Face 3D point adaption can be disabled and feature adaptability can be limited now.
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Emiliana
parent
161363682d
commit
0690bdd15e
2 changed files with 114 additions and 96 deletions
206
tracker.py
206
tracker.py
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@ -140,7 +140,7 @@ def worker_thread(session, frame, input, crop_info, queue, input_name, idx, trac
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queue.put((session,))
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class Feature():
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def __init__(self, threshold=0.15, alpha=0.2, hard_factor=0.15, decay=0.001):
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def __init__(self, threshold=0.15, alpha=0.2, hard_factor=0.15, decay=0.001, max_feature_updates=0):
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self.median = remedian()
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self.min = None
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self.max = None
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@ -151,44 +151,57 @@ class Feature():
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self.hard_factor = hard_factor
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self.decay = decay
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self.last = 0
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self.current_median = 0
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self.update_count = 0
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self.max_feature_updates = max_feature_updates
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def update(self, x):
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if self.max_feature_updates > 0:
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self.update_count += 1
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new = self.update_state(x)
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filtered = self.last * self.alpha + new * (1 - self.alpha)
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self.last = filtered
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return filtered
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def update_state(self, x):
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self.median + x
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median = self.median.median()
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updating = self.max_feature_updates < 1 or self.update_count < self.max_feature_updates
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if updating:
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self.median + x
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self.current_median = self.median.median()
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median = self.current_median
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if self.min is None:
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if x < median and (median - x) / median > self.threshold:
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self.min = x
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self.hard_min = self.min + self.hard_factor * (median - self.min)
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if updating:
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self.min = x
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self.hard_min = self.min + self.hard_factor * (median - self.min)
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return -1
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return 0
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else:
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if x < self.min:
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self.min = x
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self.hard_min = self.min + self.hard_factor * (median - self.min)
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if updating:
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self.min = x
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self.hard_min = self.min + self.hard_factor * (median - self.min)
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return -1
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if self.max is None:
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if x > median and (x - median) / median > self.threshold:
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self.max = x
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self.hard_max = self.max - self.hard_factor * (self.max - median)
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if updating:
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self.max = x
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self.hard_max = self.max - self.hard_factor * (self.max - median)
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return 1
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return 0
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else:
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if x > self.max:
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self.max = x
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self.hard_max = self.max - self.hard_factor * (self.max - median)
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if updating:
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self.max = x
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self.hard_max = self.max - self.hard_factor * (self.max - median)
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return 1
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if self.min < self.hard_min:
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self.min = self.hard_min * self.decay + self.min * (1 - self.decay)
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if self.max > self.hard_max:
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self.max = self.hard_max * self.decay + self.max * (1 - self.decay)
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if updating:
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if self.min < self.hard_min:
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self.min = self.hard_min * self.decay + self.min * (1 - self.decay)
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if self.max > self.hard_max:
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self.max = self.hard_max * self.decay + self.max * (1 - self.decay)
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if x < median:
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return - (1 - (x - self.min) / (median - self.min))
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@ -198,21 +211,21 @@ class Feature():
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return 0
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class FeatureExtractor():
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def __init__(self):
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self.eye_l = Feature()
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self.eye_r = Feature()
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self.eyebrow_updown_l = Feature()
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self.eyebrow_updown_r = Feature()
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self.eyebrow_quirk_l = Feature(threshold=0.05)
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self.eyebrow_quirk_r = Feature(threshold=0.05)
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self.eyebrow_steepness_l = Feature(threshold=0.05)
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self.eyebrow_steepness_r = Feature(threshold=0.05)
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self.mouth_corner_updown_l = Feature()
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self.mouth_corner_updown_r = Feature()
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self.mouth_corner_inout_l = Feature(threshold=0.02)
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self.mouth_corner_inout_r = Feature(threshold=0.02)
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self.mouth_open = Feature()
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self.mouth_wide = Feature(threshold=0.02)
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def __init__(self, max_feature_updates=0):
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self.eye_l = Feature(max_feature_updates=max_feature_updates)
