mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
Merge 9c55b26a69 into daf26f9fc8
This commit is contained in:
commit
b335b43724
@ -44,6 +44,12 @@
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"alignment": 16,
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"optimize": "Performance"
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},
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{
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"type": "tflite",
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"path": "{TOP}/lib/models/face_landmarks_192.tflite",
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"alignment": 16,
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"optimize": "Performance"
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},
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{
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"type": "tflite",
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"path": "{TOP}/lib/models/palm_detection_full_192.tflite",
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@ -26,6 +26,12 @@
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"alignment": 32,
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"profile": "default"
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},
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{
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"type": "tflite",
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"path": "{TOP}/lib/models/face_landmarks_192.tflite",
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"alignment": 32,
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"profile": "default"
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},
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{
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"type": "tflite",
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"path": "{TOP}/lib/models/palm_detection_full_192.tflite",
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BIN
lib/models/face_landmarks_192.tflite
Normal file
BIN
lib/models/face_landmarks_192.tflite
Normal file
Binary file not shown.
@ -26,20 +26,16 @@ while True:
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img = csi0.snapshot()
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# faces is a list of ((x, y, w, h), score, keypoints) tuples
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faces = model.predict([img])
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for r, score, keypoints in model.predict([img]):
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ml.utils.draw_predictions(img, [r], ("face",), ((0, 0, 255),), format=None)
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# Draw bounding boxes around the detected faces and keypoints.
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if faces:
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for r, score, keypoints in faces[0]:
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ml.utils.draw_predictions(img, [r], ("face",), ((0, 0, 255),), format=None)
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# keypoints is a ndarray of shape (6, 2)
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# 0 - right eye (x, y)
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# 1 - left eye (x, y)
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# 2 - nose (x, y)
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# 3 - mouth (x, y)
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# 4 - right ear (x, y)
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# 5 - left ear (x, y)
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ml.utils.draw_keypoints(img, keypoints, color=(255, 0, 0))
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# keypoints is a ndarray of shape (6, 2)
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# 0 - right eye (x, y)
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# 1 - left eye (x, y)
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# 2 - nose (x, y)
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# 3 - mouth (x, y)
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# 4 - right ear (x, y)
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# 5 - left ear (x, y)
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ml.utils.draw_keypoints(img, keypoints, color=(255, 0, 0))
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print(clock.fps(), "fps")
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@ -31,24 +31,20 @@ while True:
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img = csi0.snapshot()
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# palms is a list of ((x, y, w, h), score, keypoints) tuples
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palms = model.predict([img])
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for r, score, keypoints in model.predict([img]):
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ml.utils.draw_predictions(img, [r], ("palm",), ((0, 0, 255),), format=None)
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# Draw bounding boxes around the detected palms and keypoints.
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if palms:
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for r, score, keypoints in palms[0]:
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ml.utils.draw_predictions(img, [r], ("palm",), ((0, 0, 255),), format=None)
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# keypoints is a ndarray of shape (7, 2)
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# 0 - wrist (x, y)
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# 1 - index finger mcp (x, y)
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# 2 - middle finger mcp (x, y)
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# 3 - ring finger mcp (x, y)
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# 4 - pinky mcp (x, y)
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# 5 - thumb cmc (x, y)
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# 6 - thumb mcp (x, y)
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#
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# mcp = Metacarpophalangeal Joint - the knuckle
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# cmc = Carpometacarpal Joint - the base of the thumb
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ml.utils.draw_skeleton(img, keypoints, palm_lines, kp_color=(255, 0, 0), line_color=(0, 255, 0))
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# keypoints is a ndarray of shape (7, 2)
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# 0 - wrist (x, y)
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# 1 - index finger mcp (x, y)
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# 2 - middle finger mcp (x, y)
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# 3 - ring finger mcp (x, y)
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# 4 - pinky mcp (x, y)
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# 5 - thumb cmc (x, y)
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# 6 - thumb mcp (x, y)
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#
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# mcp = Metacarpophalangeal Joint - the knuckle
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# cmc = Carpometacarpal Joint - the base of the thumb
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ml.utils.draw_skeleton(img, keypoints, palm_lines, kp_color=(255, 0, 0), line_color=(0, 255, 0))
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print(clock.fps(), "fps")
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@ -0,0 +1,50 @@
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# This work is licensed under the MIT license.
