From 033a48b1322f01ca9f66554ba81e2f5c52419020 Mon Sep 17 00:00:00 2001 From: Emiliana <38952746+emilianavt@users.noreply.github.com> Date: Fri, 28 Feb 2020 02:10:23 +0100 Subject: [PATCH] This changes the points used for PnP solving and replaces the RetinaFace model with a higher resolution version. --- Examples/OpenSeeVRMDriver.cs | 25 ++++++++--- README.md | 2 +- facetracker.py | 3 +- models/priorbox_384.json | 1 - models/priorbox_640x640.json | 1 + ...e_opt.onnx => retinaface_640x640_opt.onnx} | Bin 1696976 -> 1713525 bytes retinaface.py | 22 +++++----- tracker.py | 40 +++++++----------- 8 files changed, 49 insertions(+), 45 deletions(-) delete mode 100644 models/priorbox_384.json create mode 100644 models/priorbox_640x640.json rename models/{retinaface_opt.onnx => retinaface_640x640_opt.onnx} (97%) diff --git a/Examples/OpenSeeVRMDriver.cs b/Examples/OpenSeeVRMDriver.cs index 64a0bcf..0c5b3b5 100644 --- a/Examples/OpenSeeVRMDriver.cs +++ b/Examples/OpenSeeVRMDriver.cs @@ -42,7 +42,8 @@ public class OpenSeeVRMDriver : MonoBehaviour { new OpenSeeVRMExpression("fun", BlendShapePreset.Fun, 1f, 1f, true, true), new OpenSeeVRMExpression("joy", BlendShapePreset.Joy, 1f, 1f, true, true), new OpenSeeVRMExpression("angry", BlendShapePreset.Angry, 1f, 1f, true, true), - new OpenSeeVRMExpression("sorrow", BlendShapePreset.Sorrow, 1f, 1f, true, true) + new OpenSeeVRMExpression("sorrow", BlendShapePreset.Sorrow, 1f, 1f, true, true), + new OpenSeeVRMExpression("surprise", "Surprised", 1f, 1f, true, true) }; [Tooltip("The expression configuration is initialized on startup. If it is changed and needs to be reinitialized, this can be triggered by using this flag or calling InitExpressionMap. This flag is reset to false afterwards.")] public bool reloadExpressions = false; @@ -161,6 +162,8 @@ public class OpenSeeVRMDriver : MonoBehaviour { public string trigger = "neutral"; [Tooltip("This is the VRM blend shape that will get triggered by the expression.")] public BlendShapePreset blendShapePreset; + [Tooltip("When this name is set, it will be used to create a custom blendshape key.")] + public string customBlendShapeName = ""; [Tooltip("The weight determines the value the expression blend shape should be set to.")] [Range(0, 1)] public float weight = 1f; @@ -182,12 +185,24 @@ public class OpenSeeVRMDriver : MonoBehaviour { this.enableVisemes = visemes; this.enableBlinking = blinking; } + + public OpenSeeVRMExpression(string trigger, string name, float weight, float factor, bool visemes, bool blinking) { + this.trigger = trigger; + this.customBlendShapeName = name; + this.weight = weight; + this.visemeFactor = factor; + this.enableVisemes = visemes; + this.enableBlinking = blinking; + } } public void InitExpressionMap() { expressionMap = new Dictionary(); foreach (var expression in expressions) { - expression.blendShapeKey = new BlendShapeKey(expression.blendShapePreset); + if (expression.customBlendShapeName != "") + expression.blendShapeKey = new BlendShapeKey(expression.customBlendShapeName); + else + expression.blendShapeKey = new BlendShapeKey(expression.blendShapePreset); expressionMap.Add(expression.trigger, expression); } } @@ -216,7 +231,7 @@ public class OpenSeeVRMDriver : MonoBehaviour { vrmBlendShapeProxy.ImmediatelySetValue(currentExpression.blendShapeKey, currentExpression.weight); } - void GetLookParameters(ref float lookLeftRight, ref float lookUpDown, bool update, int gazePoint, int topRight, int topLeft, int bottomRight, int bottomLeft) { + void GetLookParameters(ref float lookLeftRight, ref float lookUpDown, bool update, int gazePoint, int right, int left, int topRight, int topLeft, int bottomRight, int bottomLeft) { float borderRight = (openSeeData.points3D[topRight].x + openSeeData.points3D[bottomRight].x) / 2.0f; float borderLeft = (openSeeData.points3D[topLeft].x + openSeeData.points3D[bottomLeft].x) / 2.0f; float horizontalCenter = (borderRight + borderLeft) / 2.0f; @@ -248,8 +263,8 @@ public class OpenSeeVRMDriver : MonoBehaviour { float lookLeftRight = currentLookLeftRight; if (lastGaze < openSeeData.time) { - GetLookParameters(ref lookLeftRight, ref lookUpDown, false, 66, 37, 38, 41, 40); - GetLookParameters(ref lookLeftRight, ref lookUpDown, true, 67, 43, 44, 47, 46); + GetLookParameters(ref lookLeftRight, ref lookUpDown, false, 66, 36, 39, 37, 38, 41, 40); + GetLookParameters(ref lookLeftRight, ref lookUpDown, true, 67, 42, 45, 43, 44, 47, 46); lookLeftRight = Mathf.Lerp(currentLookLeftRight, lookLeftRight, 1f - gazeSmoothing); lookUpDown = Mathf.Lerp(currentLookUpDown, lookUpDown, 1f - gazeSmoothing); diff --git a/README.md b/README.md index c9fd24b..718a52e 100644 --- a/README.md +++ b/README.md @@ -150,7 +150,7 @@ Face detection is done using OpenCV's Haar Cascade classifier or RetinaFace. year={2019} } -RetinaFace detection is based on [this](https://github.com/biubug6/Pytorch_Retinaface) implementation. The pretrained model was modified to remove unnecessary landmark detection and converted to ONNX format for a resolution of 384x384. +RetinaFace detection is based on [this](https://github.com/biubug6/Pytorch_Retinaface) implementation. The pretrained model was modified to remove unnecessary landmark detection and converted to ONNX format for a resolution of 640x640. # License diff --git a/facetracker.py b/facetracker.py index 8c668fa..6536913 100644 --- a/facetracker.py +++ b/facetracker.py @@ -29,7 +29,6 @@ parser.add_argument("--raw-rgb", type=int, help="When this is set, raw RGB frame parser.add_argument("--log-data", help="You can set a filename to which tracking data will be logged here", default="") parser.add_argument("--model", type=int, help="This can be used to select the tracking model. Higher numbers are models with better tracking quality, but slower speed. The recommended models are 3 and 1.", default=3, choices=[0, 1, 2, 3]) parser.add_argument("--model-dir", help="This can be used to specify the path to the directory containing the .onnx model files", default=None) -parser.add_argument("--high-quality-3d", type=int, help="When set to 1, more nose points are used when estimating the face pose", default=1) parser.add_argument("--gaze-tracking", type=int, help="When set to 1, experimental blink detection and gaze tracking are enabled, which makes things slightly slower", default=1) parser.add_argument("--face-id-offset", type=int, help="When set, this offset is added to all face ids, which can be useful for mixing tracking data from multiple network sources", default=0) args = parser.parse_args() @@ -107,7 +106,7 @@ try: first = False height, width, channels = frame.shape sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - tracker = Tracker(width, height, threshold=args.threshold, max_threads=args.max_threads, max_faces=args.faces, discard_after=args.discard_after, scan_every=args.scan_every, silent=False if args.silent == 0 else True, model_type=args.model, pnp_quality=args.high_quality_3d, model_dir=args.model_dir, no_gaze=False if args.gaze_tracking != 0 else True, use_retinaface=args.scan_retinaface) + tracker = Tracker(width, height, threshold=args.threshold, max_threads=args.max_threads, max_faces=args.faces, discard_after=args.discard_after, scan_every=args.scan_every, silent=False if args.silent == 0 else True, model_type=args.model, model_dir=args.model_dir, no_gaze=False if args.gaze_tracking != 0 else True, use_retinaface=args.scan_retinaface) if not args.video_out is None: out = cv2.VideoWriter(args.video_out, cv2.VideoWriter_fourcc('F','F','V','1'), 24, (width,height)) diff --git a/models/priorbox_384.json b/models/priorbox_384.json deleted