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Head pose estimation
This library (libhead_pose_estimation.so) performs 3D head pose estimation
based on the fantastic dlib face detector and a bit of
OpenCV's
solvePnP magic (it uses adult male anthropometric data to match a real 3D head to the projected image).
The library returns a 4x4 transformation matrix.
It supports detection and tracking of multiple faces at the same time, and runs on-line, but it does not feature face identification.
Installation
Note: The library has only been tested on Linux. We can only provide limited support for other operating systems!
Pre-requisites
You need to download and extract Dlib somewhere. This
application has been tested with dlib-18.16.
Important: due to a bug in dlib, you must manually modify dlib's
CMakeLists.txt before compiling: open it
($DLIB_ROOT/dlib/CMakelists.txt) and add add_definitions(-fPIC) near the
top (around line 20).
Installation
The library uses a standard CMake workflow:
$ mkdir build && cd build
$ cmake -DDLIB_PATH=<path to dlib> ..
$ make
Note that the first time you compile the project, dlib will compile as well.
It takes a few minutes. This won't happen the next times.
Run head_pose_test ../share/shape_predictor_68_face_landmarks.dat to test
the library. You should get something very similar to the picture above.
Finally, to install the library:
$ make install
ROS support
The ROS wrapper provides a convenient node that exposes each detected face as a TF frame.
Enable the compilation of the ROS wrapper with:
cmake -DWITH_ROS=ON