5个关键点，和人头姿态：
https://github.com/lyp-deeplearning/MOS-Multi-Task-Face-Detect
头部姿态，人头检测，加头部方向，不依赖人脸：
https://github.com/WIKI2020/FacePose_pytorch
姿态能跑，表情模型下载：
https://pan.baidu.com/s/1oxznkRcP5w8lzYMAjj87-w,accesscode:WIKI
https://github.com/rafabs97/headpose_final
人脸，人头都能检测，还有人头姿态
https://github.com/jacke121/headpose_final
https://github.com/rafabs97/headpose_final
gpu，头部姿态需要8ms
D:\project\face\face_landmark_factory\testing\test_cam_angle.py
根据输入的裁剪图片估计姿势值（倾斜和平移）。
论据：
裁剪图像：包含要估计姿势的头部的图像。
模型：用于寻找姿势的估计器模型。
img_norm：包含在估计前应用于图片的规范化值的元组（mean和std）。
tilt_norm：包含要应用于tilt输出（mean和std）的规范化值的元组。
pan_norm：包含要应用于pan输出（mean和std）的规范化值的元组。
重新缩放：如果需要，用于重新缩放输出的值。
这个有关键点：tf的，8ms
face_landmark_factory
pytorch的：
https://github.com/gnnbest/face_pose_detecting
c++版姿态检测：
#include <dlib/opencv.h>
#include <opencv2/highgui/highgui.hpp>
#include "opencv2/opencv.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/objdetect/objdetect.hpp"
#include <dlib/image_processing/frontal_face_detector.h>
#include <dlib/image_processing/render_face_detections.h>
#include <dlib/image_processing.h>
#include <dlib/gui_widgets.h>
#include "head_pose_estimation_test.h"
using namespace dlib;
using namespace std;
//using namespace cv;
//
//cv::Mat estimateHeadPoseMat;
//cv::Mat estimateHeadPoseMat2;
//int *estimateHeadPosePointIndexs;
static int HeadPosePointIndexs[] = { 36, 39, 42, 45, 30, 48, 54 };
int *estimateHeadPosePointIndexs = HeadPosePointIndexs;
static float estimateHeadPose2dArray[] = {
-0.208764, -0.140359, 0.458815, 0.106082, 0.00859783, -0.0866249, -0.443304, -0.00551231, -0.0697294,
-0.157724, -0.173532, 0.16253, 0.0935172, -0.0280447, 0.016427, -0.162489, -0.0468956, -0.102772,
0.126487, -0.164141, 0.184245, 0.101047, 0.0104349, -0.0243688, -0.183127, 0.0267416, 0.117526,
0.201744, -0.051405, 0.498323, 0.0341851, -0.0126043, 0.0578142, -0.490372, 0.0244975, 0.0670094,
0.0244522, -0.211899, -1.73645, 0.0873952, 0.00189387, 0.0850161, 1.72599, 0.00521321, 0.0315345,
-0.122839, 0.405878, 0.28964, -0.23045, 0.0212364, -0.0533548, -0.290354, 0.0718529, -0.176586,
0.136662, 0.335455, 0.142905, -0.191773, -0.00149495, 0.00509046, -0.156346, -0.0759126, 0.133053,
-0.0393198, 0.307292, 0.185202, -0.446933, -0.0789959, 0.29604, -0.190589, -0.407886, 0.0269739,
-0.00319206, 0.141906, 0.143748, -0.194121, -0.0809829, 0.0443648, -0.157001, -0.0928255, 0.0334674,
-0.0155408, -0.145267, -0.146458, 0.205672, -0.111508, 0.0481617, 0.142516, -0.0820573, 0.0329081,
-0.0520549, -0.329935, -0.231104, 0.451872, -0.140248, 0.294419, 0.223746, -0.381816, 0.0223632,
0.176198, -0.00558382, 0.0509544, 0.0258391, 0.050704, -1.10825, -0.0198969, 1.1124, 0.189531,
-0.0352285, 0.163014, 0.0842186, -0.24742, 0.199899, 0.228204, -0.0721214, -0.0561584, -0.157876,
-0.0308544, -0.131422, -0.0865534, 0.205083, 0.161144, 0.197055, 0.0733392, -0.0916629, -0.147355,
0.527424, -0.0592165, 0.0150818, 0.0603236, 0.640014, -0.0714241, -0.0199933, -0.261328, 0.891053 };
cv::Mat estimateHeadPoseMat = cv::Mat(15, 9, CV_32FC1, estimateHeadPose2dArray);
