826 lines
34 KiB
Python
826 lines
34 KiB
Python
import os
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import numpy as np
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import math
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import cv2
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import onnxruntime
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import time
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import queue
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import threading
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import copy
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from retinaface import RetinaFaceDetector
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def resolve(name):
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f = os.path.join(os.path.dirname(__file__), name)
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return f
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def clamp_to_im(pt, w, h):
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x = pt[0]
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y = pt[1]
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if x < 0:
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x = 0
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if y < 0:
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y = 0
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if x >= w:
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x = w-1
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if y >= h:
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y = h-1
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return (int(x), int(y+1))
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def rotate(origin, point, angle):
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angle = -angle
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ox, oy = origin
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px, py = point
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qx = ox + math.cos(angle) * (px - ox) - math.sin(angle) * (py - oy)
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qy = oy + math.sin(angle) * (px - ox) + math.cos(angle) * (py - oy)
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return qx, qy
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def angle(p1, p2):
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p1 = np.array(p1)
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p2 = np.array(p2)
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a = np.arctan2(*(p2 - p1)[::-1])
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return (a % (2 * np.pi))
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def compensate(p1, p2):
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a = angle(p1, p2)
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return rotate(p1, p2, a), a
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def rotate_image(image, angle, center):
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(h, w) = image.shape[:2]
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angle = np.rad2deg(angle)
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M = cv2.getRotationMatrix2D((center[0], center[1]), angle, 1.0)
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rotated = cv2.warpAffine(image, M, (w, h))
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return rotated
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def intersects(r1, r2):
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r1_x1, r1_y1, r1_x2, r1_y2 = r1
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r1_x2 += r1_x1
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r1_y2 += r1_y1
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r2_x1, r2_y1, r2_x2, r2_y2 = r2
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r2_x2 += r2_x1
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r2_y2 += r2_y1
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return not (r1_x1 > r2_x2 or r1_x2 < r2_x1 or r1_y1 > r2_y2 or r1_y2 < r2_y1)
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def group_rects(rects):
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rect_groups = {}
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for rect in rects:
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rect_groups[str(rect)] = [-1, -1, []]
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group_id = 0
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for i, rect in enumerate(rects):
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name = str(rect)
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group = group_id
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group_id += 1
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if rect_groups[name][0] < 0:
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rect_groups[name] = [group, -1, []]
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else:
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group = rect_groups[name][0]
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for j, other_rect in enumerate(rects):
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if i == j:
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continue;
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inter = intersects(rect, other_rect)
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if intersects(rect, other_rect):
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rect_groups[str(other_rect)] = [group, -1, []]
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return rect_groups
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def logit(p, factor=16.0):
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if p >= 1.0:
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p = 0.9999999
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if p <= 0.0:
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p = 0.0000001
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p = p/(1-p)
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return float(np.log(p)) / float(factor)
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def matrix_to_quaternion(m):
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t = 0.0
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q = [0.0, 0.0, 0, 0.0]
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if m[2,2] < 0:
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if m[0,0] > m[1,1]:
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t = 1 + m[0,0] - m[1,1] - m[2,2]
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q = [t, m[0,1]+m[1,0], m[2,0]+m[0,2], m[1,2]-m[2,1]]
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else:
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t = 1 - m[0,0] + m[1,1] - m[2,2]
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q = [m[0,1]+m[1,0], t, m[1,2]+m[2,1], m[2,0]-m[0,2]]
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else:
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if m[0,0] < -m[1,1]:
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t = 1 - m[0,0] - m[1,1] + m[2,2]
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q = [m[2,0]+m[0,2], m[1,2]+m[2,1], t, m[0,1]-m[1,0]]
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else:
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t = 1 + m[0,0] + m[1,1] + m[2,2]
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q = [m[1,2]-m[2,1], m[2,0]-m[0,2], m[0,1]-m[1,0], t]
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q = np.array(q, np.float32) * 0.5 / np.sqrt(t)
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return q
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def worker_thread(session, input, crop_info, queue, input_name, idx, tracker):
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output = session.run([], {input_name: input})[0]
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conf, lms = tracker.landmarks(output[0], crop_info)
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queue.put((session, conf, lms, crop_info, idx))
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class FaceInfo():
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def __init__(self, id, tracker):
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self.id = id
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self.frame_count = -1
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self.tracker = tracker
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self.contour_pts = [0,1,15,16,27,28,29,30,31,32,33,34,35,36,39,42,45]
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self.face_3d = copy.copy(self.tracker.face_3d)
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self.reset()
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self.alive = False
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self.coord = None
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self.limit_3d_adjustment = True
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self.update_count_delta = 75.
