def estimate_params(bfm_all, lms, lm_real, id_comps=30, exp_comps=20, reg_a=10., reg_d=10., h=480., w=640.,
steps=10000, lr=.1, threshold=1., R_init=None):
bfm_params, color, triangles = bfm_all
# define parameters to be optimized
alpha, delta = morph.sample_alpha_delta(id_comps=id_comps, exp_comps=exp_comps)
alpha, delta = Variable(alpha, requires_grad=True), Variable(delta, requires_grad=True)
rotation = Variable(torch.rand(3)*2-1, requires_grad=True) if R_init is None else Variable(R_init, requires_grad=True)
translation = Variable(torch.cat((torch.rand(2)*2-1, torch.tensor([-500.]))), requires_grad=True)
optimizer = torch.optim.Adam([alpha, delta, rotation, translation], lr=lr)
losses = []
print("Optimizing...")
# optimize for the specified loss function
for i in range(steps):
optimizer.zero_grad()
G = morph.compute_G(bfm_params, alpha=alpha, delta=delta)
G_pinhole = pinhole.camera_model(G, rotation, translation, h=h, w=w)
lm_pred = utils.get_landmarks(G_pinhole[:, :2], lms)
loss = loss_fn(lm_pred, lm_real, alpha, delta, reg_a=reg_a, reg_d=reg_d)
loss.backward()
optimizer.step()
losses.append(loss.item())
if i > 0 and losses[-2] - loss < threshold:
# stop if difference with prev loss is less than threshold
print(f"... stopping early at iteration {i}")
break
return alpha.detach(), delta.detach(), rotation.detach(), translation.detach(), losses
def pinhole_demo(rotation=None, translation=None, save_fname="pinhole", idx=0):
# assignment: section 3
bfm = h5py.File(MODELS_PATH + BFM_FNAME, "r")
bfm_params, color, triangles = utils.read_bfm(bfm)
lms = utils.read_landmarks(MODELS_PATH + LM_FNAME) # landmark annotations
rotation = torch.tensor([0., 0., 0.]) if rotation is None else torch.tensor(rotation)
translation = torch.tensor([0., 0., -500.]) if translation is None else torch.tensor(translation)
G = morph.compute_G(bfm_params)
G_transformed = pinhole.transform(G, rotation, translation)
G_pinhole = pinhole.camera_model(G, rotation, translation)
save_obj(OBJ_3D_PATH + save_fname + str(idx) + "_3d.obj", G_transformed, color, triangles)
save_obj(OBJ_2D_PATH + save_fname + str(idx) + "_2d.obj", G_pinhole, color, triangles)
print("Rendering...")
img_2d = utils.get_image(G_pinhole, color, triangles) # render img
img_lm = utils.get_landmarks(G_pinhole[:, :2], lms) # landmark coords
utils.show_face(img_2d)
utils.flip_y()
plt.savefig(PINHOLE_PATH + save_fname + str(idx) + ".pdf")
utils.show_landmarks(img_lm, indices=True) # overlays landmarks on image
plt.savefig(PINHOLE_PATH + save_fname + str(idx) + "_lm.pdf")
plt.close()
def cascade_detector(frame_orig, detector):
if not detector in ["haar", "lbp"]:
raise ValueError("Invalid cascade detector")
face_detector = (haar_detector if detector == "haar" else lbp_detector)
frame = frame_orig.copy()
gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
faces = face_detector.detectMultiScale(gray_frame, 1.32, 5)
for face in faces:
landmarks_coord = utils.get_landmarks(gray_frame,
frame,
utils.bb_to_rect(face),
annotate=args["landmarks"])
if args["delaunay_triangulation"]:
utils.annotate_delaunay_triangulation(frame,
landmarks_coord,
line_thickness=2)
if args["region_of_interest"]:
utils.annotate_ROI(frame, landmarks_coord)
if args["bounding_box"]:
x, y, w, h = face
cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 2)
return frame
def multiple_demo(load_fnames, save_fname="multi", reg_a=10., reg_d=10.):
# assignment: section 6
bfm = h5py.File(MODELS_PATH + BFM_FNAME, "r")
