http://www.mediawiki.org/wiki/Special:Code/pywikipedia/11593
Revision: 11593
Author: drtrigon
Date: 2013-05-26 17:21:17 +0000 (Sun, 26 May 2013)
Log Message:
-----------
new feature; head pose detection from face markers (eyes, nose and mouth)
Modified Paths:
--------------
trunk/pywikipedia/catimages.py
Modified: trunk/pywikipedia/catimages.py
===================================================================
--- trunk/pywikipedia/catimages.py 2013-05-26 14:12:52 UTC (rev 11592)
+++ trunk/pywikipedia/catimages.py 2013-05-26 17:21:17 UTC (rev 11593)
@@ -353,7 +353,8 @@
'Eyes': [],
'Mouth': (),
'Nose': (),
- 'Ears': [], }
+ 'Ears': [],
+ 'Pose': (), }
data['Coverage'] =
float(data['Position'][2]*data['Position'][3])/(self.image_size[0]*self.image_size[1])
#if (c >= confidence):
# eyes = nestedObjects
@@ -389,6 +390,47 @@
radius = cv.Round((nrwidth + nrheight)*0.25*scale)
#cv2.circle( img, (cx, cy), radius, color, 3, 8, 0 )
data['Ears'].append( (cx-radius, cy-radius, 2*radius,
2*radius) )
+ if data['Mouth'] and data['Nose'] and data['Eyes'] and
(len(data['Eyes']) == 2):
+ # head model "little girl" for use in "MeshLab":
+ # http://www.turbosquid.com/FullPreview/Index.cfm/ID/302581
+ # http://meshlab.sourceforge.net/
+ D3points = [[ 70.0602, 109.898, 20.8234], # left eye
+ [ 2.37427, 110.322, 21.7776], # right eye
+ [ 36.8301, 78.3185, 52.0345], # nose
+ [ 36.6391, 51.1675, 38.5903],] # mouth
+ #[ 119.268, 91.3111, -69.6397], # left ear
+ #[-49.1328, 91.3111, -67.2481],] # right ear
+ D2points = [np.array(data['Eyes'][0]),
np.array(data['Eyes'][1]),
+ np.array(data['Nose']), np.array(data['Mouth']),]
+ D2points = [ item[:2] + item[2:]/2. for item in D2points ]
+ neutral = np.array([[np.pi],[0.],[0.]])
+ # calculate pose
+ rvec, tvec, cm, err = self._util_get_Pose(D3points, D2points,
self.image_size)
+ #data['Pose'] = tuple(rvec[:,0])
+ check = not (err[:,0,:].max() > 0.5)
+ if not check:
+ rvec = neutral # reset to neutral pose
+ tvec = np.array([[0.],[0.],[100.]]) # reset to neutral
position (same order as max of D3points)
+ pywikibot.warning(u'Could not calculate pose of face, too
big errors. '
+ u'(looks like neutral pose/position is
somehow singular)')
+ ## debug: draw pose
+ ##rvec *= 0
+ #mat, perp = self._util_getD2coords_calc(np.eye(3), cm, rvec,
tvec, hacky=False)
+ ## from '_util_drawAxes(...)'
+ #for i, item in enumerate(mat.transpose()):
+ # p = tuple((50+10*item).astype(int))[:2]
+ # cv2.line(img, (50, 50), p, (0., 0., 255.), 1)
+ # cv2.putText(img, str(i), p, cv2.FONT_HERSHEY_PLAIN, 1.,
(0., 0., 255.))
+ #cv2.imshow("win", img)
+ #cv2.waitKey()
+ # calculate delta to neutral pose
+ drv = -cv2.composeRT(-rvec, np.zeros((3,1)),
+ neutral, np.zeros((3,1)))[0]
+ rvec = cv2.Rodrigues(cv2.Rodrigues(rvec)[0])[0] # NOT unique!!!
+ nrv = cv2.composeRT(neutral, np.zeros((3,1)),
+ drv, np.zeros((3,1)))[0]
+ #print (rvec - nrv < 1E-12) # compare
+ data['Pose'] = map(float, tuple(drv[:,0]))
result.append( data )
## see '_drawRect'
@@ -401,6 +443,40 @@
self._info['Faces'] += result
return
+ def _util_get_Pose(self, D3points, D2points, shape):
+ #shape = (img.shape[1], img.shape[0])
+ """ Calculate pose from head model "little girl" w/o camera or other
+ calibrations needed.
