44 lines
1.7 KiB
Python
44 lines
1.7 KiB
Python
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'''
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@ Date: 2021-06-04 21:34:19
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-06-05 16:26:06
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@ FilePath: /EasyMocapRelease/easymocap/affinity/ray.py
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'''
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import numpy as np
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from .plucker import computeRay, dist_ll_pointwise_conf
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class Affinity:
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def __init__(self, cameras, cams, MAX_DIST) -> None:
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self.cameras = cameras
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self.cams = cams
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self.MAX_DIST = MAX_DIST
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def __call__(self, annots, dimGroups):
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# calculate the ray
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nViews = len(annots)
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distance = np.zeros((dimGroups[-1], dimGroups[-1])) + self.MAX_DIST*2
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lPluckers = []
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for nv, annot in enumerate(annots):
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cam = self.cameras[self.cams[nv]]
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pluckers = []
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for det in annot:
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lines = computeRay(det['keypoints'][None, :15, :],
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cam['invK'], cam['R'], cam['T'])[0]
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pluckers.append(lines)
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if len(pluckers) > 0:
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pluckers = np.stack(pluckers)
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lPluckers.append(pluckers)
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for nv0 in range(nViews-1):
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for nv1 in range(nv0+1, nViews):
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if dimGroups[nv0]==dimGroups[nv0+1] or dimGroups[nv1]==dimGroups[nv1+1]:
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continue
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p0 = lPluckers[nv0][:, None]
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p1 = lPluckers[nv1][None, :]
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dist = dist_ll_pointwise_conf(p0, p1)
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distance[dimGroups[nv0]:dimGroups[nv0+1], dimGroups[nv1]:dimGroups[nv1+1]] = dist
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distance[dimGroups[nv1]:dimGroups[nv1+1], dimGroups[nv0]:dimGroups[nv0+1]] = dist.T
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distance[distance > self.MAX_DIST] = self.MAX_DIST
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affinity = 1 - distance / self.MAX_DIST
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return affinity
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