bfm_params, color, triangles = utils.read_bfm(bfm)
lms = utils.read_landmarks(MODELS_PATH + LM_FNAME) # landmark annotations
N = len(load_fnames) # number of images to be loaded
imgs_real = [utils.read_image(IMAGE_PATH + fname) for fname in load_fnames] # load all images
hs = [np.size(img, 0) for img in imgs_real] # store all heights
ws = [np.size(img, 1) for img in imgs_real] # store all widths
lms_real = [torch.from_numpy(detect_landmark(img)) for img in imgs_real] # detect all ground truth landmarks
lms_real_flip = [utils.flip_ycoords(lms_real[i], H=hs[i]) for i in range(N)] # flip y axis
alpha, deltas, rotations, translations, loss = multiple.estimate_params((bfm_params, color, triangles),
lms, lms_real_flip, hs=hs, ws=ws,
reg_a=reg_a, reg_d=reg_d)
utils.save_loss(loss, save_fname=save_fname + "_loss.pdf")
# save results for each image
for i in range(N):
print(load_fnames[i] + ":") # print stats for each image (alpha is the same for each img)
utils.print_stats(alpha, deltas[i], rotations[i], translations[i])
G = morph.compute_G(bfm_params, alpha=alpha, delta=deltas[i])
G_transformed = pinhole.transform(G, rotations[i], translations[i])
G_pinhole = pinhole.camera_model(G, rotations[i], translations[i], h=hs[i], w=ws[i])
color = texture.get_color(imgs_real[i], G_pinhole[:, :2])
print("Rendering...")
img_pred = utils.get_image(G_pinhole, color, triangles, h=hs[i], w=ws[i])
utils.show_face(img_pred)
utils.flip_y()
plt.savefig(PINHOLE_PATH + save_fname + str(i) + ".pdf")
plt.close()
save_obj(OBJ_3D_PATH + save_fname + str(i) + "_3d.obj", G_transformed, color, triangles)
save_obj(OBJ_2D_PATH + save_fname + str(i) + "_2d.obj", G_pinhole, color, triangles)
lm_pred_flip = utils.get_landmarks(G_pinhole[:, :2], lms)
lm_pred = utils.flip_ycoords(lm_pred_flip, H=hs[i])
utils.show_face(imgs_real[i], white_background=False)
utils.show_landmarks(lms_real[i], indices=False, label="ground-truth")
try:
utils.show_landmarks(lm_pred, indices=False, label="model")
except TypeError:
print("... unable to show predicted landmarks")
plt.savefig(PINHOLE_PATH + save_fname + str(i) + "_lm.pdf")
plt.close()
def texture_demo(load_fname="yke_neutral.jpeg", save_fname="texture", reg_a=10., reg_d=10., idx=0):
# assignment: section 5
bfm = h5py.File(MODELS_PATH + BFM_FNAME, "r")
bfm_params, color, triangles = utils.read_bfm(bfm)
lms = utils.read_landmarks(MODELS_PATH + LM_FNAME) # landmark annotations
img_real = utils.read_image(IMAGE_PATH + load_fname) # load image of face we want to reconstruct
h, w, _ = np.shape(img_real)
lm_real = torch.from_numpy(detect_landmark(img_real)) # detect ground-truth landmarks
lm_real_flip = utils.flip_ycoords(lm_real, H=h) # flip y axis because img is upside down compared to pinhole output
alpha, delta, rotation, translation, loss = latent.estimate_params((bfm_params, color, triangles),
lms, lm_real_flip, h=h, w=w,
reg_a=reg_a, reg_d=reg_d)
utils.print_stats(alpha, delta, rotation, translation) # latent params statistics
utils.save_loss(loss, save_fname=save_fname + str(idx) + "_loss.pdf")
G = morph.compute_G(bfm_params, alpha=alpha, delta=delta)
G_pinhole = pinhole.camera_model(G, rotation, translation, h=h, w=w)
color = texture.get_color(img_real, G_pinhole[:, :2]) # obtain vertex colors from provided image
save_obj(OBJ_3D_PATH + save_fname + str(idx) + "_3d.obj", G, color, triangles)
save_obj(OBJ_2D_PATH + save_fname + str(idx) + "_2d.obj", G_pinhole, color, triangles)
print("Rendering...")