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self.update_count_max = 2500.
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def reset(self):
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self.alive = False
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self.conf = None
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self.lms = None
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self.eye_state = None
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self.rotation = None
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self.translation = None
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self.success = None
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self.quaternion = None
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self.euler = None
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self.pnp_error = None
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self.pts_3d = None
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self.eye_blink = None
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self.bbox = None
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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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self.update_contour()
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def update(self, result, coord, frame_count):
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self.frame_count = frame_count
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if result is None:
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self.reset()
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else:
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self.conf, (self.lms, self.eye_state) = result
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self.coord = coord
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self.alive = True
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def update_contour(self):
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self.contour = np.array(self.face_3d[self.contour_pts])
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def adjust_3d(self):
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if self.conf < 0.4:
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return
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max_runs = 1
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eligible = np.arange(0, 66)
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changed_any = False
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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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update_type = -1
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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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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, 30, 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, 30, 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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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 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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self.face_3d[0:66] = self.face_3d[0:66] * weights + updated[0:66] * (1. - weights)
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self.update_contour()
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class Tracker():
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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):
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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_threads
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options.execution_mode = onnxruntime.ExecutionMode.ORT_SEQUENTIAL
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options.graph_optimization_level = onnxruntime.GraphOptimizationLevel.ORT_ENABLE_ALL
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options.log_severity_level = 3
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self.model_type = model_type
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self.models = [
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"snv2_opt_fast.onnx",
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"mnv3_opt_fast.onnx",
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"snv2_opt_b.onnx",
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"mnv3_opt_b.onnx"
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]
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model = self.models[self.model_type]
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model_base_path = resolve(os.path.join("models"))
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if model_dir is None:
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if not os.path.exists(model_base_path):
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model_base_path = resolve(os.path.join("..", "models"))
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else:
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model_base_path = model_dir
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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))
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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))
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self.use_retinaface = use_retinaface
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# Single face instance with multiple threads
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self.session = onnxruntime.InferenceSession(os.path.join(model_base_path, model), sess_options=options)
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# Multiple faces with single threads
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self.sessions = []
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self.max_workers = min(max_threads, max_faces)
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extra_threads = max_threads % self.max_workers
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for i in range(self.max_workers):
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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_threads // self.max_workers
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if options.intra_op_num_threads < 1:
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options.intra_op_num_threads = 1
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elif i < extra_threads:
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options.intra_op_num_threads += 1
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options.execution_mode = onnxruntime.ExecutionMode.ORT_SEQUENTIAL
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options.graph_optimization_level = onnxruntime.GraphOptimizationLevel.ORT_ENABLE_ALL
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self.sessions.append(onnxruntime.InferenceSession(os.path.join(model_base_path, model), sess_options=options))
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self.input_name = self.session.get_inputs()[0].name
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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_threads
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options.execution_mode = onnxruntime.ExecutionMode.ORT_SEQUENTIAL
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options.graph_optimization_level = onnxruntime.GraphOptimizationLevel.ORT_ENABLE_ALL
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options.log_severity_level = 3
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self.gaze_model = onnxruntime.InferenceSession(os.path.join(model_base_path, "mnv3_gaze32_split_opt.onnx"), sess_options=options)
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self.faceCascade = cv2.CascadeClassifier()
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self.faceCascade.load(os.path.join(model_base_path, "haarcascade_frontalface_alt2.xml"))
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self.faces = []