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# Copyright (c) 2013-2025 OpenMV LLC. All rights reserved.
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# https://github.com/openmv/openmv/blob/master/LICENSE
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#
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# This example shows off Google's MediaPipe Face Landmark Detection model for multiple faces.
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#
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# NOTE: This exaxmple requires an OpenMV Cam with an NPU like the AE3 or N6 to run real-time.
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import csi
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import time
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import ml
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from ml.preprocessing import Normalization
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from ml.postprocessing.mediapipe import BlazeFace
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from ml.postprocessing.mediapipe import FaceLandmarks
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# Initialize the sensor.
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csi0 = csi.CSI()
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csi0.reset()
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csi0.pixformat(csi.RGB565)
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csi0.framesize(csi.VGA)
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csi0.window((400, 400))
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# Load built-in face detection model
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face_detection = ml.Model("/rom/blazeface_front_128.tflite", postprocess=BlazeFace(threshold=0.4))
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print(face_detection)
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# Load built-in face landmark model
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face_landmarks = ml.Model("/rom/face_landmarks_192.tflite", postprocess=FaceLandmarks(threshold=0.4))
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print(face_landmarks)
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clock = time.clock()
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while True:
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clock.tick()
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img = csi0.snapshot()
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# faces is a list of ((x, y, w, h), score, keypoints) tuples
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for r, score, keypoints in face_detection.predict([img]):
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# rect is (x, y, w, h) - enlarge by 2x for face landmarks model
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wider_rect = (r[0] - r[2] // 2, r[1] - r[3] // 2, r[2] * 2, r[3] * 2)
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# Operate on just the ROI of the detected face
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n = Normalization(roi=wider_rect)
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# marks is a list of ((x, y, w, h), score, keypoints) tuples
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for r, score, keypoints in face_landmarks.predict([n(img)]):
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ml.utils.draw_predictions(img, [r], ("face",), ((0, 0, 255),), format=None)
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# keypoints is a ndarray of shape (468, 3) where each keypoint is (x, y, z)
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ml.utils.draw_keypoints(img, keypoints, radius=0, color=(255, 0, 0))
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print(clock.fps(), "fps")
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@ -0,0 +1,71 @@
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# This work is licensed under the MIT license.
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# Copyright (c) 2013-2025 OpenMV LLC. All rights reserved.
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# https://github.com/openmv/openmv/blob/master/LICENSE
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#
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# This example shows off Google's MediaPipe Face Landmark Detection model for a single face.
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#
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# NOTE: This exaxmple requires an OpenMV Cam with an NPU like the AE3 or N6 to run real-time.
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import csi
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import time
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import ml
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from ml.preprocessing import Normalization
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from ml.postprocessing.mediapipe import BlazeFace
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from ml.postprocessing.mediapipe import FaceLandmarks
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# Initialize the sensor.
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csi0 = csi.CSI()
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csi0.reset()
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csi0.pixformat(csi.RGB565)
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csi0.framesize(csi.VGA)
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csi0.window((400, 400))
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# Load built-in face detection model
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face_detection = ml.Model("/rom/blazeface_front_128.tflite", postprocess=BlazeFace(threshold=0.4))
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print(face_detection)
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# Load built-in face landmark model
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face_landmarks = ml.Model("/rom/face_landmarks_192.tflite", postprocess=FaceLandmarks(threshold=0.4))
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print(face_landmarks)
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# Tracking vars.