img_pred = utils.get_image(G_pinhole, color, triangles, h=h, w=w)
utils.show_face(img_pred)
utils.flip_y()
plt.savefig(PINHOLE_PATH + save_fname + str(idx) + ".pdf")
plt.close()
lm_pred_flip = utils.get_landmarks(G_pinhole[:, :2], lms)
lm_pred = utils.flip_ycoords(lm_pred_flip, H=h)
utils.show_face(img_real, white_background=False)
utils.show_landmarks(lm_real, indices=False, label="ground-truth")
try:
utils.show_landmarks(lm_pred, indices=False, label="model")
except TypeError:
print("... unable to show predicted landmarks")
plt.savefig(PINHOLE_PATH + save_fname + str(idx) + "_lm.pdf")
plt.close()
def dlib_detector(frame_orig):
frame = frame_orig.copy()
gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
faces = hog_detector(gray_frame)
for face in faces:
landmarks_coord = utils.get_landmarks(gray_frame,
frame,
face,
annotate=args["landmarks"])
if args["delaunay_triangulation"]:
utils.annotate_delaunay_triangulation(frame,
landmarks_coord,
line_thickness=2)
if args["region_of_interest"]:
utils.annotate_ROI(frame, landmarks_coord)
if args["bounding_box"]:
x, y, w, h = rect_to_bb(face)
cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 2)
return frame
def build_from_directory(self):
print("Extracting KeyLandmarks Distances...")
kl_distances = []
for dir_ in os.listdir(self.path):
if dir_ in self.classes:
print(f"processing {dir_} images...")
for f in os.listdir(self.path + dir_ + "/"):
if not dir_ + "/" + f in self.img_to_exclude:
gray_img = cv2.imread(self.path + dir_ + "/" + f, 0)
gray_img = cv2.resize(gray_img, (96,96))
faces = face_detector(gray_img)
landmarks_coord = utils.get_landmarks(gray_img, gray_img, faces[0])
key_landmarks_coords = utils.get_keylandmarks_coords(landmarks_coord)
all_kl_dists = utils.get_keylandmarks_distances(key_landmarks_coords)
kl_distances.append(all_kl_dists)
return np.array(kl_distances)
def dnn_detector(frame_orig):
frame = frame_orig.copy()
frame_height = frame.shape[0]
frame_width = frame.shape[1]
blob = cv2.dnn.blobFromImage(frame, 1.0, (300, 300), [104, 117, 123],
False, False)
net.setInput(blob)
detections = net.forward()
bboxes = []
for i in range(detections.shape[2]):
confidence = detections[0, 0, i, 2]
if confidence > conf_threshold:
x1 = int(detections[0, 0, i, 3] * frame_width)
y1 = int(detections[0, 0, i, 4] * frame_height)
x2 = int(detections[0, 0, i, 5] * frame_width)
y2 = int(detections[0, 0, i, 6] * frame_height)
bboxes.append([x1, y1, x2, y2])
face = [x1, y1, x2 - x1, y2 - y1]
gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
landmarks_coord = utils.get_landmarks(gray_frame,
frame,
utils.bb_to_rect(face),
annotate=args["landmarks"])
if args["delaunay_triangulation"]:
utils.annotate_delaunay_triangulation(frame,
landmarks_coord,
line_thickness=2)
if args["region_of_interest"]:
utils.annotate_ROI(frame, landmarks_coord)
if args["bounding_box"]:
cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 0), 2)
return frame
def main(args):
# Get landmarks target points
target_lmks = []
for target in args.targets:
print("Extracting landmarks from target ", target)
target_img = im2np(target)
target = Tensor(detect_landmark(target_img))
if args.plotting:
plt.imshow(target_img)
lmks = target.detach().numpy()
plt.scatter(lmks[:, 0], lmks[:, 1])
plt.show()
target_lmks.append(torch_norm(target * -1))
# Get full pipeline model
print("Init pipeline model for rendering")
pipeline = Pipeline(
renderer3D=Render3DPipe(
basis=get_face_basis(h5py.File(args.prior, 'r'), args.size_id,
args.size_exp),
transform=FaceTransform(),
),
rendererUV=RenderUVPipe(
camera=Camera(args.fov, args.aratio, args.near_far),
