-
Notifications
You must be signed in to change notification settings - Fork 2
/
face-tracking.py
executable file
·248 lines (203 loc) · 10.1 KB
/
face-tracking.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
#!/usr/bin/python
from OpenGL.GLUT import *
from OpenGL.GLU import *
from OpenGL.GL import *
from opencv import *
from math import *
from random import *
import sys
class FaceTracking:
def __init__(self):
self.init_glut()
self.init_cv()
self.init_tracker()
self.init_scene()
def init_glut(self):
glutInit(sys.argv)
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH)
glutInitWindowSize(640, 480)
glutCreateWindow('Face Tracking')
glClearColor(0.0, 0.0, 0.0, 1.0)
glShadeModel(GL_SMOOTH)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
glEnable(GL_DEPTH_TEST)
glEnable(GL_TEXTURE_2D)
glutReshapeFunc(self.on_reshape)
glutDisplayFunc(self.on_display)
glutKeyboardFunc(self.on_key)
glutIdleFunc(self.on_idle)
self.frame_texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.frame_texture);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP)
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL)
self.scene = glGenLists(1)
def init_cv(self):
self.cascade = cvLoadHaarClassifierCascade('res/haarcascade_frontalface_alt2.xml', cvSize(1, 1))
self.storage = cvCreateMemStorage(0)
self.capture = cvCaptureFromCAM(0)
self.frame = cvQueryFrame(self.capture)
self.gray = cvCreateImage(cvSize(self.frame.width, self.frame.height), 8, 1)
self.prev = cvCreateImage(cvSize(self.frame.width, self.frame.height), 8, 1)
self.eigs = cvCreateImage(CvSize(self.frame.width, self.frame.height), 32, 1)
self.temp = cvCreateImage(CvSize(self.frame.width, self.frame.height), 32, 1)
self.pyr_a = cvCreateImage(CvSize(self.frame.width, self.frame.height), 32, 1)
self.pyr_b = cvCreateImage(CvSize(self.frame.width, self.frame.height), 32, 1)
self.features = None
def init_tracker(self):
self.state = 'choose_face'
self.x, self.y, self.distance = 0, 0, 8
self.show_frame = False
def init_scene(self):
def generate_target():
x, y, z = uniform(-7.5, 7.5), uniform(-4.5, 4.5), uniform(-20, 0)
return (x, y, z, (z+20.0)/20.0, 0, 0)
targets = [generate_target() for x in range(0, 50)]
glNewList(self.scene, GL_COMPILE)
glBegin(GL_LINES)
for z in range(-20, 1):
glColor3f(1.0+(z/20.0), 1.0+(z/20.0), 1.0+(z/20.0))
glVertex3f(-8, -5, z); glVertex3f(-8, 5, z)
glVertex3f(-8, -5, z); glVertex3f( 8, -5, z)
glVertex3f( 8, 5, z); glVertex3f(-8, 5, z)
glVertex3f( 8, 5, z); glVertex3f( 8, -5, z)
for x in range(-8, 9):
glColor3f(1.0, 1.0, 1.0); glVertex3f(x, -5, 0); glColor3f(0.0, 0.0, 0.0); glVertex3f(x, -5, -20)
glColor3f(1.0, 1.0, 1.0); glVertex3f(x, 5, 0); glColor3f(0.0, 0.0, 0.0); glVertex3f(x, 5, -20)
for y in range(-5, 6):
glColor3f(1.0, 1.0, 1.0); glVertex3f(-8, y, 0); glColor3f(0.0, 0.0, 0.0); glVertex3f(-8, y, -20)
glColor3f(1.0, 1.0, 1.0); glVertex3f( 8, y, 0); glColor3f(0.0, 0.0, 0.0); glVertex3f( 8, y, -20)
for (x, y, z, r, g, b) in targets:
glColor3f(1.0, 1.0, 1.0); glVertex3f(x, y, z-0.02); glColor3f(0.0, 0.0, 0.0); glVertex3f(x, y, -20)
glEnd()
glBegin(GL_QUADS)
for (x, y, z, r, g, b) in targets:
glColor3f(r, g, b); glVertex3f(0.5+x, 0.5+y, z); glVertex3f(-0.5+x, 0.5+y, z); glVertex3f(-0.5+x, -0.5+y, z); glVertex3f(0.5+x, -0.5+y, z)
glColor3f(r*0.7, g*0.7, b*0.7); glVertex3f(0.6+x, 0.6+y, z-0.01); glVertex3f(-0.6+x, 0.6+y, z-0.01); glVertex3f(-0.6+x, -0.6+y, z-0.01); glVertex3f(0.6+x, -0.6+y, z-0.01)
glEnd()
glEndList()
def on_reshape(self, w, h):
glViewport(0, 0, w, h)
self.width = w
self.height = h
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45.0, w/float(h), 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def on_display(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glTranslatef(0.0, 0.0, 5.0)
glTranslatef(-self.x, -self.y, -self.distance)
glCallList(self.scene);
if self.show_frame:
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, self.width, self.height, 0, -1, 1)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
glBindTexture(GL_TEXTURE_2D, self.frame_texture)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, 640, 480, 0, GL_BGR, GL_UNSIGNED_BYTE, self.frame.data_as_string());
