Add arguments & enable saving of frame
This commit is contained in:
Ruben van de Ven
parent
a40478f282
commit
35c53870da
2 changed files with 168 additions and 89 deletions
128
head_pose.py
128
head_pose.py
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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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@ -158,6 +203,7 @@ else:
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coordinates = {'tl': None, 'tr': None, 'bl': None, 'br': None}
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transform = None
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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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@ -169,14 +215,22 @@ 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.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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@ -233,17 +287,17 @@ while True:
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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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@ -260,15 +314,18 @@ 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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# 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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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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@ -284,7 +341,6 @@ while True:
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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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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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@ -318,6 +374,8 @@ while True:
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# processed all faces, now draw on screen:
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te1 = time.time()
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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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@ -328,6 +386,7 @@ while True:
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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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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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@ -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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@ -369,6 +430,7 @@ 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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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)
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tm22 = time.time()
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logger.debug("Max normalised metrics: %f", np.max(normalisedMetrics))
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# print(normalisedMetrics)
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# logger.info(normalisedMetrics)
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tm23 = time.time()
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image = Image.fromarray(normalisedMetrics)
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wpercent = (imageWindowSize[0] / float(image.size[0]))
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@ -394,9 +456,10 @@ while True:
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imagesprite = imageCanvas.create_image(500,500,image=tkpi, tags="IMG")
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imageWindowRoot.update()
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tm24 = time.time()
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logger.debug("PIL iamge generated in %fs", tm24 - tm23)
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logger.debug("PIL image generated in %fs", tm24 - tm23)
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logger.debug("Total matrix time is %fs", tm4 - tm3 + tm2 - tm1 + tm24 - tm21)
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if not args.hide_graph:
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te4 = time.time()
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axes.clear()
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if(len(dataframe) > 2):
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@ -406,6 +469,20 @@ while True:
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te5 = time.time()
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logger.debug("Drew graph & updated window in %fs", te5-te4)
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if args.output_dir:
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# save output to dir
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now = tm24 # time.time()
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if now - lastSaveTime > args.save_interval:
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filename = os.path.join(
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args.output_dir,
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"frame{}.png".format(
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datetime.datetime.now().replace(microsecond=0).isoformat()
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)
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)
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image.save(filename)
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lastSaveTime = now
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pass
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# (optionally) very slowly fade out previous metrics:
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# metrics = metrics * .999
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@ -430,10 +507,10 @@ while True:
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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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logger.info("Coordinates {}".format(coordinates) )
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logger.info("Drawing area {}".format(screenDrawCorners))
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logger.info("Test point {}".format(currentPoint ))
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logger.info("Transformed point {}".format(transform(currentPoint)))
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if recalculate is True and not any (x is None for x in coordinates.values()):
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@ -446,4 +523,3 @@ while True:
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cv2.destroyAllWindows()
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3
output/.gitignore
vendored
Normal file
3
output/.gitignore
vendored
Normal file
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@ -0,0 +1,3 @@
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*
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!.gitignore
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