normalizer=UVNormalizer(),
),
lmksPipe=LandmarkPipe(landmarks=get_landmarks(args.landmarks)))
# Init Loss module
print("Constructing full loss end-to-end pipeline")
loss = FitLoss(pipeline=pipeline,
L_lan=LandmarkLoss(),
L_reg=RegularizationLoss(*args.reg))
# Init random latent variavbles
print("Init latent variables")
def init_latent(size):
return Variable(trand(size) * 2 - 1, requires_grad=True)
def set_latent(val):
return Variable(Tensor(np.array(val)), requires_grad=True)
alpha = init_latent(args.size_id)
deltas = []
transforms = []
for _ in range(len(args.targets)):
deltas.append(init_latent(args.size_exp))
transforms.append(
(init_latent(3) if args.omega is None else set_latent(args.omega),
init_latent(3) if args.t is None else set_latent(args.t)))
# Init optimizer
optim = Adam([alpha] + deltas +
[i for transform in transforms for i in transform],
lr=args.lr)
# Fit latent parameters
print("Starting to fit latent parameters")
if args.plotting:
for delta, transform, target in zip(deltas, transforms, target_lmks):
_ = loss((alpha, delta), transform, target)
plot_status(loss.pred.detach().numpy(),
target.detach().numpy(),
title="Initial Setting")
epoch_bar = tqdm(range(args.epochs))
for epoch in epoch_bar:
# Reset gradients
optim.zero_grad()
err_tot = 0
for delta, transform, target in zip(deltas, transforms, target_lmks):
# Compute loss
err = loss((alpha, delta), transform, target)
# Backpropagate loss
err.backward()
err_tot += err.item()
# Update estimate of latent variables
optim.step()
# Display results
epoch_bar.set_description("err: %.3f" % (err_tot / len(args.targets)))
if args.plotting:
for delta, transform, target in zip(deltas, transforms, target_lmks):
_ = loss((alpha, delta), transform, target)
plot_status(loss.pred.detach().numpy(),
target.detach().numpy(),
title="Final Setting")
with open(args.output, "wb") as f:
pickle.dump(((alpha, deltas), transforms), f)
def main(unused_argv):
"""MAIN"""
est_config = tf.estimator.RunConfig(
save_checkpoints_steps=5000, # Save checkpoints every 100 steps.
keep_checkpoint_max=10, # Retain the 10 most recent checkpoints.
save_summary_steps=100,
)
exporter = tf.estimator.BestExporter(
serving_input_receiver_fn=model._serving_input_receiver_fn,
exports_to_keep=5)
train_spec = tf.estimator.TrainSpec(input_fn=model._train_input_fn,
max_steps=TRAIN_MAX_STEPS)
eval_spec = tf.estimator.EvalSpec(input_fn=model._eval_input_fn,
steps=1000,
throttle_secs=15 * 60,
exporters=exporter)
estimator = tf.estimator.Estimator(model_fn=model.cnn_model_fn,
model_dir=MODEL_DIR,
config=est_config)
# Choose mode between Train, Evaluate and Predict
mode_dict = {
'train': tf.estimator.ModeKeys.TRAIN,
'eval': tf.estimator.ModeKeys.EVAL,
'predict': tf.estimator.ModeKeys.PREDICT
}
mode = 'export' #mode_dict['export']
if mode == mode_dict['train']:
tf.estimator.train_and_evaluate(estimator, train_spec, eval_spec)
elif mode == mode_dict['eval']:
evaluation = estimator.evaluate(input_fn=model._eval_input_fn)
tf.print(evaluation)
elif mode == "export":
estimator.export_saved_model('%s/saved_model' % EXPORT_DIR,
model._serving_input_receiver_fn)
elif mode == mode_dict['predict']:
predictions = estimator.predict(input_fn=model._predict_input_fn,
yield_single_examples=False)
for result in predictions:
filename = result['name'][0].decode('ASCII')
print("Evaluating %s" % filename)
img = result['image'] #cv2.imread(filename)
heatmaps = result['heatmap']
pts = get_landmarks(heatmaps[0][-1])
print("Landmark Points" % pts)
for i, heatmap in enumerate(heatmaps):
heatmap = np.sum(heatmap[0], axis=2)
# heatmap = (heatmap / -255).astype(np.uint8)
heatmap = (heatmap - heatmap.min()) / (heatmap.max() -