glBegin(GL_POLYGON);
glTexCoord2f(1.0, 0.0); glVertex2f( 0.0, 0.0)
glTexCoord2f(0.0, 0.0); glVertex2f(640.0, 0.0)
glTexCoord2f(0.0, 1.0); glVertex2f(640.0, 480.0)
glTexCoord2f(1.0, 1.0); glVertex2f( 0.0, 480.0)
glEnd();
glBindTexture(GL_TEXTURE_2D, 0)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
glutSwapBuffers()
def on_key(self, k, *args):
if k in ['q', chr(27)]: sys.exit(0)
elif k in ['m', chr(10), chr(13)]: self.state = 'mark_face'
elif k in ['c']: self.state = 'choose_face'
elif k in ['s']: self.init_scene()
elif k in ['f']: self.show_frame = not self.show_frame
def on_idle(self):
self.frame = cvQueryFrame(self.capture)
cvCvtColor(self.frame, self.gray, CV_BGR2GRAY)
cvEqualizeHist(self.gray, self.gray)
if self.state == 'choose_face': self.state_choose_face()
elif self.state == 'mark_face': self.state_mark_face()
elif self.state == 'track_face': self.state_track_face()
cvCopy(self.gray, self.prev)
glutPostRedisplay()
def state_choose_face(self):
best = None
cvClearMemStorage(self.storage)
for face in cvHaarDetectObjects(self.gray, self.cascade, self.storage, 1.1, 2, CV_HAAR_DO_CANNY_PRUNING, cvSize(100, 100)):
conservative = CvRect(face.x+30, face.y+20, face.width-60, face.height-40)
if not best or conservative.height > best.height:
best = conservative
cvRectangle(self.frame,
CvPoint(conservative.x, conservative.y),
CvPoint(conservative.x+conservative.width, conservative.y+conservative.height),
CV_RGB(255, 0, 0), 3, 8, 0)
if best:
cvRectangle(self.frame, CvPoint(best.x, best.y), CvPoint(best.x+best.width, best.y+best.height), CV_RGB(0, 255, 0), 3, 8, 0)
def state_mark_face(self):
best = None
cvClearMemStorage(self.storage)
for face in cvHaarDetectObjects(self.gray, self.cascade, self.storage, 1.1, 2, CV_HAAR_DO_CANNY_PRUNING, cvSize(100, 100)):
conservative = CvRect(face.x+30, face.y+20, face.width-60, face.height-40)
if not best or conservative.height > best.height:
best = conservative
if not best:
return
for image in [self.gray, self.eigs, self.temp]:
cvSetImageROI(image, best)
features = cvGoodFeaturesToTrack(self.gray, self.eigs, self.temp, None, 100, 0.02, 6.0, use_harris=False)
cvFindCornerSubPix(self.gray, features, CvSize(5, 5), CvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 100, 0.01))
self.features = [x for x in features]
avg_x, avg_y, min_y, max_y = 0, 0, 1000, 0
for f in self.features:
f.x, f.y = f.x + best.x, f.y + best.y
min_y, max_y = min(min_y, f.y), max(max_y, f.y)
avg_x, avg_y = avg_x + f.x, avg_y + f.y
avg_x, avg_y = avg_x / len(self.features), avg_y / len(self.features)
for image in [self.gray, self.eigs, self.temp]:
cvResetImageROI(image)
self.start_avg_x = avg_x
self.start_avg_y = avg_y
self.start_x = self.x = 0
self.start_y = self.y = 0
self.start_spread = max_y - min_y
self.start_distance = self.distance = 8.0
self.flags = 0
self.state = 'track_face'
def state_track_face(self):
self.pyr_a, self.pyr_b = self.pyr_b, self.pyr_a
features, status = cvCalcOpticalFlowPyrLK(self.prev, self.gray, self.pyr_a, self.pyr_b, self.features, None, None, CvSize(30, 30), 3, None, None, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 10, 0.01), self.flags)
features = [x for x in features]
avg_x, avg_y, min_y, max_y = 0, 0, 1000, 0
for i in range(0, len(features)):
if ord(status[i]) == 0:
features[i] = None
else:
avg_x, avg_y = avg_x + features[i].x, avg_y + features[i].y
min_y, max_y = min(min_y, features[i].y), max(max_y, features[i].y)
cvCircle(self.frame, cvPoint(int(features[i].x), int(features[i].y)), 3, CV_RGB(0, 0, 255), 1)
features = [x for x in features if x]
avg_x, avg_y = avg_x / len(features), avg_y / len(features)
spread = max_y - min_y
if len(features) < 20:
self.state = 'mark_face'
return
self.features = features
self.x = self.start_x + ((self.start_avg_x - avg_x) / 320.0 * self.distance)
self.y = self.start_y + ((self.start_avg_y - avg_y) / 240.0 * self.distance)
self.distance = self.start_distance * ((self.start_spread / spread) ** 2)
self.flags = CV_LKFLOW_PYR_A_READY
def main(self):
glutMainLoop()
if __name__ == '__main__':
FaceTracking().main()