🔨 fix missing files

2021-04-14 16:29:57 +08:00 · 2021-04-14 16:29:57 +08:00 · 436c03c149
commit 436c03c149
parent 64e0e48d29
11 changed files with 2872 additions and 7 deletions
--- a/easymocap/dataset/init.py
+++ b/easymocap/dataset/init.py
@ -2,11 +2,10 @@
  @ Date: 2021-01-13 18:50:31
  @ Author: Qing Shuai
  @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-03-28 22:11:58
-  @ FilePath: /EasyMocap/code/dataset/__init__.py
+  @ LastEditTime: 2021-04-14 16:24:15
+  @ FilePath: /EasyMocapRelease/easymocap/dataset/__init__.py
 '''
 from .config import CONFIG
 from .base import ImageFolder
 from .mv1pmf import MV1PMF
-from .mv1pmf_mirror import MV1PMF_Mirror
-from .mvmpmf import MVMPMF
+from .mv1pmf_mirror import MV1PMF_Mirror
--- a/easymocap/estimator/init.py
+++ b/easymocap/estimator/init.py
@ -0,0 +1,8 @@
+'''
+  @ Date: 2021-04-14 16:25:48
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2021-04-14 16:25:49
+  @ FilePath: /EasyMocapRelease/easymocap/estimator/__init__.py
+'''
+from .SPIN import SPIN, init_with_spin
--- a/easymocap/mytools/init.py
+++ b/easymocap/mytools/init.py
@ -0,0 +1,15 @@
+'''
+  @ Date: 2021-03-28 21:09:45
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2021-04-02 21:57:11
+  @ FilePath: /EasyMocap/easymocap/mytools/__init__.py
+'''
+from .vis_base import merge, colors_bar_rgb, plot_bbox, plot_keypoints, plot_line, get_rgb, plot_cross, plot_points2d
+from .file_utils import getFileList, read_json, save_json, read_annot
+from .camera_utils import read_camera, write_camera, write_extri, write_intri, read_intri
+from .camera_utils import Undistort
+from .utils import Timer
+from .reconstruction import batch_triangulate, projectN3, simple_recon_person
+from .cmd_loader import load_parser, parse_parser
+from .writer import FileWriter
--- a/easymocap/mytools/utils.py
+++ b/easymocap/mytools/utils.py
@ -0,0 +1,33 @@
+'''
+  @ Date: 2021-01-15 11:12:00
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2021-03-08 21:07:48
+  @ FilePath: /EasyMocap/code/mytools/utils.py
+'''
+import time
+import tabulate
+class Timer:
+    records = {}
+    @classmethod
+    def report(cls):
+        header = ['', 'Time(ms)']
+        contents = []
+        for key, val in cls.records.items():
+            contents.append(['{:20s}'.format(key), '{:.2f}'.format(sum(val)/len(val))])
+        print(tabulate.tabulate(contents, header, tablefmt='fancy_grid'))
+
+    def __init__(self, name, silent=False):
+        self.name = name
+        self.silent = silent
+        if name not in Timer.records.keys():
+            Timer.records[name] = []
+    
+    def __enter__(self):
+        self.start = time.time()
+
+    def __exit__(self, exc_type, exc_value, exc_tb):
+        end = time.time()
+        Timer.records[self.name].append((end-self.start)*1000)
+        if not self.silent:
+            print('-> [{:20s}]: {:5.1f}ms'.format(self.name, (end-self.start)*1000))
--- a/easymocap/visualize/init.py
+++ b/easymocap/visualize/init.py
@ -0,0 +1 @@
+from .renderer import Renderer
--- a/easymocap/visualize/geometry.py
+++ b/easymocap/visualize/geometry.py
@ -0,0 +1,109 @@
+'''
+  @ Date: 2021-01-17 22:44:34
