PNP方式求欧拉角

#!/usr/bin/env python

import cv2
import numpy as np
import dlib
import time
import math

detector = dlib.get_frontal_face_detector()
predictor = dlib.shape_predictor("./dlib_models/shape_predictor_68_face_landmarks.dat")
POINTS_NUM_LANDMARK = 68


# 获取最大的人脸
def _largest_face(dets):
    if len(dets) == 1:
        return 0
    face_areas = [(det.right() - det.left()) * (det.bottom() - det.top()) for det in dets]
    largest_area = face_areas[0]
    largest_index = 0
    for index in range(1, len(dets)):
        if face_areas[index] > largest_area:
            largest_index = index
            largest_area = face_areas[index]
    print("largest_face index is {} in {} faces".format(largest_index, len(dets)))
    return largest_index


# 从dlib的检测结果抽取姿态估计需要的点坐标
def get_image_points_from_landmark_shape(landmark_shape):
    if landmark_shape.num_parts != POINTS_NUM_LANDMARK:
        print("ERROR: landmark_shape.num_parts-{}".format(landmark_shape.num_parts))
        return -1, None
    # 2D image points. If you change the image, you need to change vector
    image_points = np.array([
        (landmark_shape.part(30).x, landmark_shape.part(30).y),  # Nose tip
        (landmark_shape.part(8).x, landmark_shape.part(8).y),  # Chin
        (landmark_shape.part(36).x, landmark_shape.part(36).y),  # Left eye left corner
        (landmark_shape.part(45).x, landmark_shape.part(45).y),  # Right eye right corner
        (landmark_shape.part(48).x, landmark_shape.part(48).y),  # Left Mouth corner
        (landmark_shape.part(54).x, landmark_shape.part(54).y)  # Right mouth corner
    ], dtype="double")
    return 0, image_points


# 用dlib检测关键点，返回姿态估计需要的几个点坐标
def get_image_points(img):
    # gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)  # 图片调整为灰色
    dets = detector(img, 0)
    if len(dets) == 0:
        print("ERROR: found no face")
        return -1, None
    largest_index = _largest_face(dets)
    face_rectangle = dets[largest_index]
    landmark_shape = predictor(img, face_rectangle)
    return get_image_points_from_landmark_shape(landmark_shape)


# 获取翻转向量和平移向量
def get_pose_estimation(img_size, image_points):
    # 3D model points.
    model_points = np.array([
        (0.0, 0.0, 0.0),  # Nose tip
        (0.0, -330.0, -65.0),  # Chin
        (-225.0, 170.0, -135.0),  # Left eye left corner
        (225.0, 170.0, -135.0),  # Right eye right corner
        (-150.0, -150.0, -125.0),  # Left Mouth corner
        (150.0, -150.0, -125.0)  # Right mouth corner
    ])
    # Camera internals
    focal_length = img_size[1]
    center = (img_size[1] / 2, img_size[0] / 2)
    camera_matrix = np.array([
        [focal_length, 0, center[0]],
        [0, focal_length, center[1]],
        [0, 0, 1]
    ], dtype="double")
    print("Camera Matrix: \n{}".format(camera_matrix))
    dist_coeffs = np.zeros((4, 1))  # Assuming no lens distortion
    success, rotation_vector, translation_vector = cv2.solvePnP(
        model_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_ITERATIVE
    )
    print("Rotation Vector:\n {}".format(rotation_vector))
    print("Translation Vector:\n {}".format(translation_vector))
    return success, rotation_vector, translation_vector, camera_matrix, dist_coeffs