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# Image normalization constants
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self.mean = np.float32(np.array([0.485, 0.456, 0.406]))
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self.std = np.float32(np.array([0.229, 0.224, 0.225]))
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self.mean = self.mean / self.std
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self.std = self.std * 255.0
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# PnP solving
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self.face_3d = np.array([
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[0.50194, 0.28030, -0.49561],
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[0.48377, 0.15031, -0.50000],
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[0.46233, 0.01987, -0.49781],
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[0.43017, -0.11278, -0.49123],
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[0.38130, -0.25112, -0.46491],
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[0.31761, -0.35653, -0.40132],
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[0.24840, -0.44335, -0.30482],
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[0.15900, -0.51157, -0.22588],
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[0.00194, -0.55490, -0.16009],
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[-0.15900, -0.51157, -0.22588],
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[-0.24840, -0.44335, -0.30482],
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[-0.31761, -0.35653, -0.40132],
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[-0.38130, -0.25112, -0.46491],
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[-0.43017, -0.11278, -0.49123],
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[-0.46233, 0.01987, -0.49781],
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[-0.48377, 0.15031, -0.50000],
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[-0.50194, 0.28030, -0.49561],
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[0.44537, 0.38375, -0.22807],
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[0.38759, 0.42826, -0.18421],
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[0.32259, 0.44510, -0.12500],
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[0.24917, 0.44510, -0.07895],
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[0.19500, 0.42104, -0.06798],
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[-0.19500, 0.42104, -0.06798],
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[-0.24917, 0.44510, -0.07895],
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[-0.32259, 0.44510, -0.12500],
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[-0.38759, 0.42826, -0.18421],
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[-0.44537, 0.38375, -0.22807],
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[0.00000, 0.25503, -0.08553],
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[0.00000, 0.16240, -0.04825],
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[0.00000, 0.07218, -0.01535],
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[0.00000, 0.00000, 0.0000],
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[0.08353, -0.02165, -0.12281],
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[0.04738, -0.05019, -0.08991],
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[0.00000, -0.05895, -0.07456],
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[-0.04738, -0.05019, -0.08991],
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[-0.08353, -0.02165, -0.12281],
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[0.32981, 0.28270, -0.19956],
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[0.28528, 0.30435, -0.17544],
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[0.23111, 0.29714, -0.16009],
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[0.17213, 0.27789, -0.14474],
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[0.22870, 0.24781, -0.16009],
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[0.30093, 0.24661, -0.17544],
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[-0.17213, 0.27789, -0.14474],
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[-0.23111, 0.29714, -0.16009],
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[-0.28528, 0.30435, -0.17544],
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[-0.32981, 0.28270, -0.19956],
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[-0.30093, 0.24661, -0.17544],
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[-0.22870, 0.24781, -0.16009],
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[0.10871, -0.14282, -0.16667],
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[0.04809, -0.12118, -0.12500],
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[0.00000, -0.14931, -0.10307],
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[-0.04809, -0.12118, -0.12500],
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[-0.10871, -0.14282, -0.16667],
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[-0.11348, -0.24018, -0.16228],
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[-0.05719, -0.28129, -0.14474],
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[0.00000, -0.29644, -0.10965],
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[0.05719, -0.28129, -0.14474],
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[0.11348, -0.24018, -0.16228],
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[0.14984, -0.16878, -0.19956],
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[0.06736, -0.17922, -0.14254],
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[0.00000, -0.18861, -0.10965],
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[-0.06736, -0.17922, -0.14254],
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[-0.14984, -0.16878, -0.19956],
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[-0.04980, -0.21723, -0.14035],
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[0.00000, -0.21201, -0.11404],
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[0.04980, -0.21723, -0.14035],
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# Pupils and eyeball centers
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[0.25799, 0.27608, -0.16923],
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[-0.25799, 0.27608, -0.16923],
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[0.25799, 0.27608, -0.24967],
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[-0.25799, 0.27608, -0.24967],
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], np.float32) * np.array([1.0, 1.0, 1.3])
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self.camera = np.array([[width, 0, width/2], [0, width, height/2], [0, 0, 1]], np.float32)
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self.inverse_camera = np.linalg.inv(self.camera)
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self.dist_coeffs = np.zeros((4,1))
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self.frame_count = 0
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self.width = width
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self.height = height
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self.threshold = threshold
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self.max_faces = max_faces
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self.max_threads = max_threads
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self.discard = 0
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self.discard_after = discard_after
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self.detected = 0
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self.wait_count = 0
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self.scan_every = scan_every
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self.bbox_growth = bbox_growth
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self.silent = silent
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self.res = 224. if self.model_type != 0 else 112.
