Merge branch 'threaded'

head_pose.py

@@ -110,11 +110,11 @@ screenDrawCorners = np.array([[10,60], [90, 60], [10, 110], [90, 110]])
 metricsSize = [1920,1080]
 # metricsSize = [1280,800]
 # metricsSize = [960,600]
-metricsSize = [1080,1080] # no point in having it different from to the render size
+#metricsSize = [1080,1080] # no point in having it different from to the render size
 dataframe = pd.DataFrame(columns=['x','y'])
 
 renderSize = [1280,800]
-renderSize = [1080,1080]
+renderSize = [1920,1080]
 
 # Used to create a black backdrop, instead of the ugly Qt-gray, if neccessary 
 screenSize = [1920,1080]
@@ -245,6 +245,12 @@ def create_perspective_transform(src, dst, round=False, splat_args=False):
     return res
 
 def coordinatesToSrc(coordinates):
+    return np.array([
+        [-17000, -3000],
+        [46000, -3000],
+        [-17000, 6000],
+        [46000, 6000]
+    ])
     return np.array([coordinates['tl'], coordinates['tr'],coordinates['bl'], coordinates['br']])
 
 # coordinates of the screen boundaries
@@ -327,6 +333,7 @@ def captureFacesPoints(i):
         currentPoint = None
         currentVectors = None
         currentPoints = []
+        translation_warning = False
 
         if len(dets) > 0:
 
@@ -370,6 +377,11 @@ def captureFacesPoints(i):
 
                 dist_coeffs = np.zeros((4,1)) # Assuming no lens distortion
                 (success, rotation_vector, translation_vector) = cv2.solvePnP(model_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_ITERATIVE)
+                translation_warning = False
+                if translation_vector[2] < 0:
+                    translation_vector[2] *= -1
+                    translation_warning = True
+                    logger.critical("Inversed Z axis!")
 
                 if not success:
                     logger.info("Error determening PnP {}".format(success) )
@@ -404,6 +416,9 @@ def captureFacesPoints(i):
                 # rz = np.arctan2(rotMatrix[0,1]/np.cos(ry), rotMatrix[0,0]/np.cos(ry))
                 # logger.info("rotation ml {} {} {}".format(rx, ry, rz) )# seems better?
                 viewDirectionVector = np.dot(np.array([0.0, 0.0, 100.0]), rotMatrix)
+                if translation_warning:
+                   viewDirectionVector[0] *= -1
+                   viewDirectionVector[1] *= -1
 
                 if not args.hide_preview:
                     # draw little floorplan for x: 10 -> 50 maps to z: 0 -> 10000, x: -2000 -> 2000
@@ -455,7 +470,7 @@ def captureFacesPoints(i):
 
                 # TODO only draw nose line now, so we can change color depending whether on screen or not
 
-        results = {'currentPoint': currentPoint, 'currentPoints': currentPoints, 'currentVectors': currentVectors}
+        results = {'currentPoint': currentPoint, 'currentPoints': currentPoints, 'currentVectors': currentVectors, 'translation_warning': translation_warning}
         results['im'] = im if not args.hide_preview else None
 
         try:
@@ -512,6 +527,7 @@ if __name__ == '__main__':
             currentPoint = result['currentPoint']
             currentPoints = result['currentPoints']
             currentVectors = result['currentVectors']
+            translation_warning = result['translation_warning']
         except Queue.Empty as e:
             logger.warn('Result queue empty')
     
@@ -649,7 +665,7 @@ if __name__ == '__main__':
                 normalisedMetricsColoredBGR,
                 (metricsSize[0]/2,metricsSize[1]/2),
                 tuple(targetPoint),
-                (255,0,0), 2
+                (255,0,0) if not translation_warning else (0,0,255), 2
                 )
             
 #             cv2.putText(normalisedMetricsColoredBGR, "z: {}".format(currentPoint[2]), (10,70), cv2.FONT_HERSHEY_PLAIN, .7, (255,255,255))