file mode 100644 index 12554aa..0000000 --- a/models/priorbox_384.json +++ /dev/null @@ -1 +0,0 @@ -[[0.010416666977107525, 0.010416666977107525, 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zEK|Hk`|opgw6iMa)$d76XJs@9E2CN~p6ZvvB3wUbSmI)urQNaRC@!2+&=?DD6^#3{jYzWx6U3?pza;6g)N0 zO#Gn`A!JHY9QO4~-3~z#tlmb71e1Go;y zzd)F4l;w&?CtzZWB6_U9qHFNi=Amg-M3ePxNJO2Rvh}oDTbR0PJe``F%t=Q3j0sQ`s A%>V!Z diff --git a/retinaface.py b/retinaface.py index bcc7f03..9cd6e84 100644 --- a/retinaface.py +++ b/retinaface.py @@ -59,7 +59,7 @@ def worker_thread(rfd, frame): rfd.running = False class RetinaFaceDetector(): - def __init__(self, model_path="models/retinaface_opt.onnx", json_path="models/priorbox_384.json", threads=4, min_conf=0.3, nms_threshold=0.4, top_k=1): + def __init__(self, model_path="models/retinaface_640x640_opt.onnx", json_path="models/priorbox_640x640.json", threads=4, min_conf=0.4, nms_threshold=0.4, top_k=1, res=(640, 640)): options = onnxruntime.SessionOptions() options.inter_op_num_threads = 1 options.intra_op_num_threads = threads @@ -67,7 +67,7 @@ class RetinaFaceDetector(): options.graph_optimization_level = onnxruntime.GraphOptimizationLevel.ORT_ENABLE_ALL options.log_severity_level = 3 self.session = onnxruntime.InferenceSession(model_path, sess_options=options) - self.res = 384 + self.res_w, self.res_h = res with open(json_path, "r") as prior_file: self.priorbox = np.array(json.loads(prior_file.read())) self.min_conf = min_conf @@ -81,18 +81,18 @@ class RetinaFaceDetector(): h, w, _ = frame.shape im = None if h > w: - resize = h / self.res - im = cv2.resize(frame, (int(w / resize), self.res), interpolation=cv2.INTER_LINEAR) + resize = h / self.res_h + im = cv2.resize(frame, (int(w / resize), self.res_h), interpolation=cv2.INTER_LINEAR) resize = 1 / resize else: - resize = w / self.res - im = cv2.resize(frame, (self.res, int(h / resize)), interpolation=cv2.INTER_LINEAR) + resize = w / self.res_w + im = cv2.resize(frame, (self.res_w, int(h / resize)), interpolation=cv2.INTER_LINEAR) resize = 1 / resize - pad_h = self.res - im.shape[0] - pad_w = self.res - im.shape[1] + pad_h = self.res_h - im.shape[0] + pad_w = self.res_w - im.shape[1] im = cv2.copyMakeBorder(im, 0, pad_h, 0, pad_w, cv2.BORDER_CONSTANT, (0, 0, 0)) im = np.float32(im) - scale = np.array((self.res, self.res, self.res, self.res)) + scale = np.array((self.res_w, self.res_h, self.res_w, self.res_h)) im -= (104, 117, 123) im = im.transpose(2, 0, 1) im = np.expand_dims(im, 0) @@ -112,8 +112,8 @@ class RetinaFaceDetector(): dets = dets[:self.top_k, 0:4] dets[:, 2:4] = dets[:, 2:4] - dets[:, 0:2] - if is_background: - upsize = dets[:, 2:4] * np.array([[0.1, 0.0]]) + if True:#is_background: + upsize = dets[:, 2:4] * np.array([[0.15, 0.2]]) dets[:, 0:2] -= upsize dets[:, 2:4] += upsize * 2 diff --git a/tracker.py b/tracker.py index e2b5348..269ea1f 100644 --- a/tracker.py +++ b/tracker.py @@ -120,14 +120,15 @@ class FaceInfo(): self.id = id self.frame_count = -1 self.tracker = tracker + self.contour_pts = [0,1,15,16,27,28,29,30,31,32,33,34,35,36,39,42,45] self.face_3d = copy.copy(self.tracker.face_3d) self.reset() self.alive = False self.coord = None - self.limit_3d_adjustment = False - self.update_count_delta = 50. - self.update_count_max = 1500. + self.limit_3d_adjustment = True + self.update_count_delta = 75. + self.update_count_max = 2500. def reset(self): self.alive = False @@ -157,11 +158,7 @@ class FaceInfo(): self.alive = True def update_contour(self): - self.contour[0:17] = self.face_3d[0:17] - if self.tracker.high_quality_3d: - self.contour[17:21] = self.face_3d[27:31] - else: - self.contour[17] = self.face_3d[30] + self.contour = np.array(self.face_3d[self.contour_pts]) def adjust_3d(self): r = 1.0 + np.random.random_sample((66,3)) * 0.02 - 0.01 @@ -182,16 +179,14 @@ class