static float estimateHeadPose2dArray2[] = {
0.139791, 27.4028, 7.02636,
-2.48207, 9.59384, 6.03758,
1.27402, 10.4795, 6.20801,
1.17406, 29.1886, 1.67768,
0.306761, -103.832, 5.66238,
4.78663, 17.8726, -15.3623,
-5.20016, 9.29488, -11.2495,
-25.1704, 10.8649, -29.4877,
-5.62572, 9.0871, -12.0982,
-5.19707, -8.25251, 13.3965,
-23.6643, -13.1348, 29.4322,
67.239, 0.666896, 1.84304,
-2.83223, 4.56333, -15.885,
-4.74948, -3.79454, 12.7986,
-16.1, 1.47175, 4.03941 };
cv::Mat estimateHeadPoseMat2 = cv::Mat(15, 3, CV_32FC1, estimateHeadPose2dArray2);
void drawPose(cv::Mat& img, const cv::Mat& current_shape, float lineL)
{
if (current_shape.empty())
return;
static const int samplePdim = 7;
float miny = 10000000000.0f;
float maxy = 0.0f;
float sumx = 0.0f;
float sumy = 0.0f;
for (int i = 0; i<samplePdim; i++){
sumx += current_shape.at<float>(estimateHeadPosePointIndexs[i]);
float y = current_shape.at<float>(estimateHeadPosePointIndexs[i] + current_shape.cols / 2);
sumy += y;
if (miny > y)
miny = y;
if (maxy < y)
maxy = y;
}
float dist = maxy - miny;
sumx = sumx / samplePdim;
sumy = sumy / samplePdim;
static cv::Mat tmp(1, 2 * samplePdim + 1, CV_32FC1);
for (int i = 0; i<samplePdim; i++){
tmp.at<float>(i) = (current_shape.at<float>(estimateHeadPosePointIndexs[i]) - sumx) / dist;
tmp.at<float>(i + samplePdim) = (current_shape.at<float>(estimateHeadPosePointIndexs[i] + current_shape.cols / 2) - sumy) / dist;
}
tmp.at<float>(2 * samplePdim) = 1.0f;
cv::Mat predict = tmp*estimateHeadPoseMat;
cv::Mat rot(3, 3, CV_32FC1);
for (int i = 0; i<3; i++){
rot.at<float>(i, 0) = predict.at<float>(3 * i);
rot.at<float>(i, 1) = predict.at<float>(3 * i + 1);
rot.at<float>(i, 2) = predict.at<float>(3 * i + 2);
}
//we have get the rot mat
int loc[2] = { 70, 70 };
int thickness = 2;
int lineType = 8;
cv::Mat P = (cv::Mat_<float>(3, 4) <<
0, lineL, 0, 0,
0, 0, -lineL, 0,
0, 0, 0, -lineL);
P = rot.rowRange(0, 2)*P;
P.row(0) += loc[0];
P.row(1) += loc[1];
cv::Point p0(P.at<float>(0, 0), P.at<float>(1, 0));
line(img, p0, cv::Point(P.at<float>(0, 1), P.at<float>(1, 1)), cv::Scalar(255, 0, 0), thickness, lineType);
line(img, p0, cv::Point(P.at<float>(0, 2), P.at<float>(1, 2)), cv::Scalar(0, 255, 0), thickness, lineType);
line(img, p0, cv::Point(P.at<float>(0, 3), P.at<float>(1, 3)), cv::Scalar(0, 0, 255), thickness, lineType);
cv::Vec3d eav;
cv::Mat tmp0, tmp1, tmp2, tmp3, tmp4, tmp5;
double _pm[12] = { rot.at<float>(0, 0), rot.at<float>(0, 1), rot.at<float>(0, 2), 0,
rot.at<float>(1, 0), rot.at<float>(1, 1), rot.at<float>(1, 2), 0,
rot.at<float>(2, 0), rot.at<float>(2, 1), rot.at<float>(2, 2), 0 };
cv::decomposeProjectionMatrix(cv::Mat(3, 4, CV_64FC1, _pm), tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, eav);
std::stringstream ss;
ss << eav[0];
std::string txt = "Pitch: " + ss.str();
cv::putText(img, txt, cv::Point(60, 20), 0.5, 0.5, cv::Scalar(0, 0, 255));
std::stringstream ss1;
ss1 << eav[1];
std::string txt1 = "Yaw: " + ss1.str();
cv::putText(img, txt1, cv::Point(60, 40), 0.5, 0.5, cv::Scalar(0, 0, 255));
std::stringstream ss2;