|
|
self.res_i = int(self.res)
|
|
self.no_gaze = no_gaze
|
|
self.debug_gaze = False
|
|
self.face_info = [FaceInfo(id, self) for id in range(max_faces)]
|
|
|
|
def landmarks(self, tensor, crop_info):
|
|
crop_x1, crop_y1, scale_x, scale_y = crop_info
|
|
avg_conf = 0
|
|
lms = []
|
|
for i in range(0, 66):
|
|
m = int(tensor[i].argmax())
|
|
x = m // 28
|
|
y = m % 28
|
|
conf = float(tensor[i][x,y])
|
|
avg_conf = avg_conf + conf
|
|
off_x = self.res * ((1. * logit(tensor[66 + i][x, y])) - 0.0)
|
|
off_y = self.res * ((1. * logit(tensor[66 * 2 + i][x, y])) - 0.0)
|
|
off_x = math.floor(off_x + 0.5)
|
|
off_y = math.floor(off_y + 0.5)
|
|
lm_x = crop_y1 + scale_y * (self.res * (float(x) / 28.) + off_x)
|
|
lm_y = crop_x1 + scale_x * (self.res * (float(y) / 28.) + off_y)
|
|
lms.append((lm_x,lm_y,conf))
|
|
avg_conf = avg_conf / 66.
|
|
return (avg_conf, lms)
|
|
|
|
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.array(lms)[face_info.contour_pts, 0:2]
|
|
|
|
success = False
|
|
if not face_info.rotation is None:
|
|
success, face_info.rotation, face_info.translation = cv2.solvePnP(face_info.contour, image_pts, self.camera, self.dist_coeffs, useExtrinsicGuess=True, rvec=np.transpose(face_info.rotation), tvec=np.transpose(face_info.translation), flags=cv2.SOLVEPNP_ITERATIVE)
|
|
else:
|
|
rvec = np.array([0, 0, 0], np.float32)
|
|
tvec = np.array([0, 0, 0], np.float32)
|
|
success, face_info.rotation, face_info.translation = cv2.solvePnP(face_info.contour, image_pts, self.camera, self.dist_coeffs, useExtrinsicGuess=True, rvec=rvec, tvec=tvec, flags=cv2.SOLVEPNP_ITERATIVE)
|
|
|
|
rotation = face_info.rotation
|
|
translation = face_info.translation
|
|
|
|
pts_3d = np.zeros((70,3), np.float32)
|
|
if not success:
|
|
face_info.rotation = np.array([0.0, 0.0, 0.0], np.float32)
|
|
face_info.translation = np.array([0.0, 0.0, 0.0], np.float32)
|
|
return False, np.zeros(4), np.zeros(3), 99999., pts_3d, lms
|
|
else:
|
|
face_info.rotation = np.transpose(face_info.rotation)
|
|
face_info.translation = np.transpose(face_info.translation)
|
|
|
|
rmat, _ = cv2.Rodrigues(rotation)
|
|
inverse_rotation = np.linalg.inv(rmat)
|
|
pnp_error = 0.0
|
|
for i, pt in enumerate(face_info.face_3d):
|
|
if i == 68:
|
|
# Right eyeball
|
|
# Eyeballs have an average diameter of 12.5mm and and the distance between eye corners is 30-35mm, so a conversion factor of 0.385 can be applied
|
|
eye_center = (pts_3d[36] + pts_3d[39]) / 2.0
|
|
d_corner = np.linalg.norm(pts_3d[36] - pts_3d[39])
|
|
depth = 0.385 * d_corner
|
|
pt_3d = np.array([eye_center[0], eye_center[1], eye_center[2] - depth])
|
|
pts_3d[i] = pt_3d
|
|
continue
|
|
if i == 69:
|
|
# Left eyeball
|
|
eye_center = (pts_3d[42] + pts_3d[45]) / 2.0
|
|
d_corner = np.linalg.norm(pts_3d[42] - pts_3d[45])
|
|
depth = 0.385 * d_corner
|
|
pt_3d = np.array([eye_center[0], eye_center[1], eye_center[2] - depth])
|
|
pts_3d[i] = pt_3d
|
|
continue
|
|
if i == 66:
|
|
d1 = np.linalg.norm(lms[i,0:2] - lms[36,0:2])