+
+ D2points: left eye, right eye, nose, mouth
+ """
+ # howto (credits to "Roy"):
+ # http://www.youtube.com/watch?v=ZDNH4BT5Do4
+ #
http://www.morethantechnical.com/2010/03/19/quick-and-easy-head-pose-estimation-with-opencv-w-code/
+ #
http://www.morethantechnical.com/2012/10/17/head-pose-estimation-with-opencv-opengl-revisited-w-code/
+ # e.g. with head model "little girl" for use in "MeshLab":
+ # http://www.turbosquid.com/FullPreview/Index.cfm/ID/302581
+ # http://meshlab.sourceforge.net/
+
+ # set-up camera matrix (no calibration needed!)
+ max_d = max(shape)
+ cameraMatrix = [[max_d, 0, shape[0]/2.0],
+ [ 0, max_d, shape[1]/2.0],
+ [ 0, 0, 1.0],]
+
+ # calculate pose
+ rvec, tvec = cv2.solvePnP(np.array(D3points).astype('float32'),
np.array(D2points).astype('float32'), np.array(cameraMatrix).astype('float32'),
None)
+
+ # compare to 2D points
+ err = []
+ for i, vec in enumerate(np.array(D3points)):
+ nvec = np.dot(cameraMatrix, (np.dot(cv2.Rodrigues(rvec)[0], vec) +
tvec[:,0]))
+ err.append(((D2points[i] - nvec[:2]/nvec[2]), D2points[i],
nvec[:2]/nvec[2]))
+
+ pywikibot.output(u'result for UN-calibrated camera:\n rot=%s' %
rvec.transpose()[0])
+
+ return rvec, tvec, np.array(cameraMatrix), (np.array(err)/max_d)
+
# https://pypi.python.org/pypi/xbob.flandmark
# http://cmp.felk.cvut.cz/~uricamic/flandmark/
def _detect_FaceLandmark_xBOB(self):
@@ -1601,6 +1677,8 @@
def _detect_Chessboard_CV(self):
# Chessboard (opencv reference detector)
+ # http://www.c-plusplus.de/forum/273920-full
+ # http://www.youtube.com/watch?v=bV-jAnQ-tvw
#
http://nullege.com/codes/show/src%40o%40p%40opencvpython-HEAD%40samples%40chessboard.py/12/cv.FindChessboardCorners/python
self._info['Chessboard'] = []
@@ -1818,7 +1896,7 @@
# mat = mat/max(matnorm[0])
# return (mat, D3coords)
- def _util_getD2coords_calc(self, D3coords, cameraMatrix, rvec, tvec):
+ def _util_getD2coords_calc(self, D3coords, cameraMatrix, rvec, tvec,
hacky=True):
"""Calculate s m' = A [R|t] M' in order to project 3D points down to
2D.
m' = (u, v, 1)^T, M' = (X, Y, Z, 1)^T, A: camera m. and [R|t]:
rotation-
@@ -1826,7 +1904,7 @@
@see
http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
"""
- # cv2.decomposeProjectionMatrix(...), cv2.composeRT(...)
+ # cv2.decomposeProjectionMatrix(...)
cm = cameraMatrix.copy()
cm[0:2,2] = [0., 0.]
rmat = np.zeros((3,4))
@@ -1840,8 +1918,22 @@
coords = np.dot(rmat,
cv2.convertPointsToHomogeneous(D3coords.astype('float32')).transpose()[:,0,:])
coords2D = np.dot((cm), coords)
perp = coords - origin
- mat = coords2D - origin2D
- mat = mat/max([np.linalg.norm(mat[:,i]) for i in range(3)])
+ if hacky:
+ # for '_detect_Chessboard_CV' but looks a bit strange ... may be
wrong?!
+ mat = coords2D - origin2D
+ mat = mat/max([np.linalg.norm(mat[:,i]) for i in range(3)])
+ else:
+ for i in range(3): # rescale with s
+ coords2D[:,i] /= coords2D[2,i]
+ origin2D[:,i] /= origin2D[2,i]
+ mat = coords2D - origin2D
+ # simple'n'fast solution, if just 2D results are needed
+ #mat, jacobian = cv2.projectPoints(np.append(np.zeros((1,3)),
+ # D3coords,
+ # axis=0),
+ # rvec, tvec, cm, np.zeros((5,1)))
+ #mat = mat[:,0,:]
+ #mat = (mat[1:,:] - mat[0,:]).transpose()
return (mat, perp)
# def _util_drawAxes(self, mat, x, y, im):
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