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#include "mediapipe/calculators/ims/head_pose_calculator.h"
#include "mediapipe/framework/port/logging.h"
#include <cmath>
namespace mediapipe {
using mediapipe::NormalizedLandmarkList;
using mediapipe::NormalizedLandmark;
absl::Status HeadPoseCalculator::GetContract(CalculatorContract* cc) {
cc->Inputs().Tag("LANDMARKS").Set<NormalizedLandmarkList>();
cc->Inputs().Tag("IMAGE_SIZE").Set<std::pair<int, int>>();
cc->Outputs().Tag("HEAD_POSE").Set<HeadPose>();
cc->Outputs().Tag("ROTATION_VECTOR").Set<cv::Mat>();
cc->Outputs().Tag("TRANSLATION_VECTOR").Set<cv::Mat>();
cc->Options<HeadPoseOptions>();
return absl::OkStatus();
}
absl::Status HeadPoseCalculator::Open(CalculatorContext* cc) {
const auto& options = cc->Options<HeadPoseOptions>();
for (const auto& point : options.model_points()) {
model_points_.emplace_back(point.x(), point.y(), point.z());
}
if (model_points_.empty()) {
model_points_ = {
{0.0, 0.0, 0.0},
{0.0, -330.0, -65.0},
{-225.0, 170.0, -135.0},
{225.0, 170.0, -135.0},
{-150.0, -150.0, -125.0},
{150.0, -150.0, -125.0},
};
}
for (int idx : options.landmark_indices()) {
landmark_indices_.push_back(idx);
}
if (landmark_indices_.empty()) {
landmark_indices_ = {1, 152, 33, 263, 61, 291};
}
use_default_camera_matrix_ = options.use_default_camera_matrix();
dist_coeffs_ = cv::Mat::zeros(4, 1, CV_64F);
LOG(INFO) << "HeadPoseCalculator initialized with " << model_points_.size()
<< " model points and " << landmark_indices_.size() << " landmarks";
return absl::OkStatus();
}
absl::Status HeadPoseCalculator::Process(CalculatorContext* cc) {
if (cc->Inputs().Tag("LANDMARKS").IsEmpty()) {
return absl::OkStatus();
}
const auto& landmarks = cc->Inputs().Tag("LANDMARKS").Get<NormalizedLandmarkList>();
if (cc->Inputs().Tag("IMAGE_SIZE").IsEmpty()) {
return absl::OkStatus();
}
const auto& size = cc->Inputs().Tag("IMAGE_SIZE").Get<std::pair<int, int>>();
cv::Size image_size(size.first, size.second);
if (landmarks.landmark_size() < *std::max_element(landmark_indices_.begin(), landmark_indices_.end())) {
LOG(WARNING) << "Insufficient landmarks for pose estimation";
return absl::OkStatus();
}
std::vector<cv::Point2d> image_points = ExtractImagePoints(landmarks, image_size);
cv::Mat camera_matrix = BuildCameraMatrix(image_size);
cv::Mat rotation_vector, translation_vector;
bool success = cv::solvePnP(
model_points_,
image_points,
camera_matrix,
dist_coeffs_,
rotation_vector,
translation_vector,
false,
cv::SOLVEPNP_ITERATIVE
);
if (!success) {
LOG(WARNING) << "solvePnP failed";
return absl::OkStatus();
}
HeadPose pose = RotationToEuler(rotation_vector, translation_vector);
pose.timestamp = cc->InputTimestamp().Value();
float visibility_sum = 0.0f;
for (int idx : landmark_indices_) {
visibility_sum += landmarks.landmark(idx).visibility();
}
pose.confidence = visibility_sum / landmark_indices_.size();
cc->Outputs().Tag("HEAD_POSE").AddPacket(
MakePacket<HeadPose>(pose).At(cc->InputTimestamp()));
cc->Outputs().Tag("ROTATION_VECTOR").AddPacket(
MakePacket<cv::Mat>(rotation_vector.clone()).At(cc->InputTimestamp()));
cc->Outputs().Tag("TRANSLATION_VECTOR").AddPacket(
MakePacket<cv::Mat>(translation_vector.clone()).At(cc->InputTimestamp()));
VLOG(1) << "HeadPose: pitch=" << pose.pitch
<< ", yaw=" << pose.yaw
<< ", roll=" << pose.roll;
return absl::OkStatus();
}
std::vector<cv::Point2d> HeadPoseCalculator::ExtractImagePoints(
const NormalizedLandmarkList& landmarks,
const cv::Size& image_size) {
std::vector<cv::Point2d> image_points;
for (int idx : landmark_indices_) {
const auto& lm = landmarks.landmark(idx);
double x = lm.x() * image_size.width;
double y = lm.y() * image_size.height;
image_points.emplace_back(x, y);
}
return image_points;
}
cv::Mat HeadPoseCalculator::BuildCameraMatrix(const cv::Size& image_size) {
double focal_length = image_size.width;
double cx = image_size.width / 2.0;
double cy = image_size.height / 2.0;
cv::Mat camera_matrix = (cv::Mat_<double>(3, 3) <<
focal_length, 0, cx,
0, focal_length, cy,
0, 0, 1
);
return camera_matrix;
}
HeadPose HeadPoseCalculator::RotationToEuler(
const cv::Mat& rotation_vector,
const cv::Mat& translation_vector) {
HeadPose pose;
cv::Mat rotation_matrix;
cv::Rodrigues(rotation_vector, rotation_matrix);
pose.pitch = std::atan2(rotation_matrix.at<double>(2, 1),
rotation_matrix.at<double>(2, 2)) * 180.0 / CV_PI;
pose.yaw = std::atan2(-rotation_matrix.at<double>(2, 0),
std::sqrt(rotation_matrix.at<double>(1, 0) * rotation_matrix.at<double>(1, 0) +
rotation_matrix.at<double>(0, 0) * rotation_matrix.at<double>(0, 0))) * 180.0 / CV_PI;
pose.roll = std::atan2(rotation_matrix.at<double>(1, 0),
rotation_matrix.at<double>(0, 0)) * 180.0 / CV_PI;
pose.tx = translation_vector.at<double>(0);
pose.ty = translation_vector.at<double>(1);
pose.tz = translation_vector.at<double>(2);
return pose;
}
REGISTER_CALCULATOR(HeadPoseCalculator);
}
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