|
|
d2 = np.linalg.norm(lms[i,0:2] - lms[39,0:2])
|
|
d = d1 + d2
|
|
pt = (pts_3d[36] * d1 + pts_3d[39] * d2) / d
|
|
if i == 67:
|
|
d1 = np.linalg.norm(lms[i,0:2] - lms[42,0:2])
|
|
d2 = np.linalg.norm(lms[i,0:2] - lms[45,0:2])
|
|
d = d1 + d2
|
|
pt = (pts_3d[42] * d1 + pts_3d[45] * d2) / d
|
|
reference = rmat.dot(pt)
|
|
reference = reference + face_info.translation
|
|
reference = self.camera.dot(reference)
|
|
depth = reference[2]
|
|
if i < 17 or i == 30:
|
|
reference = reference / depth
|
|
e1 = lms[i][0] - reference[0]
|
|
e2 = lms[i][1] - reference[1]
|
|
pnp_error += e1*e1 + e2*e2
|
|
pt_3d = np.array([lms[i][0] * depth, lms[i][1] * depth, depth], np.float32)
|
|
pt_3d = self.inverse_camera.dot(pt_3d)
|
|
pt_3d = pt_3d - face_info.translation
|
|
pt_3d = inverse_rotation.dot(pt_3d)
|
|
pts_3d[i,:] = pt_3d[:]
|
|
|
|
pnp_error = np.sqrt(pnp_error / (2.0 * image_pts.shape[0]))
|
|
if pnp_error > 50:
|
|
# Something went wrong with adjusting the 3D model
|
|
face_info.face_3d = self.face_3d
|
|
face_info.rotation = np.array([0.0, 0.0, 0.0], np.float32)
|
|
face_info.translation = np.array([0.0, 0.0, 0.0], np.float32)
|
|
face_info.update_counts = np.zeros((66,2))
|
|
|
|
euler = cv2.RQDecomp3x3(rmat)[0]
|
|
return True, matrix_to_quaternion(rmat), euler, pnp_error, pts_3d, lms
|
|
|
|
def preprocess(self, im, crop):
|
|
x1, y1, x2, y2 = crop
|
|
im = np.float32(im[y1:y2, x1:x2,::-1]) # Crop and BGR to RGB
|
|
im = cv2.resize(im, (self.res_i, self.res_i), interpolation=cv2.INTER_LINEAR) / self.std - self.mean
|
|
#im = cv2.resize(im, (224, 224), interpolation=cv2.INTER_LINEAR) / 255.0
|
|
#im = (im - mean) / std
|
|
im = np.expand_dims(im, 0)
|
|
im = np.transpose(im, (0,3,1,2))
|
|
if self.model_type == 0:
|
|
im = im.mean(1)
|
|
im = np.expand_dims(im, 1)
|
|
return im
|
|
|
|
def equalize(self, im):
|
|
im_yuv = cv2.cvtColor(im, cv2.COLOR_BGR2YUV)
|
|
im_yuv[:,:,0] = cv2.equalizeHist(im_yuv[:,:,0])
|
|
return cv2.cvtColor(im_yuv, cv2.COLOR_YUV2BGR)
|
|
|
|
def corners_to_eye(self, corners, w, h, flip):
|
|
((cx1, cy1), (cx2, cy2)) = corners
|
|
c1 = np.array([cx1, cy1])
|
|
c2 = np.array([cx2, cy2])
|
|
c2, angle = compensate(c1, c2)
|
|
center = (c1 + c2) / 2.0
|
|
radius = np.linalg.norm(c1 - c2) / 2.0
|
|
radius = np.array([radius * 1.4, radius * 1.2])
|
|
upper_left = clamp_to_im(center - radius, w, h)
|
|
lower_right = clamp_to_im(center + radius, w, h)
|
|
return upper_left, lower_right, center, radius, c1, angle
|
|
|
|
def prepare_eye(self, frame, full_frame, lms, flip):
|
|
outer_pt = tuple(lms[0])
|
|
inner_pt = tuple(lms[1])
|
|
h, w, _ = frame.shape
|
|
(x1, y1), (x2, y2), center, radius, reference, angle = self.corners_to_eye((outer_pt, inner_pt), w, h, flip)
|
|
im = rotate_image(frame[:, :, ::], angle, reference)
|
|
im = im[int(y1):int(y2), int(x1):int(x2),:]
|
|
if np.prod(im.shape) < 1:
|
|
return None, None, None, None, None, None
|
|
if flip:
|
|
im = cv2.flip(im, 1)
|
|
scale = np.array([(x2 - x1), (y2 - y1)]) / 32.
