cos(ry))
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rz = np.arctan2(rotMatrix[0,1]/np.cos(ry), rotMatrix[0,0]/np.cos(ry))
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print("rotation ml", rx, ry, rz) # seems better?
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# draw little floorplan for x: 10 -> 50 maps to z: 0 -> 10000, x: -2000 -> 2000
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mapPosX = int((translation_vector[0] + 500) / 1000 * 40)
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mapPosY = int((translation_vector[1] + 500) / 1000 * 40)
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mapPosZ = int((translation_vector[2] + 0 ) / 10000 * 40)
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cv2.circle(im, (mapPosZ + 10, mapPosX + 10), 2, (0,0,255), -1)
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cv2.circle(im, (mapPosZ + 60, mapPosY + 10), 2, (0,0,255), -1)
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# make it an _amazing_ stick figurine for the side view
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cv2.line(im, (mapPosZ + 60, mapPosY + 10), (mapPosZ + 60, mapPosY + 20), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 20), (mapPosZ + 55, mapPosY + 25), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 20), (mapPosZ + 65, mapPosY + 25), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 15), (mapPosZ + 55, mapPosY + 10), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 15), (mapPosZ + 65, mapPosY + 10), (0,0,255), 1)
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# draw rotation vector
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cv2.circle(im, (mapPosZ + 60, mapPosY + 10), 2, (0,0,255), -1)
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# not used anymore :-)
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# rx = np.arctan2(rotMatrix[2,1], rotMatrix[2,2])
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# ry = np.arctan2(-rotMatrix[2,0], np.sqrt(np.square(rotMatrix[2,1]) + np.square(rotMatrix[2,2])))
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# rz = np.arctan2(rotMatrix[1,0],rotMatrix[0,0])
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# logger.info("rotation {} {} {}".format(rx, ry, rz) )
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# ry = - np.arcsin(rotMatrix[0,2])
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# rx = np.arctan2(rotMatrix[1,2]/np.cos(ry), rotMatrix[2,2]/np.cos(ry))
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# rz = np.arctan2(rotMatrix[0,1]/np.cos(ry), rotMatrix[0,0]/np.cos(ry))
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# logger.info("rotation ml {} {} {}".format(rx, ry, rz) )# seems better?
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viewDirectionVector = np.dot(np.array([0.0, 0.0, 1000.0]), rotMatrix)
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cv2.line(im, (mapPosZ + 10, mapPosX + 10), (mapPosZ + 10 + int(viewDirectionVector[2] * 100), mapPosX + 10 + int(viewDirectionVector[0] * 100)), (255,255,0), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 10), (mapPosZ + 60 + int(viewDirectionVector[2] * 100), mapPosY + 10 - int(viewDirectionVector[1] * 100)), (255,0,255), 1)
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if not args.hide_preview:
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# draw little floorplan for x: 10 -> 50 maps to z: 0 -> 10000, x: -2000 -> 2000
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mapPosX = int((translation_vector[0] + 500) / 1000 * 40)
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mapPosY = int((translation_vector[1] + 500) / 1000 * 40)
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mapPosZ = int((translation_vector[2] + 0 ) / 10000 * 40)
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cv2.circle(im, (mapPosZ + 10, mapPosX + 10), 2, (0,0,255), -1)
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cv2.circle(im, (mapPosZ + 60, mapPosY + 10), 2, (0,0,255), -1)
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# make it an _amazing_ stick figurine for the side view
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cv2.line(im, (mapPosZ + 60, mapPosY + 10), (mapPosZ + 60, mapPosY + 20), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 20), (mapPosZ + 55, mapPosY + 25), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 20), (mapPosZ + 65, mapPosY + 25), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 15), (mapPosZ + 55, mapPosY + 10), (0,0,255), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 15), (mapPosZ + 65, mapPosY + 10), (0,0,255), 1)
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# draw rotation vector
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cv2.circle(im, (mapPosZ + 60, mapPosY + 10), 2, (0,0,255), -1)
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cv2.line(im, (mapPosZ + 10, mapPosX + 10), (mapPosZ + 10 + int(viewDirectionVector[2] * 100), mapPosX + 10 + int(viewDirectionVector[0] * 100)), (255,255,0), 1)
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cv2.line(im, (mapPosZ + 60, mapPosY + 10), (mapPosZ + 60 + int(viewDirectionVector[2] * 100), mapPosY + 10 - int(viewDirectionVector[1] * 100)), (255,0,255), 1)
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# Translation vector gives position in space:
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# x, y z: 0,0,0 is center of camera
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@ -298,7 +354,7 @@ while True:
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# z = t3 * r3 * a = 0
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# => a = -t3 / r3
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# substitute found a in x,y
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a = - translation_vector[2] / rotation_vector[2]
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x = translation_vector[0] + rotation_vector[0] * a
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y = translation_vector[1] + rotation_vector[1] * a
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@ -315,23 +371,26 @@ while True:
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logger.debug("Timer: All other face drawing stuff in %fs", td3-td2)
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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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te1 = time.time()
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# draw little floorplan for 10 -> 50, sideplan 60 -> 100 (40x40 px)
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cv2.rectangle(im, (9, 9), (51, 51), (255,255,255), 1)
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cv2.rectangle(im, (59, 9), (101, 51), (255,255,255), 1)
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cv2.line(im, (10,10), (10,50), (200,200,200), 2)
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cv2.line(im, (60,10), (60,50), (200,200,200), 2)