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n = None
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clock = time.clock()
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while True:
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clock.tick()
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img = csi0.snapshot()
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if n is None:
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# faces is a list of ((x, y, w, h), score, keypoints) tuples
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for r, score, keypoints in face_detection.predict([img]):
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# rect is (x, y, w, h) - enlarge by 2x for face landmarks model
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wider_rect = (r[0] - r[2] // 2, r[1] - r[3] // 2, r[2] * 2, r[3] * 2)
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# Operate on just the ROI of the detected face
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n = Normalization(roi=wider_rect)
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else:
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# marks is a list of ((x, y, w, h), score, keypoints) tuples
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marks = face_landmarks.predict([n(img)])
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# No faces detected, reset the tracker.
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if not marks:
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n = None
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continue
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# Draw bounding boxes around the detected faces and keypoints.
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for r, score, keypoints in marks:
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ml.utils.draw_predictions(img, [r], ("face",), ((0, 0, 255),), format=None)
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# keypoints is a ndarray of shape (468, 3) where each keypoint is (x, y, z)
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ml.utils.draw_keypoints(img, keypoints, radius=0, color=(255, 0, 0))
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# Center new_wider_rect on face for tracking
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new_wider_rect = (r[0] + (r[2] // 2) - (wider_rect[2] // 2),
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r[1] + (r[3] // 2) - (wider_rect[3] // 2),
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wider_rect[2],
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wider_rect[3])
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# Operate on just the ROI of the detected face
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n = Normalization(roi=new_wider_rect)
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print(clock.fps(), "fps")
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@ -39,34 +39,31 @@ while True:
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img = csi0.snapshot()
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# palms is a list of ((x, y, w, h), score, keypoints) tuples
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palms = palm_detection.predict([img])
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for r, score, keypoints in palm_detection.predict([img]):
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# rect is (x, y, w, h) - enlarge by 3x for hand landmarks model
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wider_rect = (r[0] - r[2], r[1] - r[3], r[2] * 3, r[3] * 3)
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# Operate on just the ROI of the detected palm
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n = Normalization(roi=wider_rect)
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if palms:
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for r, score, keypoints in palms[0]:
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# rect is (x, y, w, h) - enlarge by 3x for hand landmarks model
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wider_rect = (r[0] - r[2], r[1] - r[3], r[2] * 3, r[3] * 3)
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# Operate on just the ROI of the detected palm
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n = Normalization(roi=wider_rect)
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# hands is a list of ((x, y, w, h), score, keypoints) tuples
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# index 0 (if present) is left hand
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# index 1 (if present) is right hand
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hands = hand_landmarks.predict([n(img)])
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# hands is a list of ((x, y, w, h), score, keypoints) tuples
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# index 0 (if present) is left hand
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# index 1 (if present) is right hand
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hands = hand_landmarks.predict([n(img)])
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# Draw bounding boxes around the detected hands and keypoints.
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for i, detections in enumerate(hands):
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for r, score, keypoints in detections:
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ml.utils.draw_predictions(img, [r], ("right",) if i else ("left",), ((0, 0, 255),), format=None)
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# Draw bounding boxes around the detected hands and keypoints.