|
|
im = cv2.resize(im, (32, 32), interpolation=cv2.INTER_LINEAR)
|
|
#im = self.equalize(im)
|
|
if self.debug_gaze:
|
|
if not flip:
|
|
full_frame[0:32, 0:32] = im
|
|
else:
|
|
full_frame[0:32, 32:64] = im
|
|
im = im.astype(np.float32)[:,:,::-1] / self.std - self.mean
|
|
im = np.expand_dims(im, 0)
|
|
im = np.transpose(im, (0,3,2,1))
|
|
return im, x1, y1, scale, reference, angle
|
|
|
|
def extract_face(self, frame, lms):
|
|
lms = np.array(lms)[:,0:2][:,::-1]
|
|
x1, y1 = tuple(lms.min(0))
|
|
x2, y2 = tuple(lms.max(0))
|
|
radius_x = 1.2 * (x2 - x1) / 2.0
|
|
radius_y = 1.2 * (y2 - y1) / 2.0
|
|
radius = np.array((radius_x, radius_y))
|
|
center = (np.array((x1, y1)) + np.array((x2, y2))) / 2.0
|
|
w, h, _ = frame.shape
|
|
x1, y1 = clamp_to_im(center - radius, h, w)
|
|
x2, y2 = clamp_to_im(center + radius + 1, h, w)
|
|
offset = np.array((x1, y1))
|
|
lms = (lms[:, 0:2] - offset).astype(np.int)
|
|
frame = frame[y1:y2, x1:x2]
|
|
return frame, lms, offset
|
|
|
|
def get_eye_state(self, frame, lms):
|
|
if self.no_gaze:
|
|
return [(1.0, 0.0, 0.0, 0.0), (1.0, 0.0, 0.0, 0.0)]
|
|
lms = np.array(lms)
|
|
e_x = [0,0]
|
|
e_y = [0,0]
|
|
scale = [0,0]
|
|
reference = [None, None]
|
|
angle = [0, 0]
|
|
face_frame, lms, offset = self.extract_face(frame, lms)
|
|
(right_eye, e_x[0], e_y[0], scale[0], reference[0], angle[0]) = self.prepare_eye(face_frame, frame, np.array([lms[36,0:2], lms[39,0:2]]), False)
|
|
(left_eye, e_x[1], e_y[1], scale[1], reference[1], angle[1]) = self.prepare_eye(face_frame, frame, np.array([lms[42,0:2], lms[45,0:2]]), True)
|
|
if right_eye is None or left_eye is None:
|
|
return [(1.0, 0.0, 0.0, 0.0), (1.0, 0.0, 0.0, 0.0)]
|
|
both_eyes = np.concatenate((right_eye, left_eye))
|
|
results = self.gaze_model.run([], {self.input_name: both_eyes})
|
|
open = [0, 0]
|
|
open[0] = 1#results[1][0].argmax()
|
|
open[1] = 1#results[1][1].argmax()
|
|
results = np.array(results[0])
|
|
|
|
eye_state = []
|
|
for i in range(2):
|
|
m = int(results[i][0].argmax())
|
|
x = m // 8
|
|
y = m % 8
|
|
conf = float(results[i][0][x,y])
|
|
|
|
off_x = 32.0 * logit(results[i][1][x, y], 8.0)
|
|
off_y = 32.0 * logit(results[i][2][x, y], 8.0)
|
|
if i == 1:
|
|
eye_x = 32.0 * float(x) / 8.0 + off_x
|
|
else:
|
|
eye_x = 32.0 * float(x) / 8.0 + off_x
|
|
eye_y = 32.0 * float(y) / 8.0 + off_y
|
|
|
|
if self.debug_gaze:
|
|
if i == 0:
|
|
frame[int(eye_y), int(eye_x)] = (0, 0, 255)
|
|
frame[int(eye_y+1), int(eye_x)] = (0, 0, 255)
|
|
frame[int(eye_y+1), int(eye_x+1)] = (0, 0, 255)
|
|
frame[int(eye_y), int(eye_x+1)] = (0, 0, 255)
|
|
else:
|
|
frame[int(eye_y), 32+int(eye_x)] = (0, 0, 255)
|
|
frame[int(eye_y+1), 32+int(eye_x)] = (0, 0, 255)
|
|
frame[int(eye_y+1), 32+int(eye_x+1)] = (0, 0, 255)
|
|
frame[int(eye_y), 32+int(eye_x+1)] = (0, 0, 255)
|
|
|
|
if i == 0:
|
|
eye_x = e_x[i] + scale[i][0] * eye_x
|
|
else:
|
|
eye_x = e_x[i] + scale[i][0] * (32. - eye_x)
|
|
eye_y = e_y[i] + scale[i][1] * eye_y
|
|
eye_x, eye_y = rotate(reference[i], (eye_x, eye_y), -angle[i])
|
|
|
|
eye_x = eye_x + offset[0]
|
|
eye_y = eye_y + offset[1]
|
|
eye_state.append([open[i], eye_y, eye_x, conf])
|
|
|
|
return eye_state
|
|
|
|
def assign_face_info(self, results):
|
|
result_coords = []
|
|
for conf, (lms, eye_state) in results:
