/// <summary>
/// Detect the orientation of the head in the current video frame.
/// </summary>
/// <param name="shape">The landmark points to use</param>
/// <param name="cameraMatrix">The camera calibration matrix to use</param>
/// <param name="rotationMatrix">The detected head rotation matrix</param>
/// <param name="translationMatrix">The detected head translation matrix</param>
/// <param name="coefficientMatrix">The detected coefficient matrix</param>
public static void DetectHeadAngle(
FullObjectDetection shape,
MatOfDouble cameraMatrix,
out Mat rotationMatrix,
out Mat translationMatrix,
out MatOfDouble coefficientMatrix)
{
// build the 3d face model
var model = Utility.GetFaceModel();
// build the landmark point list
var landmarks = new MatOfPoint2d(1, 6,
(from i in new int[] { 30, 8, 36, 45, 48, 54 }
let p = shape.GetPart((uint)i)
select new OpenCvSharp.Point2d(p.X, p.Y)).ToArray());
// build the coefficient matrix
var coeffs = new MatOfDouble(4, 1);
coeffs.SetTo(0);
// find head rotation and translation
Mat rotation = new MatOfDouble();
Mat translation = new MatOfDouble();
Cv2.SolvePnP(model, landmarks, cameraMatrix, coeffs, rotation, translation);
// return results
rotationMatrix = rotation;
translationMatrix = translation;
coefficientMatrix = coeffs;
}
public double[] detectFaceLandmarks(Array2D <RgbPixel> frame)
{
var img = frame;
double[] headParams = new double[3];
var faces = fd.Operator(img);
foreach (var face in faces)
{
var shape = sp.Detect(img, face);
var eyesPoints =
(from i in new int[] { 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47 }
let pt = shape.GetPart((uint)i)
select new OpenCvSharp.Point2d(pt.X, pt.Y)).ToArray();
headParams[2] = calculateEAR(eyesPoints);
var model = Utility.GetFaceModel();
var landmarks = new MatOfPoint2d(1, 6,
(from i in new int[] { 30, 8, 36, 45, 48, 54 }
let pt = shape.GetPart((uint)i)
select new OpenCvSharp.Point2d(pt.X, pt.Y)).ToArray());
var cameraMatrix = Utility.GetCameraMatrix((int)img.Rect.Width, (int)img.Rect.Height);
var coeffs = new MatOfDouble(4, 1);
coeffs.SetTo(0);
Mat rotation = new MatOfDouble();
Mat translation = new MatOfDouble();
Cv2.SolvePnP(model, landmarks, cameraMatrix, coeffs, rotation, translation);
/* var euler = Utility.GetEulerMatrix(rotation);
*
* var yaw = 180 * euler.At<double>(0, 2) / Math.PI;
* var pitch = 180 * euler.At<double>(0, 1) / Math.PI;
* var roll = 180 * euler.At<double>(0, 0) / Math.PI;
*
* pitch = Math.Sign(pitch) * 180 - pitch;
*/
var poseModel = new MatOfPoint3d(1, 1, new Point3d(0, 0, 1000));
var poseProjection = new MatOfPoint2d();
Cv2.ProjectPoints(poseModel, rotation, translation, cameraMatrix, coeffs, poseProjection);
var landmark = landmarks.At <Point2d>(0);
var p = poseProjection.At <Point2d>(0);
headParams[0] = (double)p.X;
headParams[1] = (double)p.Y;
}
return(headParams);
}
/// <summary>
/// Detect the orientation of the head in the current video frame.