heatmap.min())
heatmap = cv2.resize(heatmap, (256, 256))
cv2.imshow("%d" % i, heatmap)
for pt in pts:
cv2.circle(img[0], (int(pt[1]), int(pt[0])), 2, (0, 255, 0),
-1, cv2.LINE_AA)
cv2.imshow('result', img[0])
cv2.waitKey(0)
image_paths = glob(images_dir + "*.jpg")
return image_paths
if __name__ == "__main__":
image_paths = load_images()
predict_fn = load_model_predictor()
for img_path in tqdm(image_paths):
img = cv2.imread(img_path)
img = cv2.resize(img, (256, 256))
predictions = predict_fn({"image": img, "name": img_path})
heatmaps = predictions['heatmap']
pts = get_landmarks(heatmaps[-1][0])
for pt in pts:
cv2.circle(img, (int(pt[1]), int(pt[0])), 2, (0, 255, 0), -1,
cv2.LINE_AA)
for heatmap in heatmaps:
heatmap = np.sum(heatmap[0], axis=2)
# heatmap = (heatmap / -255).astype(np.uint8)
heatmap = (heatmap - heatmap.min()) / (heatmap.max() -
heatmap.min())
heatmap = cv2.resize(heatmap, (256, 256))
cv2.imshow("hmap", heatmap)
cv2.imshow("result", img)
cv2.waitKey(0)
def estimate_params(bfm_all,
lms,
lms_real,
id_comps=30,
exp_comps=20,
reg_a=10.,
reg_d=10.,
hs=480.,
ws=640.,
steps=10000,
lr=.1,
threshold=1.):
bfm_params, color, triangles = bfm_all
lms_real = lms_real if isinstance(lms_real, list) else [lms_real]
hs = hs if isinstance(hs, list) else [hs]
ws = ws if isinstance(ws, list) else [ws]
N = len(lms_real)
deltas = []
for i in range(N):
alpha, delta = morph.sample_alpha_delta(id_comps=id_comps,
exp_comps=exp_comps)
deltas.append(delta)
alpha = Variable(alpha, requires_grad=True)
deltas = [Variable(delta, requires_grad=True) for delta in deltas]
rotations = [
Variable(torch.rand(3) * 2 - 1, requires_grad=True) for i in range(N)
]
translations = [
Variable(torch.cat((torch.rand(2) * 2 - 1, torch.tensor([-500.]))),
requires_grad=True) for i in range(N)
]
optimizer = torch.optim.Adam([alpha] + deltas + rotations + translations,
lr=lr)
losses = []
print("Optimizing...")
# optimize for the specified loss function
for i in range(steps):
optimizer.zero_grad()
Gs = [
morph.compute_G(bfm_params, alpha=alpha, delta=delta)
for delta in deltas
]
Gs_pinhole = [
pinhole.camera_model(Gs[i],
rotations[i],
translations[i],
h=hs[i],
w=ws[i]) for i in range(N)
]
lms_pred = [
utils.get_landmarks(G_pinhole[:, :2], lms)
for G_pinhole in Gs_pinhole
]
loss = loss_fn(lms_pred,
lms_real,
alpha,
deltas,
reg_a=reg_a,
reg_d=reg_d)
loss.backward()
optimizer.step()
losses.append(loss.item())
if i > 0 and losses[-2] - loss < threshold:
# stop if difference with prev loss is less than threshold
print(f"... stopping early at iteration {i}")
break
return alpha.detach(), [delta.detach() for delta in deltas], \
[rotation.detach() for rotation in rotations], \
[translation.detach() for translation in translations], \
losses
while cap.isOpened():
success, image = cap.read()
if not success:
print("Ignoring empty camera frame.")
# If loading a video, use 'break' instead of 'continue'.
continue
# Flip the image horizontally for a later selfie-view display
image = cv2.flip(image, 1)
# search for faces in the image
results = pose_detector.process(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
# Draw the face detection annotations on the image.
if results.pose_landmarks is not None:
kpts = get_landmarks(results.pose_landmarks)
lft, rgt = calc_arm_movement(kpts)
mesg = json.dumps({'x':lft, 'y':rgt})
s.sendall(mesg.encode())
# Draw the pose annotations on the image.
mp_drawing.draw_landmarks(image, results.pose_landmarks,
mp.solutions.pose.POSE_CONNECTIONS)
cv2.imshow('MediaPipe Pose Recognition', image)
if cv2.waitKey(5) & 0xFF == 27:
break
cap.release()