|
|
result_coords.append(np.array(lms)[:, 0:2].mean(0))
|
|
candidates = [[]] * 4
|
|
max_dist = 2 * np.linalg.norm(np.array([self.width, self.height]))
|
|
for i, face_info in enumerate(self.face_info):
|
|
for j, coord in enumerate(result_coords):
|
|
if face_info.coord is None:
|
|
candidates[i].append((max_dist, i, j))
|
|
else:
|
|
candidates[i].append((np.linalg.norm(face_info.coord - coord), i, j))
|
|
for i, candidate in enumerate(candidates):
|
|
candidates[i] = sorted(candidate)
|
|
found = 0
|
|
target = len(results)
|
|
used_results = {}
|
|
used_faces = {}
|
|
while found < target:
|
|
min_list = min(candidates)
|
|
candidate = min_list.pop(0)
|
|
face_idx = candidate[1]
|
|
result_idx = candidate[2]
|
|
if not result_idx in used_results and not face_idx in used_faces:
|
|
self.face_info[face_idx].update(results[result_idx], result_coords[result_idx], self.frame_count)
|
|
min_list.clear()
|
|
used_results[result_idx] = True
|
|
used_faces[face_idx] = True
|
|
found += 1
|
|
if len(min_list) == 0:
|
|
min_list.append((2 * max_dist, face_idx, result_idx))
|
|
for face_info in self.face_info:
|
|
if face_info.frame_count != self.frame_count:
|
|
face_info.update(None, None, self.frame_count)
|
|
|
|
def predict(self, frame, additional_faces=[]):
|
|
self.frame_count += 1
|
|
start = time.perf_counter()
|
|
im = frame
|
|
|
|
duration_fd = 0.0
|
|
duration_pp = 0.0
|
|
duration_model = 0.0
|
|
duration_pnp = 0.0
|
|
|
|
new_faces = []
|
|
new_faces.extend(self.faces)
|
|
new_faces.extend(additional_faces)
|
|
self.wait_count += 1
|
|
if self.detected == 0:
|
|
start_fd = time.perf_counter()
|
|
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_scan.get_results())
|
|
if self.wait_count >= self.scan_every:
|
|
if self.use_retinaface > 0:
|
|
self.retinaface_scan.background_detect(frame)
|
|
else:
|
|
start_fd = time.perf_counter()
|
|
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
|
|
new_faces.extend(list(self.faceCascade.detectMultiScale(gray, 1.3, 4, 0 | cv2.CASCADE_SCALE_IMAGE, (50, 50))))
|
|
duration_fd = 1000 * (time.perf_counter() - start_fd)
|
|
self.wait_count = 0
|
|
else:
|
|
self.wait_count = 0
|
|
|
|
if len(new_faces) < 1:
|
|
duration = (time.perf_counter() - start) * 1000
|
|
if not self.silent:
|
|
print(f"Took {duration:.2f}ms")
|
|
return []
|
|
|
|
crops = []
|
|
crop_info = []
|
|
num_crops = 0
|
|
for j, (x,y,w,h) in enumerate(new_faces):
|
|
crop_x1 = x - int(w * 0.1)
|
|
crop_y1 = y - int(h * 0.125)
|
|
crop_x2 = x + w + int(w * 0.1)
|
|
crop_y2 = y + h + int(h * 0.125)
|
|
|
|
crop_x1, crop_y1 = clamp_to_im((crop_x1, crop_y1), self.width, self.height)
|
|
crop_x2, crop_y2 = clamp_to_im((crop_x2, crop_y2), self.width, self.height)
|
|
|
|
scale_x = float(crop_x2 - crop_x1) / self.res
|
|
scale_y = float(crop_y2 - crop_y1) / self.res
|
|
|
|
if crop_x2 - crop_x1 < 4 or crop_y2 - crop_y1 < 4:
|
|
continue
|
|
|
|
start_pp = time.perf_counter()
|
|
crop = self.preprocess(im, (crop_x1, crop_y1, crop_x2, crop_y2))
|
|
duration_pp += 1000 * (time.perf_counter() - start_pp)
|
|
crops.append(crop)
|
|
crop_info.append((crop_x1, crop_y1, scale_x, scale_y))
|
|
num_crops += 1
|
|
|
|
groups = group_rects(new_faces)
|
|
|
|
start_model = time.perf_counter()
|
|
outputs = {}
|
|