/// </summary>
/// <param name="image">The current video frame.</param>
/// <param name="shape">The landmark points.</param>
private void DetectHeadPose(System.Drawing.Bitmap image, FullObjectDetection shape)
{
// build the 3d face model
var model = Utility.GetFaceModel();
// build the landmark point list
var landmarks = new MatOfPoint2d(1, 6,
(from i in new int[] { 30, 8, 36, 45, 48, 54 }
let p = shape.GetPart((uint)i)
select new OpenCvSharp.Point2d(p.X, p.Y)).ToArray());
// build the camera matrix
var cameraMatrix = Utility.GetCameraMatrix(image.Width, image.Height);
// build the coefficient matrix
var coeffs = new MatOfDouble(4, 1);
coeffs.SetTo(0);
// find head rotation and translation
Mat rotation = new MatOfDouble();
Mat translation = new MatOfDouble();
Cv2.SolvePnP(model, landmarks, cameraMatrix, coeffs, rotation, translation);
// find and store euler angles
var euler = Utility.GetEulerMatrix(rotation);
headRotation = euler;
// create a new model point in front of the nose, and project it into 2d
var poseModel = new MatOfPoint3d(1, 1, new Point3d(0, 0, 1000));
var poseProjection = new MatOfPoint2d();
Cv2.ProjectPoints(poseModel, rotation, translation, cameraMatrix, coeffs, poseProjection);
// draw the 6 landmark points
using (Graphics g = Graphics.FromImage(image))
{
foreach (var i in new int[] { 30, 8, 36, 45, 48, 54 })
{
var point = shape.GetPart((uint)i);
g.FillRectangle(Brushes.LightGreen, point.X - 5, point.Y - 5, 10, 10);
}
// draw a line from the tip of the nose pointing in the direction of head pose
var landmark = landmarks.At <Point2d>(0);
var p = poseProjection.At <Point2d>(0);
var pen = new Pen(Brushes.LightGreen, 4);
g.DrawLine(pen, (int)landmark.X, (int)landmark.Y, (int)p.X, (int)p.Y);
}
}
/// <summary>
/// The main program entry point
/// </summary>
/// <param name="args">The command line arguments</param>
static void Main(string[] args)
{
// set up Dlib facedetectors and shapedetectors
using (var fd = Dlib.GetFrontalFaceDetector())
using (var sp = ShapePredictor.Deserialize("shape_predictor_68_face_landmarks.dat"))
{
// load input image
var img = Dlib.LoadImage <RgbPixel>(inputFilePath);
// find all faces in the image
var faces = fd.Operator(img);
foreach (var face in faces)
{
// find the landmark points for this face
var shape = sp.Detect(img, face);
// build the 3d face model
var model = Utility.GetFaceModel();
// get the landmark point we need
var landmarks = new MatOfPoint2d(1, 6,
(from i in new int[] { 30, 8, 36, 45, 48, 54 }
let pt = shape.GetPart((uint)i)
select new OpenCvSharp.Point2d(pt.X, pt.Y)).ToArray());
// build the camera matrix
var cameraMatrix = Utility.GetCameraMatrix((int)img.Rect.Width, (int)img.Rect.Height);
// build the coefficient matrix
var coeffs = new MatOfDouble(4, 1);
coeffs.SetTo(0);
// find head rotation and translation
Mat rotation = new MatOfDouble();
Mat translation = new MatOfDouble();
Cv2.SolvePnP(model, landmarks, cameraMatrix, coeffs, rotation, translation);
// find euler angles
var euler = Utility.GetEulerMatrix(rotation);
// calculate head rotation in degrees
var yaw = 180 * euler.At <double>(0, 2) / Math.PI;
var pitch = 180 * euler.At <double>(0, 1) / Math.PI;
var roll = 180 * euler.At <double>(0, 0) / Math.PI;
// looking straight ahead wraps at -180/180, so make the range smooth
pitch = Math.Sign(pitch) * 180 - pitch;
// calculate if the driver is facing forward
// the left/right angle must be in the -25..25 range
// the up/down angle must be in the -10..10 range
var facingForward =
yaw >= -25 && yaw <= 25 &&
pitch >= -10 && pitch <= 10;
// create a new model point in front of the nose, and project it into 2d
var poseModel = new MatOfPoint3d(1, 1, new Point3d(0, 0, 1000));
var poseProjection = new MatOfPoint2d();
Cv2.ProjectPoints(poseModel, rotation, translation, cameraMatrix, coeffs, poseProjection);
// draw the key landmark points in yellow on the image
foreach (var i in new int[] { 30, 8, 36, 45, 48, 54 })
{
var point = shape.GetPart((uint)i);
var rect = new Rectangle(point);
Dlib.DrawRectangle(img, rect, color: new RgbPixel(255, 255, 0), thickness: 4);
}
// draw a line from the tip of the nose pointing in the direction of head pose
var landmark = landmarks.At <Point2d>(0);
var p = poseProjection.At <Point2d>(0);
Dlib.DrawLine(
img,
new DlibDotNet.Point((int)landmark.X, (int)landmark.Y),
new DlibDotNet.Point((int)p.X, (int)p.Y),
color: new RgbPixel(0, 255, 255));
// draw a box around the face if it's facing forward
if (facingForward)
{
Dlib.DrawRectangle(img, face, color: new RgbPixel(0, 255, 255), thickness: 4);
}
}
// export the modified image
Dlib.SaveJpeg(img, "output.jpg");
}
}