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The face tracker now keeps track of which face is which. This makes 3D point estimation for multi face scenarios both more stable and faster.

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This commit is contained in:
Emiliana 2020-02-07 00:55:29 +01:00
parent 423b5c6c86
commit 0a1bedb352
3 changed files with 74 additions and 20 deletions
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9
facetracker.py
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@ -79,7 +79,7 @@ frame_count = 0
if args.log_data != "":
log = open(args.log_data, "w")
log.write("Frame,Time,Width,Height,FPS,Face,RightOpen,LeftOpen,AverageConfidence,Success3D,PnPError,RotationQuat.X,RotationQuat.Y,RotationQuat.Z,RotationQuat.W,Euler.X,Euler.Y,Euler.Z,RVec.X,RVec.Y,RVec.Z,TVec.X,TVec.Y,TVec.Z")
log.write("Frame,Time,Width,Height,FPS,Face,FaceID,RightOpen,LeftOpen,AverageConfidence,Success3D,PnPError,RotationQuat.X,RotationQuat.Y,RotationQuat.Z,RotationQuat.W,Euler.X,Euler.Y,Euler.Z,RVec.X,RVec.Y,RVec.Z,TVec.X,TVec.Y,TVec.Z")
for i in range(66):
log.write(f",Landmark[{i}].X,Landmark[{i}].Y,Landmark[{i}].Confidence")
for i in range(66):
@ -115,15 +115,16 @@ try:
tracking_frames += 1
packet = bytearray()
detected = False
for face_num, (conf, lms, success_3d, pnp_error, quaternion, euler, rotation, translation, pts_3d, (right_open, left_open), (face_y, face_x, face_height, face_width)) in enumerate(faces):
for face_num, (conf, lms, success_3d, pnp_error, quaternion, euler, rotation, translation, pts_3d, (right_open, left_open), (face_y, face_x, face_height, face_width), face_id) in enumerate(faces):
left_state = "O" if left_open > 0.5 else "-"
right_state = "O" if right_open > 0.5 else "-"
if args.silent == 0:
print(f"Confidence: {conf:.4f} / 3D fitting error: {pnp_error:.4f} / Eyes: {left_state}, {right_state}")
print(f"Confidence[{face_id}]: {conf:.4f} / 3D fitting error: {pnp_error:.4f} / Eyes: {left_state}, {right_state}")
detected = True
if not success_3d:
pts_3d = np.zeros((70, 3), np.float32)
packet.extend(bytearray(struct.pack("d", now)))
packet.extend(bytearray(struct.pack("i", face_id)))
packet.extend(bytearray(struct.pack("f", width)))
packet.extend(bytearray(struct.pack("f", height)))
packet.extend(bytearray(struct.pack("f", right_open)))
@ -141,7 +142,7 @@ try:
packet.extend(bytearray(struct.pack("f", translation[1])))
packet.extend(bytearray(struct.pack("f", translation[2])))
if not log is None:
log.write(f"{frame_count},{now},{width},{height},{args.fps},{face_num},{right_open},{left_open},{conf},{success_3d},{pnp_error},{quaternion[0]},{quaternion[1]},{quaternion[2]},{quaternion[3]},{euler[0]},{euler[1]},{euler[2]},{rotation[0]},{rotation[1]},{rotation[2]},{translation[0]},{translation[1]},{translation[2]}")
log.write(f"{frame_count},{now},{width},{height},{args.fps},{face_num},{face_id},{right_open},{left_open},{conf},{success_3d},{pnp_error},{quaternion[0]},{quaternion[1]},{quaternion[2]},{quaternion[3]},{euler[0]},{euler[1]},{euler[2]},{rotation[0]},{rotation[1]},{rotation[2]},{translation[0]},{translation[1]},{translation[2]}")
for (x,y,c) in lms:
packet.extend(bytearray(struct.pack("f", c)))
for pt_num, (x,y,c) in enumerate(lms):