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human
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new face rotation calculations

pull/280/head
Vladimir Mandic 2021-03-28 08:40:39 -04:00
parent e8d082f6ad
commit 491ebe018f
4 changed files with 57 additions and 58 deletions
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9
CHANGELOG.md
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@ -9,11 +9,12 @@ Repository: **<git+https://github.com/vladmandic/human.git>**
## Changelog
### **HEAD -> main** 2021/03/27 mandic00@live.com
### **origin/main** 2021/03/27 mandic00@live.com
### **HEAD -> main** 2021/03/28 animethemegadget@gmail.com
- rotationmatrixtoeulerangle, and fixes
- experimental: add efficientpose
- implement nanodet
- face rotation matrix
- start working on efficientpose
### **1.2.5** 2021/03/25 mandic00@live.com

2
src/draw/draw.ts
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@ -136,7 +136,7 @@ export async function face(inCanvas: HTMLCanvasElement, result: Array<any>) {
const emotion = f.emotion.map((a) => `${Math.trunc(100 * a.score)}% ${a.emotion}`);
labels.push(emotion.join(' '));
}
if (f.angle && f.angle.roll) labels.push(`roll: ${Math.trunc(100 * f.angle.roll) / 100} yaw:${Math.trunc(100 * f.angle.yaw) / 100} pitch:${Math.trunc(100 * f.angle.pitch) / 100}`);
if (f.rotation && f.rotation.angle && f.rotation.angle.roll) labels.push(`roll: ${Math.trunc(100 * f.rotation.angle.roll) / 100} yaw:${Math.trunc(100 * f.rotation.angle.yaw) / 100} pitch:${Math.trunc(100 * f.rotation.angle.pitch) / 100}`);
if (labels.length === 0) labels.push('face');
ctx.fillStyle = drawOptions.color;
for (let i = labels.length - 1; i >= 0; i--) {