# 从翻转向量转换为欧拉角
def get_euler_angle(rotation_vector):
    # calculate rotation angles
    theta = cv2.norm(rotation_vector, cv2.NORM_L2)
    # transformed to quaterniond
    w = math.cos(theta / 2)
    x = math.sin(theta / 2) * rotation_vector[0][0] / theta
    y = math.sin(theta / 2) * rotation_vector[1][0] / theta
    z = math.sin(theta / 2) * rotation_vector[2][0] / theta
    ysqr = y * y
    # pitch (x-axis rotation)
    t0 = 2.0 * (w * x + y * z)
    t1 = 1.0 - 2.0 * (x * x + ysqr)
    print('t0: {}, t1: {}'.format(t0, t1))
    pitch = math.atan2(t0, t1)
    # yaw (y-axis rotation)
    t2 = 2.0 * (w * y - z * x)
    t2 = max(min(t2, 1.0), -1.0)
    yaw = math.asin(t2)
    # roll (z-axis rotation)
    t3 = 2.0 * (w * z + x * y)
    t4 = 1.0 - 2.0 * (ysqr + z * z)
    roll = math.atan2(t3, t4)
    print('pitch: {}, yaw: {}, roll: {}'.format(pitch, yaw, roll))
    # 单位转换：将弧度转换为度
    Y = int((pitch / math.pi) * 180)
    X = int((yaw / math.pi) * 180)
    Z = int((roll / math.pi) * 180)
    return 0, Y, X, Z


def get_pose_estimation_in_euler_angle(landmark_shape, img_size):
    try:
        ret, image_points = get_image_points_from_landmark_shape(landmark_shape)
        if ret != 0:
            print('get_image_points failed')
            return -1, None, None, None
        ret, rotation_vector, translation_vector, camera_matrix, dist_coeffs = get_pose_estimation(img_size,
                                                                                                   image_points)
        if not ret:
            print('get_pose_estimation failed')
            return -1, None, None, None
        ret, pitch, yaw, roll = get_euler_angle(rotation_vector)
        if ret != 0:
            print('get_euler_angle failed')
            return -1, None, None, None
        euler_angle_str = 'Y: {}, X: {}, Z: {}'.format(pitch, yaw, roll)
        print(euler_angle_str)
        return 0, pitch, yaw, roll
    except Exception as e:
        print('get_pose_estimation_in_euler_angle exception: {}'.format(e))
        return -1, None, None, None


if __name__ == '__main__':
    cap = cv2.VideoCapture(0)
    frame_skip = 5  # Process every 5th frame
    frame_count = 0

    while cap.isOpened():
        start_time = time.time()
        # Read Image
        ret, im = cap.read()
        if not ret:
            print('read frame failed')
            continue

        frame_count += 1
        if frame_count % frame_skip != 0:
            time.sleep(0.01)  # Small delay to reduce CPU usage
            continue

        size = im.shape
        if size[0] > 700:
            h = size[0] / 3
            w = size[1] / 3
            im = cv2.resize(im, (int(w), int(h)), interpolation=cv2.INTER_CUBIC)
            size = im.shape
        ret, image_points = get_image_points(im)
        if ret != 0:
            print('get_image_points failed')
            continue
        ret, rotation_vector, translation_vector, camera_matrix, dist_coeffs = get_pose_estimation(size, image_points)
        if not ret:
            print('get_pose_estimation failed')
            continue
        used_time = time.time() - start_time
        print("used_time: {} sec".format(round(used_time, 3)))
        ret, pitch, yaw, roll = get_euler_angle(rotation_vector)
        euler_angle_str = 'Y: {}, X: {}, Z: {}'.format(pitch, yaw, roll)
        print(euler_angle_str)
        # Project a 3D point (0, 0, 1000.0) onto the image plane.
        # We use this to draw a line sticking out of the nose
        (nose_end_point2D, jacobian) = cv2.projectPoints(
            np.array([(0.0, 0.0, 1000.0)]), rotation_vector, translation_vector, camera_matrix, dist_coeffs
        )
        for p in image_points:
            cv2.circle(im, (int(p[0]), int(p[1])), 3, (0, 0, 255), -1)
        p1 = (int(image_points[0][0]), int(image_points[0][1]))
        p2 = (int(nose_end_point2D[0][0][0]), int(nose_end_point2D[0][0][1]))
        cv2.line(im, p1, p2, (255, 0, 0), 2)
        # Display image
        # cv2.putText(im, str(rotation_vector), (0, 100), cv2.FONT_HERSHEY_PLAIN, 1, (0, 0, 255), 1)
        cv2.putText(im, euler_angle_str, (0, 120), cv2.FONT_HERSHEY_PLAIN, 1, (0, 0, 255), 1)
        cv2.imshow("Output", im)
        cv2.waitKey(1)