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self.eye_r = Feature(max_feature_updates=max_feature_updates)
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self.eyebrow_updown_l = Feature(max_feature_updates=max_feature_updates)
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self.eyebrow_updown_r = Feature(max_feature_updates=max_feature_updates)
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self.eyebrow_quirk_l = Feature(threshold=0.05, max_feature_updates=max_feature_updates)
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self.eyebrow_quirk_r = Feature(threshold=0.05, max_feature_updates=max_feature_updates)
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self.eyebrow_steepness_l = Feature(threshold=0.05, max_feature_updates=max_feature_updates)
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self.eyebrow_steepness_r = Feature(threshold=0.05, max_feature_updates=max_feature_updates)
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self.mouth_corner_updown_l = Feature(max_feature_updates=max_feature_updates)
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self.mouth_corner_updown_r = Feature(max_feature_updates=max_feature_updates)
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self.mouth_corner_inout_l = Feature(threshold=0.02, max_feature_updates=max_feature_updates)
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self.mouth_corner_inout_r = Feature(threshold=0.02, max_feature_updates=max_feature_updates)
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self.mouth_open = Feature(max_feature_updates=max_feature_updates)
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self.mouth_wide = Feature(threshold=0.02, max_feature_updates=max_feature_updates)
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def align_points(self, a, b, pts):
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a = tuple(a)
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@ -314,7 +327,7 @@ class FaceInfo():
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self.eye_blink = None
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self.bbox = None
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self.pnp_error = 0
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self.features = FeatureExtractor()
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self.features = FeatureExtractor(self.tracker.max_feature_updates)
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self.current_features = {}
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self.contour = np.zeros((21,3))
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self.update_counts = np.zeros((66,2))
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@ -354,75 +367,76 @@ class FaceInfo():
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if self.conf < 0.4 or self.pnp_error > 300:
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return
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max_runs = 1
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eligible = np.delete(np.arange(0, 66), [30])
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changed_any = False
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update_type = -1
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d_o = np.ones((66,))
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d_c = np.ones((66,))
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for runs in range(max_runs):
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r = 1.0 + np.random.random_sample((66,3)) * 0.02 - 0.01
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r[30, :] = 1.0
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if self.euler[0] > -165 and self.euler[0] < 145:
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continue
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elif self.euler[1] > -10 and self.euler[1] < 20:
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r[:, 2] = 1.0
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update_type = 0
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else:
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r[:, 0:2] = 1.0
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if self.euler[2] > 120 or self.euler[2] < 60:
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if not self.tracker.static_model:
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max_runs = 1
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eligible = np.delete(np.arange(0, 66), [30])
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changed_any = False
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update_type = -1
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d_o = np.ones((66,))
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d_c = np.ones((66,))
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for runs in range(max_runs):
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r = 1.0 + np.random.random_sample((66,3)) * 0.02 - 0.01
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r[30, :] = 1.0
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if self.euler[0] > -165 and self.euler[0] < 145:
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continue
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# Enable only one side of the points, depending on direction
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elif self.euler[1] < -10:
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update_type = 1
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r[[0, 1, 2, 3, 4, 5, 6, 7, 17, 18, 19, 20, 21, 31, 32, 36, 37, 38, 39, 40, 41, 48, 49, 56, 57, 58, 59, 65], 2] = 1.0
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eligible = [8, 9, 10, 11, 12, 13, 14, 15, 16, 22, 23, 24, 25, 26, 27, 28, 29, 33, 34, 35, 42, 43, 44, 45, 46, 47, 50, 51, 52, 53, 54, 55, 60, 61, 62, 63, 64]
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elif self.euler[1] > -10 and self.euler[1] < 20:
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r[:, 2] = 1.0
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update_type = 0
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else:
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update_type = 1
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r[[9, 10, 11, 12, 13, 14, 15, 16, 22, 23, 24, 25, 26, 34, 35, 42, 43, 44, 45, 46, 47, 51, 52, 53, 54, 61, 62, 63], 2] = 1.0
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eligible = [0, 1, 2, 3, 4, 5, 6, 7, 8, 17, 18, 19, 20, 21, 27, 28, 29, 31, 32, 33, 36, 37, 38, 39, 40, 41, 48, 49, 50, 55, 56, 57, 58, 59, 60, 64, 65]
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r[:, 0:2] = 1.0
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if self.euler[2] > 120 or self.euler[2] < 60:
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continue
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# Enable only one side of the points, depending on direction
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elif self.euler[1] < -10:
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update_type = 1
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r[[0, 1, 2, 3, 4, 5, 6, 7, 17, 18, 19, 20, 21, 31, 32, 36, 37, 38, 39, 40, 41, 48, 49, 56, 57, 58, 59, 65], 2] = 1.0
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eligible = [8, 9, 10, 11, 12, 13, 14, 15, 16, 22, 23, 24, 25, 26, 27, 28, 29, 33, 34, 35, 42, 43, 44, 45, 46, 47, 50, 51, 52, 53, 54, 55, 60, 61, 62, 63, 64]
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else:
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update_type = 1
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r[[9, 10, 11, 12, 13, 14, 15, 16, 22, 23, 24, 25, 26, 34, 35, 42, 43, 44, 45, 46, 47, 51, 52, 53, 54, 61, 62, 63], 2] = 1.0
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eligible = [0, 1, 2, 3, 4, 5, 6, 7, 8, 17, 18, 19, 20, 21, 27, 28, 29, 31, 32, 33, 36, 37, 38, 39, 40, 41, 48, 49, 50, 55, 56, 57, 58, 59, 60, 64, 65]
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if self.limit_3d_adjustment:
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eligible = np.nonzero(self.update_counts[:, update_type] < self.update_counts[:, abs(update_type - 1)] + self.update_count_delta)[0]
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if eligible.shape[0] <= 0:
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if self.limit_3d_adjustment:
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eligible = np.nonzero(self.update_counts[:, update_type] < self.update_counts[:, abs(update_type - 1)] + self.update_count_delta)[0]
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if eligible.shape[0] <= 0:
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break
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if runs == 0:
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updated = copy.copy(self.face_3d[0:66])
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o_projected = np.ones((66,2))
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o_projected[eligible] = np.squeeze(np.array(cv2.projectPoints(self.face_3d[eligible], self.rotation, self.translation, self.tracker.camera, self.tracker.dist_coeffs)[0]), 1)
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c = updated * r
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c_projected = np.zeros((66,2))
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c_projected[eligible] = np.squeeze(np.array(cv2.projectPoints(c[eligible], self.rotation, self.translation, self.tracker.camera, self.tracker.dist_coeffs)[0]), 1)
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changed = False
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d_o[eligible] = np.linalg.norm(o_projected[eligible] - self.lms[eligible, 0:2], axis=1)
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d_c[eligible] = np.linalg.norm(c_projected[eligible] - self.lms[eligible, 0:2], axis=1)
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indices = np.nonzero(d_c < d_o)[0]
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if indices.shape[0] > 0:
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if self.limit_3d_adjustment:
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indices = np.intersect1d(indices, eligible)
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if indices.shape[0] > 0:
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self.update_counts[indices, update_type] += 1
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updated[indices] = c[indices]
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o_projected[indices] = c_projected[indices]
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changed = True
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changed_any = changed_any or changed
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if not changed:
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break
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if runs == 0:
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updated = copy.copy(self.face_3d[0:66])
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o_projected = np.ones((66,2))
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o_projected[eligible] = np.squeeze(np.array(cv2.projectPoints(self.face_3d[eligible], self.rotation, self.translation, self.tracker.camera, self.tracker.dist_coeffs)[0]), 1)
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c = updated * r
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c_projected = np.zeros((66,2))
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c_projected[eligible] = np.squeeze(np.array(cv2.projectPoints(c[eligible], self.rotation, self.translation, self.tracker.camera, self.tracker.dist_coeffs)[0]), 1)
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changed = False
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d_o[eligible] = np.linalg.norm(o_projected[eligible] - self.lms[eligible, 0:2], axis=1)
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d_c[eligible] = np.linalg.norm(c_projected[eligible] - self.lms[eligible, 0:2], axis=1)
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indices = np.nonzero(d_c < d_o)[0]
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if indices.shape[0] > 0:
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if changed_any:
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# Update weighted by point confidence
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weights = np.zeros((66,3))
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weights[:, :] = self.lms[0:66, 2:3]
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weights[weights > 0.7] = 1.0
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weights = 1.0 - weights
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update_indices = np.arange(0, 66)
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if self.limit_3d_adjustment:
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indices = np.intersect1d(indices, eligible)
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if indices.shape[0] > 0:
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self.update_counts[indices, update_type] += 1
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updated[indices] = c[indices]
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o_projected[indices] = c_projected[indices]
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changed = True
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changed_any = changed_any or changed
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if not changed:
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break
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if changed_any:
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# Update weighted by point confidence
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weights = np.zeros((66,3))
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weights[:, :] = self.lms[0:66, 2:3]
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weights[weights > 0.7] = 1.0
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weights = 1.0 - weights
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update_indices = np.arange(0, 66)
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if self.limit_3d_adjustment:
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update_indices = np.nonzero(self.update_counts[:, update_type] <= self.update_count_max)[0]
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self.face_3d[update_indices] = self.face_3d[update_indices] * weights[update_indices] + updated[update_indices] * (1. - weights[update_indices])
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self.update_contour()
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update_indices = np.nonzero(self.update_counts[:, update_type] <= self.update_count_max)[0]
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self.face_3d[update_indices] = self.face_3d[update_indices] * weights[update_indices] + updated[update_indices] * (1. - weights[update_indices])
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self.update_contour()
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self.pts_3d = self.normalize_pts3d(self.pts_3d)
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self.current_features = self.features.update(self.pts_3d[:, 0:2])
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@ -432,7 +446,7 @@ class FaceInfo():
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class Tracker():
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def __init__(self, width, height, model_type=3, threshold=0.6, 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):
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def __init__(self, width, height, model_type=3, threshold=0.6, 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, max_feature_updates=0, static_model=False):
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options = onnxruntime.SessionOptions()
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options.inter_op_num_threads = 1
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options.intra_op_num_threads = max(max_threads,4)
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@ -593,6 +607,8 @@ class Tracker():
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self.res_i = int(self.res)
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self.no_gaze = no_gaze
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self.debug_gaze = False
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self.max_feature_updates = max_feature_updates
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self.static_model = static_model
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self.face_info = [FaceInfo(id, self) for id in range(max_faces)]
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self.fail_count = 0
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