191 lines
6.8 KiB
Python
191 lines
6.8 KiB
Python
import numpy as np
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import math
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import cv2
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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, a): #runs 22 times per frame
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x, y = point - origin
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cosa = math.cos(-a)
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sina = math.sin(-a)
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qx = origin[0] + cosa * x - sina * y
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qy = origin[1] + sina * x + cosa * y
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return qx, qy
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def clamp (value, minimum, maxium):
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return max(min(value,maxium),minimum)
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def rotate_image(image, a, center): #twice per frame, 0.2ms - 0.25ms each, improved to 0.15ms - 0.25ms
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M = cv2.getRotationMatrix2D((float(center[0]), float(center[1])), math.degrees(a), 1.0)
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(h, w) = image.shape[:2]
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image = cv2.warpAffine(image, M, (w, h), flags = cv2.INTER_CUBIC)
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return image
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class Eye():
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def __init__(self,index):
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self.eye_tracking_frames = 0
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self.index = index
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self.state = [1.,0.,0.,0.]
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self.image = None
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self.info = None
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self.mean = np.float32(np.array([-2.1179, -2.0357, -1.8044]))
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self.std = np.float32(np.array([0.0171, 0.0175, 0.0174]))
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self.results = None
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self.condifence = 0
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self.standardDeviation = 0.
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self.averageEyeConfidence = 1.
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self.averageEyeConfidenceVariance = 0
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self.lastEyeState = [0.,0.]
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self.innerPoint = None
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self.outerPoint = None
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def prepare_eye(self, faceFrame):
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self.state = [1.,0.,0.,0.]
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im = faceFrame
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(x1, y1), (x2, y2), a = self.corners_to_eye( im.shape[1], im.shape[0])
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#rotating an image is expensive and reduces clarity
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#so I just don't if it's a relatively small angle
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if math.degrees(a) > 7.5 and math.degrees(a) < 352.5:
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im = rotate_image(im, a, self.outerPoint)
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im = im[int(y1):int(y2), int(x1):int(x2)]
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if np.prod(im.shape) < 1:
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self.image = None
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self.info = None
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return
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if self.index == 1:
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im = cv2.flip(im, 1)
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scale = [(x2 - x1)/ 32., (y2 - y1)/ 32.]
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im = cv2.resize(im, (32, 32), interpolation=cv2.INTER_CUBIC)
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im = im.astype(np.float32) * self.std + self.mean
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im = np.expand_dims(im, 0)
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self.image = np.transpose(im, (0,3,2,1))
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self.info = [x1, y1, scale, self.outerPoint, a]
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return
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def corners_to_eye(self, w, h):
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c1 = np.array(self.outerPoint)
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c2 = np.array(self.innerPoint)
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a = math.atan2(*(c2 - c1)[::-1]) % (2*math.pi)
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c2 = rotate(c1, c2, a)
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center = (c1 + c2) / 2.0
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radius = np.linalg.norm(c1 - c2)
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radius = [radius * 0.7, radius * 0.6]
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upper_left = clamp_to_im(center - radius, w, h)
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lower_right = clamp_to_im(center + radius, w, h)
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return upper_left, lower_right, a
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def calculateEye(self):
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e_x, e_y, scale, reference, angles = self.info
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confidenceThreshold = self.averageEyeConfidence - 2 * self.standardDeviation
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m = self.results[0].argmax()
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x = m // 8
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y = m % 8
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p=self.results[1][x, y]
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p = clamp(p, 0.00001, 0.9999)
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off_x = math.log(p/(1-p))
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eye_x = 4.0 *(x + off_x)
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p=self.results[2][x, y]
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p = clamp(p, 0.00001, 0.9999)
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off_y = math.log(p/(1-p))
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eye_y = 4.0 * (y + off_y)
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#I'm proud of this
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#if eye movements are below 2 standard deviations of the average the movement is severely limited
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#the eyes are handled independenly because my testing showed that one eye tended to have a higher condifence than the other
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limit = max((self.results[0][x,y]- 0.5)*(2/confidenceThreshold),0)
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if self.results[0][x,y] < confidenceThreshold:
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Delta = eye_y - self.lastEyeState[0]
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eye_y = self.lastEyeState[0] + clamp(Delta, -limit, limit)
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Delta = eye_x - self.lastEyeState[1]
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eye_x = self.lastEyeState[1] + clamp(Delta, -limit, limit)
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self.lastEyeState = [eye_y, eye_x]
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if self.index == 1:
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eye_x = (32. - eye_x)
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eye_x = e_x + scale[0] * eye_x
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eye_y = e_y + scale[1] * eye_y
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eye_x, eye_y = rotate(reference, (eye_x, eye_y), -angles)
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eye_x, eye_y = (eye_x, eye_y) + self.offset
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self.condifence = self.results[0][x,y]
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self.calculateStandardDeviation()
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self.state = [1.0, eye_y, eye_x, self.condifence]
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return
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def calculateStandardDeviation(self):
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self.eye_tracking_frames+=1
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avgRatio = 1/self.eye_tracking_frames
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self.averageEyeConfidence = (self.averageEyeConfidence*(1-avgRatio))+ (self.condifence * avgRatio)
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avgRatio = 1/(self.eye_tracking_frames + 1)
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self.averageEyeConfidenceVariance = pow(((self.condifence - self.averageEyeConfidence) * avgRatio) + (self.averageEyeConfidenceVariance * (1-avgRatio)), 2)
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self.standardDeviation = math.sqrt(self.averageEyeConfidenceVariance)
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class EyeTracker():
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def __init__(self):
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self.leftEye = Eye(1)
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self.rightEye = Eye(0)
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self.mean = np.float32(np.array([-2.1179, -2.0357, -1.8044]))
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self.std = np.float32(np.array([0.0171, 0.0175, 0.0174]))
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self.offset = None
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self.faceCenter = None
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self.faceRadius = None
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def get_eye_state(self, models, frame, lms):
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lms, faceFrame = self.extract_face(frame, np.array(lms)[:,0:2][:,::-1])
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self.rightEye.offset = self.offset
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self.leftEye.offset = self.offset
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self.rightEye.innerPoint = lms[39,0:2]
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self.rightEye.outerPoint = lms[36,0:2]
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self.leftEye.innerPoint = lms[45,0:2]
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self.leftEye.outerPoint = lms[42,0:2]
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self.rightEye.prepare_eye(faceFrame)
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self.leftEye.prepare_eye(faceFrame)
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if self.rightEye.image is None or self.leftEye.image is None:
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return [[1.,0.,0.,0.],[1.,0.,0.,0.]] #Early exit if one of the eyes doesn't have data
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both_eyes = np.concatenate((self.rightEye.image, self.leftEye.image))
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self.rightEye.results, self.leftEye.results = models.gazeTracker.run([], {"input": both_eyes})[0]
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self.rightEye.calculateEye()
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self.leftEye.calculateEye()
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return [self.rightEye.state, self.leftEye.state]
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def extract_face(self, frame, lms):
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x1, y1 = lms.min(0)
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x2, y2 = lms.max(0)
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self.faceRadius = np.array([(x2 - x1), (y2 - y1)])*0.6
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self.faceCenter = (np.array((x1, y1)) + np.array((x2, y2))) / 2.0
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w, h, _ = frame.shape
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x1, y1 = clamp_to_im(self.faceCenter - self.faceRadius , h, w)
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x2, y2 = clamp_to_im(self.faceCenter + self.faceRadius + 1, h, w)
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self.offset = np.array((x1, y1))
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lms = (lms[:, 0:2] - self.offset).astype(int)
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return lms, frame[y1:y2, x1:x2]
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