102
src/faceall.ts
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@ -8,76 +8,77 @@ import * as faceres from './faceres/faceres';
type Tensor = typeof tf.Tensor;
const calculateFaceAngle = (face, image_size): { pitch: number, yaw: number, row: number, matrix: [number, number, number, number, number, number, number, number, number] } => {
// normalize vector
function normalize(v) {
const calculateFaceAngle = (face, image_size): { angle: { pitch: number, yaw: number, roll: number }, matrix: [number, number, number, number, number, number, number, number, number] } => {
// eslint-disable-next-line no-unused-vars, @typescript-eslint/no-unused-vars
const degrees = (theta) => (theta * 180) / Math.PI;
// const degrees = (theta) => Math.abs(((theta * 180) / Math.PI) % 360);
const normalize = (v) => { // normalize vector
const length = Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
v[0] /= length;
v[1] /= length;
v[2] /= length;
return v;
}
// vector subtraction (a - b)
function subVectors(a, b) {
};
const subVectors = (a, b) => { // vector subtraction (a - b)
const x = a[0] - b[0];
const y = a[1] - b[1];
const z = a[2] - b[2];
return [x, y, z];
}
// vector cross product (a x b)
function crossVectors(a, b) {
};
const crossVectors = (a, b) => { // vector cross product (a x b)
const x = a[1] * b[2] - a[2] * b[1];
const y = a[2] * b[0] - a[0] * b[2];
const z = a[0] * b[1] - a[1] * b[0];
return [x, y, z];
}
// 3x3 rotation matrix to Euler angles
// https://www.geometrictools.com/Documentation/EulerAngles.pdf
function rotationMatrixToEulerAngle(r) {
// r01 is not used yet (no-unused-vars)
// eslint-disable-next-line
const [ r00, r01, r02, r10, r11, r12, r20, r21, r22 ] = r;
const pi = Math.PI;
};
// 3x3 rotation matrix to Euler angles based on https://www.geometrictools.com/Documentation/EulerAngles.pdf
const rotationMatrixToEulerAngle = (r) => {
// eslint-disable-next-line no-unused-vars, @typescript-eslint/no-unused-vars
const [r00, r01, r02, r10, r11, r12, r20, r21, r22] = r;
let thetaX; let thetaY; let thetaZ;
// YZX
if (r10 < 1) {
if (r10 < 1) { // YZX calculation
if (r10 > -1) {
thetaZ = Math.asin(r10);
// thetaY = Math.atan2(-r20, r00);
thetaX = Math.atan2(-r12, r11);
} else {
thetaZ = -pi / 2;
// thetaY = -Math.atan2(r21, r22);
thetaZ = -Math.PI / 2;
thetaX = 0;
}
} else {
thetaZ = pi / 2;
// thetaY = Math.atan2(r21, r22);
thetaZ = Math.PI / 2;
thetaX = 0;
}
// compensate Y rotation (from XYZ rotation order routine) which is not accurate and too small in YZX calculation
if (r02 < 1) {
if (r02 < 1) { // compensate Y rotation which is not accurate and too small in YZX calculation
if (r02 > -1) {
thetaY = Math.asin(r02);
} else {
thetaY = -pi / 2;
thetaY = -Math.PI / 2;
}
} else {
thetaY = pi / 2;
}
// pitch, yaw, row
return [-thetaX, -thetaY, -thetaZ];
thetaY = Math.PI / 2;
}
return { pitch: 2 * -thetaX, yaw: 2 * -thetaY, roll: 2 * -thetaZ };
};
// simple Euler angle calculation based existing 3D mesh
// eslint-disable-next-line no-unused-vars, @typescript-eslint/no-unused-vars
const meshToEulerAngle = (mesh) => {
const radians = (a1, a2, b1, b2) => Math.atan2(b2 - a2, b1 - a1);
// eslint-disable-next-line no-unused-vars, @typescript-eslint/no-unused-vars
const angle = {
// values are in radians in range of -pi/2 to pi/2 which is -90 to +90 degrees
// value of 0 means center
// pitch is face move up/down
pitch: radians(mesh[10][1], mesh[10][2], mesh[152][1], mesh[152][2]), // looking at y,z of top and bottom points of the face
// yaw is face turn left/right
yaw: radians(mesh[33][0], mesh[33][2], mesh[263][0], mesh[263][2]), // looking at x,z of outside corners of leftEye and rightEye
// roll is face lean left/right
roll: radians(mesh[33][0], mesh[33][1], mesh[263][0], mesh[263][1]), // looking at x,y of outside corners of leftEye and rightEye
};
return angle;
};
const mesh = face.meshRaw;
if (!mesh || mesh.length < 300) return { pitch: 0, yaw: 0, row: 0, matrix: [1, 0, 0, 0, 1, 0, 0, 0, 1] };
if (!mesh || mesh.length < 300) return { angle: { pitch: 0, yaw: 0, roll: 0 }, matrix: [1, 0, 0, 0, 1, 0, 0, 0, 1] };
const size = Math.max(face.boxRaw[2] * image_size[0], face.boxRaw[3] * image_size[1]) / 1.5;
// top, bottom, left, right
@ -96,20 +97,14 @@ const calculateFaceAngle = (face, image_size): { pitch: number, yaw: number, row
// Rotation Matrix from Axis Vectors - http://renderdan.blogspot.com/2006/05/rotation-matrix-from-axis-vectors.html
// 3x3 rotation matrix is flatten to array in row-major order. Note that the rotation represented by this matrix is inverted.
const r_matrix = [
const matrix: [number, number, number, number, number, number, number, number, number] = [
x_axis[0], x_axis[1], x_axis[2],
y_axis[0], y_axis[1], y_axis[2],
z_axis[0], z_axis[1], z_axis[2],
];
const [pitch, yaw, row] = rotationMatrixToEulerAngle(r_matrix);
return {
pitch,
yaw,
row,
matrix: r_matrix,
};
const angle = rotationMatrixToEulerAngle(matrix);
// const angle = meshToEulerAngle(mesh);
return { angle, matrix };
};
export const detectFace = async (parent, input): Promise<any> => {
@ -136,7 +131,10 @@ export const detectFace = async (parent, input): Promise<any> => {
emotion: string,
embedding: number[],
iris: number,
angle: { pitch: number, yaw: number, row: number, matrix: [number, number, number, number, number, number, number, number, number] },
rotation: {
angle: { pitch: number, yaw: number, roll: number },
matrix: [number, number, number, number, number, number, number, number, number]
},
tensor: Tensor,
}> = [];
parent.state = 'run:face';
@ -153,7 +151,7 @@ export const detectFace = async (parent, input): Promise<any> => {
continue;
}
const angle = calculateFaceAngle(face, [input.shape[2], input.shape[1]]);
const rotation = calculateFaceAngle(face, [input.shape[2], input.shape[1]]);
// run age, inherits face from blazeface
parent.analyze('Start Age:');
@ -240,7 +238,7 @@ export const detectFace = async (parent, input): Promise<any> => {
embedding: descRes.descriptor || embeddingRes,
emotion: emotionRes,
iris: (irisSize !== 0) ? Math.trunc(irisSize) / 100 : 0,
angle,
rotation,
tensor: parent.config.face.detector.return ? face.image?.squeeze() : null,
});
// dispose original face tensor

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wiki

@ -1 +1 @@
Subproject commit 11e68676b2bf9aadd7ff1e2cc80dd4a70052f9d3
Subproject commit aae30ba3904eb7d76847895e11c55926e35ad00b