FaceInfo(): r[17:22, 2] = 1.0 r[31:33, 2] = 1.0 r[36:42, 2] = 1.0 - for i in [48, 49, 56, 57, 58, 59, 65]: - r[i, 2] = 1.0 + r[[48, 49, 56, 57, 58, 59, 65], 2] = 1.0 else: update_type = 1 r[8:17, 2] = 1.0 r[22:27, 2] = 1.0 r[34:36, 2] = 1.0 r[42:48, 2] = 1.0 - for i in [51, 52, 53, 54, 61, 62, 63]: - r[i, 2] = 1.0 + r[[51, 52, 53, 54, 61, 62, 63], 2] = 1.0 c = self.face_3d[0:66] * r o_projected = np.squeeze(np.array(cv2.projectPoints(self.face_3d[0:66], self.rotation, self.translation, self.tracker.camera, self.tracker.dist_coeffs)[0]), 1) @@ -227,7 +222,7 @@ class FaceInfo(): class Tracker(): - def __init__(self, width, height, model_type=3, threshold=0.4, max_faces=1, discard_after=5, scan_every=3, bbox_growth=0.0, max_threads=4, silent=False, pnp_quality=1, model_dir=None, no_gaze=False, use_retinaface=False): + def __init__(self, width, height, model_type=3, threshold=0.4, max_faces=1, discard_after=5, scan_every=3, bbox_growth=0.0, max_threads=4, silent=False, model_dir=None, no_gaze=False, use_retinaface=False): options = onnxruntime.SessionOptions() options.inter_op_num_threads = 1 options.intra_op_num_threads = max_threads @@ -249,8 +244,8 @@ class Tracker(): else: model_base_path = model_dir - self.retinaface = RetinaFaceDetector(model_path=os.path.join(model_base_path, "retinaface_opt.onnx"), json_path=os.path.join(model_base_path, "priorbox_384.json"), threads=max_threads, top_k=max_faces) - self.retinaface_slow = RetinaFaceDetector(model_path=os.path.join(model_base_path, "retinaface_opt.onnx"), json_path=os.path.join(model_base_path, "priorbox_384.json"), threads=2, top_k=max_faces) + self.retinaface = RetinaFaceDetector(model_path=os.path.join(model_base_path, "retinaface_640x640_opt.onnx"), json_path=os.path.join(model_base_path, "priorbox_640x640.json"), threads=max_threads, top_k=max_faces, res=(640, 640)) + self.retinaface_scan = RetinaFaceDetector(model_path=os.path.join(model_base_path, "retinaface_640x640_opt.onnx"), json_path=os.path.join(model_base_path, "priorbox_640x640.json"), threads=2, top_k=max_faces, res=(640, 640)) self.use_retinaface = use_retinaface # Single face instance with multiple threads @@ -292,7 +287,6 @@ class Tracker(): self.std = self.std * 255.0 # PnP solving - self.high_quality_3d = False if pnp_quality == 0 else True self.face_3d = np.array([ [0.50194, 0.28030, -0.49561], [0.48377, 0.15031, -0.50000], @@ -413,12 +407,7 @@ class Tracker(): def estimate_depth(self, face_info): lms = np.concatenate((face_info.lms, np.array([[face_info.eye_state[0][1], face_info.eye_state[0][2], face_info.eye_state[0][3]], [face_info.eye_state[1][1], face_info.eye_state[1][2], face_info.eye_state[1][3]]], np.float)), 0) - image_pts = np.empty((21 if self.high_quality_3d else 18, 2), np.float32) - image_pts[0:17] = np.array(lms)[0:17,0:2] - if self.high_quality_3d: - image_pts[17:21] = np.array(lms)[27:31,0:2] - else: - image_pts[17] = np.array(lms)[30,0:2] + image_pts = np.array(lms)[face_info.contour_pts, 0:2] success = False if not face_info.rotation is None: @@ -671,15 +660,16 @@ class Tracker(): self.wait_count += 1 if self.detected == 0: start_fd = time.perf_counter() - new_faces.extend(self.retinaface.detect_retina(frame)) + retinaface_detections = self.retinaface.detect_retina(frame) + new_faces.extend(retinaface_detections) duration_fd = 1000 * (time.perf_counter() - start_fd) self.wait_count = 0 elif self.detected < self.max_faces: if self.use_retinaface > 0: - new_faces.extend(self.retinaface_slow.get_results()) + new_faces.extend(self.retinaface_scan.get_results()) if self.wait_count >= self.scan_every: if self.use_retinaface > 0: - self.retinaface_slow.background_detect(frame) + self.retinaface_scan.background_detect(frame) else: start_fd = time.perf_counter() gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)