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for i, detections in enumerate(hands):
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for r, score, keypoints in detections:
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ml.utils.draw_predictions(img, [r], ("right",) if i else ("left",), ((0, 0, 255),), format=None)
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# keypoints: ndarray (21, 3) of hand joints (x, y, z)
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# Indices follow MediaPipe convention:
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# 0: wrist
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# Thumb: 1 cmc, 2 mcp, 3 ip, 4 tip
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# Index: 5 mcp, 6 pip, 7 dip, 8 tip
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# Middle: 9 mcp, 10 pip, 11 dip, 12 tip
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# Ring: 13 mcp, 14 pip, 15 dip, 16 tip
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# Pinky: 17 mcp, 18 pip, 19 dip, 20 tip
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# (cmc=base, mcp=knuckle, pip=mid, dip=distal, ip=thumb joint, tip=fingertip)
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ml.utils.draw_skeleton(img, keypoints, hand_lines, kp_color=(255, 0, 0), line_color=(0, 255, 0))
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# keypoints: ndarray (21, 3) of hand joints (x, y, z)
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# Indices follow MediaPipe convention:
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# 0: wrist
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# Thumb: 1 cmc, 2 mcp, 3 ip, 4 tip
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# Index: 5 mcp, 6 pip, 7 dip, 8 tip
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# Middle: 9 mcp, 10 pip, 11 dip, 12 tip
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# Ring: 13 mcp, 14 pip, 15 dip, 16 tip
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# Pinky: 17 mcp, 18 pip, 19 dip, 20 tip
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# (cmc=base, mcp=knuckle, pip=mid, dip=distal, ip=thumb joint, tip=fingertip)
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ml.utils.draw_skeleton(img, keypoints, hand_lines, kp_color=(255, 0, 0), line_color=(0, 255, 0))
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print(clock.fps(), "fps")
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@ -43,14 +43,11 @@ while True:
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if n is None:
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# palms is a list of ((x, y, w, h), score, keypoints) tuples
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palms = palm_detection.predict([img])
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if palms:
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for r, score, keypoints in palms[0]:
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# rect is (x, y, w, h) - enlarge by 3x for hand landmarks model
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wider_rect = (r[0] - r[2], r[1] - r[3], r[2] * 3, r[3] * 3)
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# Operate on just the ROI of the detected palm
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n = Normalization(roi=wider_rect)
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for r, score, keypoints in palm_detection.predict([img]):
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# rect is (x, y, w, h) - enlarge by 3x for hand landmarks model
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wider_rect = (r[0] - r[2], r[1] - r[3], r[2] * 3, r[3] * 3)
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# Operate on just the ROI of the detected palm
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n = Normalization(roi=wider_rect)
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else:
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# hands is a list of ((x, y, w, h), score, keypoints) tuples
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@ -78,7 +78,7 @@ class mediapipe_detection_postprocess:
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self.detection_post_process(ih, iw, nms, model, inputs, outputs, self.scores[1], self.cords[1],
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self.threshold, self.anchors[output_len:])
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return nms.get_bounding_boxes(threshold=self.nms_threshold, sigma=self.nms_sigma)
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return nms.get_bounding_boxes(threshold=self.nms_threshold, sigma=self.nms_sigma)[0]
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def detection_post_process(self, ih, iw, nms, model, inputs, outputs, score_idx, cords_idx, t, anchors):
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s_oh, s_ow, s_oc = model.output_shape[score_idx]
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@ -173,3 +173,35 @@ class HandLandmarks:
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nms.add_bounding_box(xmin, ymin, xmax, ymax, score, left_right, keypoints=keypoints)
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return nms.get_bounding_boxes(threshold=self.nms_threshold, sigma=self.nms_sigma)
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class FaceLandmarks:
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def __init__(self, threshold=0.6, nms_threshold=0.1, nms_sigma=0.1):
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self.threshold = threshold
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self.nms_threshold = nms_threshold
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self.nms_sigma = nms_sigma
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def __call__(self, model, inputs, outputs):
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ib, ih, iw, ic = model.input_shape[0]
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nms = NMS(iw, ih, inputs[0].roi)
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score = sigmoid(outputs[1][0, 0, 0, 0])
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if score < self.threshold:
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return _NO_DETECTION
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cords = outputs[0][0, 0, 0, :]
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# Get the keypoint information
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keypoints = np.empty((len(cords) // 3, 3))
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keypoints[:, 0] = cords[0::3]
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keypoints[:, 1] = cords[1::3]
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keypoints[:, 2] = cords[2::3]
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# Get bounding box information
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xmin = np.min(keypoints[:, 0])
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ymin = np.min(keypoints[:, 1])
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xmax = np.max(keypoints[:, 0])
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ymax = np.max(keypoints[:, 1])
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nms.add_bounding_box(xmin, ymin, xmax, ymax, score, 0, keypoints=keypoints)
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return nms.get_bounding_boxes(threshold=self.nms_threshold, sigma=self.nms_sigma)[0]
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