if num_crops == 1:
|
|
output = self.session.run([], {self.input_name: crops[0]})[0]
|
|
conf, lms = self.landmarks(output[0], crop_info[0])
|
|
outputs[crop_info[0]] = (conf, lms, 0)
|
|
else:
|
|
started = 0
|
|
results = queue.Queue()
|
|
for i in range(min(num_crops, self.max_workers)):
|
|
thread = threading.Thread(target=worker_thread, args=(self.sessions[started], crops[started], crop_info[started], results, self.input_name, started, self))
|
|
started += 1
|
|
thread.start()
|
|
returned = 0
|
|
while returned < num_crops:
|
|
session, conf, lms, sample_crop_info, idx = results.get(True)
|
|
outputs[sample_crop_info] = (conf, lms, idx)
|
|
returned += 1
|
|
if started < num_crops:
|
|
thread = threading.Thread(target=worker_thread, args=(session, crops[started], crop_info[started], results, self.input_name, started, self))
|
|
started += 1
|
|
thread.start()
|
|
|
|
best_results = {}
|
|
for crop in crop_info:
|
|
conf, lms, i = outputs[crop]
|
|
eye_state = self.get_eye_state(frame, lms)
|
|
if conf < self.threshold:
|
|
continue;
|
|
group_id = groups[str(new_faces[i])][0]
|
|
if not group_id in best_results:
|
|
best_results[group_id] = [-1, []]
|
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if conf > self.threshold and best_results[group_id][0] < conf:
|
|
best_results[group_id][0] = conf
|
|
best_results[group_id][1] = (lms, eye_state)
|
|
|
|
sorted_results = sorted(best_results.values(), key=lambda x: x[0], reverse=True)[:self.max_faces]
|
|
self.assign_face_info(sorted_results)
|
|
duration_model = 1000 * (time.perf_counter() - start_model)
|
|
|
|
results = []
|
|
detected = []
|
|
for face_info in self.face_info:
|
|
if face_info.alive and face_info.conf > self.threshold:
|
|
start_pnp = time.perf_counter()
|
|
face_info.success, face_info.quaternion, face_info.euler, face_info.pnp_error, face_info.pts_3d, face_info.lms = self.estimate_depth(face_info)
|
|
face_info.adjust_3d()
|
|
duration_pnp += 1000 * (time.perf_counter() - start_pnp)
|
|
min_x = 10000
|
|
max_x = -1
|
|
min_y = 10000
|
|
max_y = -1
|
|
for (x,y,c) in face_info.lms[0:66]:
|
|
if x > max_x:
|
|
max_x = x
|
|
if y > max_y:
|
|
max_y = y
|
|
if x < min_x:
|
|
min_x = x
|
|
if y < min_y:
|
|
min_y = y
|
|
w = max_x - min_x
|
|
y = max_y - min_y
|
|
bbox = (min_y, min_x, max_y - min_y, max_x - min_x)
|
|
detected.append(bbox)
|
|
face_info.bbox = bbox
|
|
face_info.eye_blink = (eye_state[0][0], eye_state[1][0])
|
|
results.append(face_info)
|
|
|
|
if len(detected) > 0:
|
|
self.detected = len(detected)
|
|
self.faces = detected
|
|
self.discard = 0
|
|
else:
|
|
self.detected = 0
|
|
self.discard += 1
|
|
if self.discard > self.discard_after:
|
|
self.faces = []
|
|
else:
|
|
if self.bbox_growth > 0:
|
|
faces = []
|
|
for (x,y,w,h) in self.faces:
|
|
x -= w * self.bbox_growth
|
|
y -= h * self.bbox_growth
|
|
w += 2 * w * self.bbox_growth
|
|
h += 2 * h * self.bbox_growth
|
|
faces.append((x,y,w,h))
|
|
self.faces = faces
|
|
|
|
duration = (time.perf_counter() - start) * 1000
|
|
if not self.silent:
|
|
print(f"Took {duration:.2f}ms (detect: {duration_fd:.2f}ms, crop: {duration_pp:.2f}, track: {duration_model:.2f}ms, 3D points: {duration_pnp:.2f}ms)")
|
|
|
|
results = sorted(results, key=lambda x: x.id)
|
|
|
|
return results
|