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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 not args.hide_preview:
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# draw little floorplan for 10 -> 50, sideplan 60 -> 100 (40x40 px)
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cv2.rectangle(im, (9, 9), (51, 51), (255,255,255), 1)
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cv2.rectangle(im, (59, 9), (101, 51), (255,255,255), 1)
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cv2.line(im, (10,10), (10,50), (200,200,200), 2)
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cv2.line(im, (60,10), (60,50), (200,200,200), 2)
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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 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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if not args.hide_preview:
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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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tm1 = 0
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tm2 = 0
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tm3 = 0
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@ -346,9 +405,9 @@ while True:
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# dot2 = np.dot(coordinates['bl'] - point, coordinates['tl'] - coordinates['br'])
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# pointIn3 = [point[0], point[1], 0]
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# targetPoint = np.dot(pointIn3, transformationMatrix)
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# print("Looking at", pointIn3, np.dot( transformationMatrix, pointIn3))
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# logger.info("Looking at", pointIn3, np.dot( transformationMatrix, pointIn3))
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targetPoint = transform(point)
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print("Looking at", point, targetPoint)
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logger.info("Looking at {} {}".format(point, targetPoint) )
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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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@ -356,9 +415,11 @@ while True:
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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] < metricsSize[1] and targetInt[1] < metricsSize[0]:
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if targetInt[0] >= 0 and targetInt[1] >= 0 and targetInt[0] < metricsSize[0] and targetInt[1] < metricsSize[1]:
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dataframe = dataframe.append({'x':targetInt[0],'y':targetInt[1]}, ignore_index=True)
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logger.debug("Put metric {},{} in metrix of {},{}".format(targetInt[1],targetInt[0], metricsSize[1], metricsSize[0]))
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newMetrics[targetInt[1],targetInt[0]] += 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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tm3 = time.time()
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@ -369,7 +430,8 @@ while True:
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# Display webcam image with overlays
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te2 = time.time()
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logger.debug("Drew on screen in %fs", te2-te1)
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cv2.imshow("Output", im)
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if not args.hide_preview:
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cv2.imshow("Output", im)
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te3 = time.time()
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logger.debug("showed webcam image in %fs", te3-te2)
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@ -383,7 +445,7 @@ while True:
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normalisedMetrics = np.uint8(cm.plasma(normalisedMetrics)*255)
|
||||
tm22 = time.time()
|
||||
logger.debug("Max normalised metrics: %f", np.max(normalisedMetrics))
|
||||
# print(normalisedMetrics)
|
||||
# logger.info(normalisedMetrics)
|
||||
tm23 = time.time()
|
||||
image = Image.fromarray(normalisedMetrics)
|
||||
wpercent = (imageWindowSize[0] / float(image.size[0]))
|
||||
|
|
@ -394,17 +456,32 @@ while True:
|
|||
imagesprite = imageCanvas.create_image(500,500,image=tkpi, tags="IMG")
|
||||
imageWindowRoot.update()
|
||||
tm24 = time.time()
|
||||
logger.debug("PIL iamge generated in %fs", tm24 - tm23)
|
||||
logger.debug("PIL image generated in %fs", tm24 - tm23)
|
||||
logger.debug("Total matrix time is %fs", tm4 - tm3 + tm2 - tm1 + tm24 - tm21)
|
||||
|
||||
te4 = time.time()
|
||||
axes.clear()
|
||||
if(len(dataframe) > 2):
|
||||
g = sns.kdeplot(dataframe['x'], dataframe['y'],ax=axes, n_levels=30, shade=True, cmap=cm.rainbow)
|
||||
canvas.draw()
|
||||
windowRoot.update()
|
||||
te5 = time.time()
|
||||
logger.debug("Drew graph & updated window in %fs", te5-te4)
|
||||
if not args.hide_graph:
|
||||
te4 = time.time()
|
||||
axes.clear()
|
||||
if(len(dataframe) > 2):
|
||||
g = sns.kdeplot(dataframe['x'], dataframe['y'],ax=axes, n_levels=30, shade=True, cmap=cm.rainbow)
|
||||
canvas.draw()
|
||||
windowRoot.update()
|
||||
te5 = time.time()
|
||||
logger.debug("Drew graph & updated window in %fs", te5-te4)
|
||||
|
||||
if args.output_dir:
|
||||
# save output to dir
|
||||
now = tm24 # time.time()
|
||||
if now - lastSaveTime > args.save_interval:
|
||||
filename = os.path.join(
|
||||
args.output_dir,
|
||||
"frame{}.png".format(
|
||||
datetime.datetime.now().replace(microsecond=0).isoformat()
|
||||
)
|
||||
)
|
||||
image.save(filename)
|
||||
lastSaveTime = now
|
||||
pass
|
||||
|
||||
# (optionally) very slowly fade out previous metrics:
|
||||
# metrics = metrics * .999
|
||||
|
|
@ -430,11 +507,11 @@ while True:
|
|||
coordinates['br'] = currentPoint
|
||||
recalculate = True
|
||||
elif keyPress == ord('t') and transform is not None:
|
||||
print("Coordinates", coordinates)
|
||||
print("Drawing area", screenDrawCorners)
|
||||
print("Test point %s", currentPoint )
|
||||
print("Transformed point %s", transform(currentPoint))
|
||||
|
||||
logger.info("Coordinates {}".format(coordinates) )
|
||||
logger.info("Drawing area {}".format(screenDrawCorners))
|
||||
logger.info("Test point {}".format(currentPoint ))
|
||||
logger.info("Transformed point {}".format(transform(currentPoint)))
|
||||
|
||||
|
||||
if recalculate is True and not any (x is None for x in coordinates.values()):
|
||||
logger.debug(coordinates.values())
|
||||
|
|
@ -446,4 +523,3 @@ while True:
|
|||
|
||||
|
||||
cv2.destroyAllWindows()
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,3 @@
|
|||
*
|
||||
!.gitignore
|
||||
|
||||
Loading…
Reference in New Issue