dlib 获取人脸姿态 6个关键点

源代码：https://github.com/nekoze1004/HeadPoseTrackingTest/blob/cf3ee683bb2399fe018e54077200a8a5009f6de2/HeadPoseTest02.py

  

   

    

     

    
    

     

      import dlib
     
    
   

    

     

    
    

     

      import cv2
     
    
   

    

     

    
    

     

      import numpy as np
     
    
   

    

     

    
    

     

      from imutils import face_utils
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      predictor_path = "./shape_predictor_68_face_landmarks.dat"
     
    
   

    

     

    
    

     

      predictor = dlib.shape_predictor(predictor_path)
     
    
   

    

     

    
    

     

      detector = dlib.get_frontal_face_detector()
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      # 使用する3Dモデルに合わせて変更する必要がある
     
    
   

    

     

    
    

     

      model_points = np.array([
     
    
   

    

     

    
    

     

       (0.0, 0.0, 0.0),  # 鼻先
     
    
   

    

     

    
    

     

       (0.0, -330.0, -65.0),  # 顎
     
    
   

    

     

    
    

     

       (-225.0, 170.0, -135.0),  # 左目左端
     
    
   

    

     

    
    

     

       (225.0, 170.0, -135.0),  # 右目右端
     
    
   

    

     

    
    

     

       (-150.0, -150.0, -125.0),  # 口の左端
     
    
   

    

     

    
    

     

       (150.0, -150.0, -125.0)  # 口の右端
     
    
   

    

     

    
    

     

      ])
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def face_shape_detecter_dlib(img):
     
    
   

    

     

    
    

     

       img_rgb = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
     
    
   

    

     

    
    

     

       result = []
     
    
   

    

     

    
    

     

       points = [30, 8, 45, 36, 54, 48]  # 鼻先、顎、左目左端、右目右端、口の左端、口の右端の番号
     
    
   

    

     

    
    

     

       colors = [(0, 0, 255), (0, 255, 0), (255, 0, 0), (127, 127, 0), (127, 0, 127), (0, 127, 127)]
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       dets, scores, idx = detector.run(img_rgb, 0)
     
    
   

    

     

    
    

     
 if len(dets) > 0:
     
    
   

    

     

    
    

     
 for i, rect in enumerate(dets):
     
    
   

    

     

    
    

     

       shape = predictor(img_rgb, rect)
     
    
   

    

     

    
    

     

       shape = face_utils.shape_to_np(shape)
     
    
   

    

     

    
    

     

       clone = img.copy()
     
    
   

    

     

    
    

     
 # clone = np.zeros_like(img)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 for (x, y) in shape:
     
    
   

    

     

    
    

     

       cv2.circle(clone, (x, y), 2, (127, 127, 127), -1)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       c = 0
     
    
   

    

     

    
    

     
 for i in points:
     
    
   

    

     

    
    

     

       result.append(shape[i])
     
    
   

    

     

    
    

     

       cv2.putText(clone, str(i) + ": " + str(shape[i][0]) + ", " + str(shape[i][1]), (10, (c + 1) * 20),
     
    
   

    

     

    
    

     

       cv2.FONT_HERSHEY_SIMPLEX, 0.7, colors[c], 2)
     
    
   

    

     

    
    

     

       cv2.circle(clone, (shape[i][0], shape[i][1]), 3, colors[c], -1)
     
    
   

    

     

    
    

     

       c += 1
     
    
   

    

     

    
    

     
 # print(result)
     
    
   

    

     

    
    

     
 return result, clone
     
    
   

    

     

    
    

     
 else:
     
    
   

    

     

    
    

     
 return result, img
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def solvePnP(model_points, img_points, camera_matrix):
     
    
   

    

     

    
    

     

       dist_coeffs = np.zeros((4, 1), np.double)  # レンズの歪みが無いと仮定
     
    
   

    

     

    
    

     

       success, rotation_vector, translation_vecter = cv2.solvePnP(model_points, img_points, camera_matrix, dist_coeffs)
     
    
   

    

     

    
    

     
 return rotation_vector, translation_vecter
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def rodrigues(rotation_vector):
     
    
   

    

     

    
    

     

       rotation_matrix, jacobian = cv2.Rodrigues(rotation_vector)
     
    
   

    

     

    
    

     
 return rotation_matrix
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def projectionMat(rotation_matrix):
     
    
   

    

     

    
    

     

       projMat = np.array(
     
    
   

    

     

    
    

     

       [[rotation_matrix[0][0], rotation_matrix[0][1], rotation_matrix[0][2], 0],
     
    
   