ss2 << eav[2];
std::string txt2 = "Roll: " + ss2.str();
cv::putText(img, txt2, cv::Point(60, 60), 0.5, 0.5, cv::Scalar(0, 0, 255));
predict = tmp*estimateHeadPoseMat2;
std::stringstream ss3;
ss3 << predict.at<float>(0);
txt = "Pitch: " + ss3.str();
cv::putText(img, txt, cv::Point(340, 20), 0.5, 0.5, cv::Scalar(255, 255, 255));
std::stringstream ss4;
ss4 << predict.at<float>(1);
txt1 = "Yaw: " + ss4.str();
cv::putText(img, txt1, cv::Point(340, 40), 0.5, 0.5, cv::Scalar(255, 255, 255));
std::stringstream ss5;
ss5 << predict.at<float>(2);
txt2 = "Roll: " + ss5.str();
cv::putText(img, txt2, cv::Point(340, 60), 0.5, 0.5, cv::Scalar(255, 255, 255));
// Pitch = eav[0];
// Yaw = eav[1];
// Roll = eav[2];
}
void EstimateHeadPose(cv::Mat ¤t_shape, cv::Vec3d &eav){
if (current_shape.empty())
return;
static const int samplePdim = 7;
float miny = 10000000000.0f;
float maxy = 0.0f;
float sumx = 0.0f;
float sumy = 0.0f;
for (int i = 0; i<samplePdim; i++){
sumx += current_shape.at<float>(estimateHeadPosePointIndexs[i]);
float y = current_shape.at<float>(estimateHeadPosePointIndexs[i] + current_shape.cols / 2);
sumy += y;
if (miny > y)
miny = y;
if (maxy < y)
maxy = y;
}
float dist = maxy - miny;
sumx = sumx / samplePdim;
sumy = sumy / samplePdim;
static cv::Mat tmp(1, 2 * samplePdim + 1, CV_32FC1);
for (int i = 0; i<samplePdim; i++){
tmp.at<float>(i) = (current_shape.at<float>(estimateHeadPosePointIndexs[i]) - sumx) / dist;
tmp.at<float>(i + samplePdim) = (current_shape.at<float>(estimateHeadPosePointIndexs[i] + current_shape.cols / 2) - sumy) / dist;
}
tmp.at<float>(2 * samplePdim) = 1.0f;
cv::Mat predict = tmp*estimateHeadPoseMat2;
eav[0] = predict.at<float>(0);
eav[1] = predict.at<float>(1);
eav[2] = predict.at<float>(2);
std::cout << eav[0] << " " << eav[1] << " " << eav[2] << std::endl;
return;
}
int main()
{
cv::VideoCapture capture(0);
frontal_face_detector detector = get_frontal_face_detector();
shape_predictor pose_model;
deserialize("shape_predictor_68_face_landmarks.dat") >> pose_model;
cv::Mat current_shape(1, 136, CV_32FC1);
while (1)
{
cv::Mat im; //
capture >> im;
if (!im.empty())
{
cv_image<bgr_pixel> cimg(im);
// // Detect faces
std::vector<rectangle> faces = detector(cimg);
// // Find the pose of each face.
std::vector<full_object_detection> shapes;
for (unsigned long i = 0; i < faces.size(); ++i)
shapes.push_back(pose_model(cimg, faces[i]));
for (unsigned int i = 0; i < faces.size(); i++)
if (faces.size() == 1)
{
std::vector<cv::Point> vecFacePts;
const dlib::full_object_detection& d = shapes[0];
for (unsigned int j = 0; j < 68; j++)
vecFacePts.push_back(cv::Point(d.part(j)(0), d.part(j)(1)));
int j = 0;
for (int i = 0; i < vecFacePts.size(); i++)
{
current_shape.at<float>(j, i) = vecFacePts[i].x;
}
for (int i = 0; i < vecFacePts.size(); i++)
{
current_shape.at<float>(j, 68 + i) = vecFacePts[i].y;
}
cv::Vec3d eav;
EstimateHeadPose(current_shape, eav);
drawPose(im, current_shape, 50);
}
}
cv::imshow("Camera", im);
cv::waitKey(1);
}
}
原文链接：https://blog.csdn.net/shakevincent/article/details/80364947