    

     

    
    

     

       [rotation_matrix[1][0], rotation_matrix[1][1], rotation_matrix[1][2], 0],
     
    
   

    

     

    
    

     

       [rotation_matrix[2][0], rotation_matrix[2][1], rotation_matrix[2][2], 0]]
     
    
   

    

     

    
    

     

       )
     
    
   

    

     

    
    

     
 return projMat
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def decomposeProjectionMatrix(projMat):
     
    
   

    

     

    
    

     

       a = cv2.decomposeProjectionMatrix(projMat)
     
    
   

    

     

    
    

     
 return a[6]  # pitch, yaw, roll
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      def main():
     
    
   

    

     

    
    

     

       cap = cv2.VideoCapture(0)
     
    
   

    

     

    
    

     

       H = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
     
    
   

    

     

    
    

     

       W = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
     
    
   

    

     

    
    

     

       size = (H, W)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 # カメラ校正を適当に行う
     
    
   

    

     

    
    

     

       focal_length = size[1]
     
    
   

    

     

    
    

     

       center = (size[1] / 2, size[0] / 2)
     
    
   

    

     

    
    

     

       camera_matrix = np.array(
     
    
   

    

     

    
    

     

       [[focal_length, 0, center[0]],
     
    
   

    

     

    
    

     

       [0, focal_length, center[1]],
     
    
   

    

     

    
    

     

       [0, 0, 1]], np.double
     
    
   

    

     

    
    

     

       )
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 while True:
     
    
   

    

     

    
    

     

       ret, frame = cap.read()
     
    
   

    

     

    
    

     

       face_list, dframe = face_shape_detecter_dlib(frame)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 if face_list is not None:
     
    
   

    

     

    
    

     
 try:
     
    
   

    

     

    
    

     

       img_points = np.array([
     
    
   

    

     

    
    

     

       face_list[0],  # 鼻先
     
    
   

    

     

    
    

     

       face_list[1],  # 顎
     
    
   

    

     

    
    

     

       face_list[2],  # 左目左端
     
    
   

    

     

    
    

     

       face_list[3],  # 右目右端
     
    
   

    

     

    
    

     

       face_list[4],  # 口の左端
     
    
   

    

     

    
    

     

       face_list[5]  # 口の右端
     
    
   

    

     

    
    

     

       ], np.double)
     
    
   

    

     

    
    

     
 # print(img_points)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       rotation_vector, translation_vector = solvePnP(model_points, img_points, camera_matrix)
     
    
   

    

     

    
    

     
 # print("Rotation Vector: \n {}".format(rotation_vector))
     
    
   

    

     

    
    

     
 # print("Translation Vecter \n {}".format(translation_vector))
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       rotation_matrix = rodrigues(rotation_vector)
     
    
   

    

     

    
    

     

       projMat = projectionMat(rotation_matrix)
     
    
   

    

     

    
    

     

       pitch, yaw, roll = decomposeProjectionMatrix(projMat)
     
    
   

    

     

    
    

     

       print("\n--------------------\npitch: {}\nyaw : {}\nroll : {}\n".format(pitch, yaw, roll))
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       cv2.putText(dframe, "pitch : " + str(pitch), (10, 160), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (127, 127, 127),
     
    
   

    

     

    
    

     
 2)
     
    
   

    

     

    
    

     

       cv2.putText(dframe, "yaw : " + str(yaw), (10, 180), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (127, 127, 127), 2)
     
    
   

    

     

    
    

     

       cv2.putText(dframe, "roll : " + str(roll), (10, 200), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (127, 127, 127), 2)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 except:
     
    
   

    

     

    
    

     

       print("例外")  # トラッキングが外れた感じですな
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 try:
     
    
   

    

     

    
    

     

       cv2.imshow("img", dframe)
     
    
   

    

     

    
    

     
 except TypeError:
     
    
   

    

     

    
    

     

       cv2.imshow("img", frame)
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

       c = cv2.waitKey(1)
     
    
   

    

     

    
    

     
 if c == 27:  # ESCキー
     
    
   

    

     

    
    

     
 break
     
    
   

    

     

    
    

     

       cap.release()
     
    
   

    

     

    
    

     

       cv2.destroyAllWindows()
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      if __name__ == '__main__':
     
    
   

    

     

    
    

     

       main()
     
    
  
 

文章来源: blog.csdn.net，作者：网奇，版权归原作者所有，如需转载，请联系作者。

原文链接：blog.csdn.net/jacke121/article/details/100716449