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2021-04-03 20:00:02
+  @ FilePath: /EasyMocap/code/visualize/geometry.py
+'''
+import numpy as np
+import cv2
+import numpy as np
+
+def create_ground(
+    center=[0, 0, 0], xdir=[1, 0, 0], ydir=[0, 1, 0], # 位置
+    step=1, xrange=10, yrange=10, # 尺寸
+    white=[1., 1., 1.], black=[0.,0.,0.], # 颜色
+    two_sides=True
+    ):
+    if isinstance(center, list):
+        center = np.array(center)
+        xdir = np.array(xdir)
+        ydir = np.array(ydir)
+    print(center, xdir, ydir)
+    xdir = xdir * step
+    ydir = ydir * step
+    vertls, trils, colls = [],[],[]
+    cnt = 0
+    min_x = -xrange if two_sides else 0
+    min_y = -yrange if two_sides else 0
+    for i in range(min_x, xrange+1):
+        for j in range(min_y, yrange+1):
+            point0 = center + i*xdir + j*ydir
+            point1 = center + (i+1)*xdir + j*ydir
+            point2 = center + (i+1)*xdir + (j+1)*ydir
+            point3 = center + (i)*xdir + (j+1)*ydir
+            if (i%2==0 and j%2==0) or (i%2==1 and j%2==1):
+                col = white
+            else:
+                col = black
+            vert = np.stack([point0, point1, point2, point3])
+            col = np.stack([col for _ in range(vert.shape[0])])
+            tri = np.array([[2, 3, 0], [0, 1, 2]]) + vert.shape[0] * cnt
+            cnt += 1
+            vertls.append(vert)
+            trils.append(tri)
+            colls.append(col)
+    vertls = np.vstack(vertls)
+    trils = np.vstack(trils)
+    colls = np.vstack(colls)
+    return {'vertices': vertls, 'faces': trils, 'colors': colls, 'name': 'ground'}
+
+
+def get_rotation_from_two_directions(direc0, direc1):
+    direc0 = direc0/np.linalg.norm(direc0)
+    direc1 = direc1/np.linalg.norm(direc1)
+    rotdir = np.cross(direc0, direc1)
+    if np.linalg.norm(rotdir) < 1e-2:
+        return np.eye(3)
+    rotdir = rotdir/np.linalg.norm(rotdir)
+    rotdir = rotdir * np.arccos(np.dot(direc0, direc1))
+    rotmat, _ = cv2.Rodrigues(rotdir)
+    return rotmat
+
+PLANE_VERTICES = np.array([
+    [0., 0., 0.],
+    [1., 0., 0.],
+    [0., 0., 1.],
+    [1., 0., 1.],
+    [0., 1., 0.],
+    [1., 1., 0.],
+    [0., 1., 1.],
+    [1., 1., 1.]])
+PLANE_FACES = np.array([
+    [4, 7, 5],
+    [4, 6, 7],
+    [0, 2, 4],
+    [2, 6, 4],
+    [0, 1, 2],
+    [1, 3, 2],
+    [1, 5, 7],
+    [1, 7, 3],
+    [2, 3, 7],
+    [2, 7, 6],
+    [0, 4, 1],
+    [1, 4, 5]], dtype=np.int32)
+
+def create_plane(normal, center, dx=1, dy=1, dz=0.005, color=[0.8, 0.8, 0.8]):
+    vertices = PLANE_VERTICES.copy()
+    vertices[:, 0] = vertices[:, 0]*dx - dx/2
+    vertices[:, 1] = vertices[:, 1]*dy - dy/2
+    vertices[:, 2] = vertices[:, 2]*dz - dz/2
+    # 根据normal计算旋转
+    rotmat = get_rotation_from_two_directions(
+        np.array([0, 0, 1]), np.array(normal))
+    vertices = vertices @ rotmat.T
+    vertices += np.array(center).reshape(-1, 3)
+    return {'vertices': vertices, 'faces': PLANE_FACES.copy(), 'name': 'plane'}
+
+def create_cameras(cameras):
+    vertex = np.array([[0.203982,0.061435,0.00717595],[-0.116019,0.061435,0.00717595],[-0.116019,-0.178565,0.00717595],[0.203982,-0.178565,0.00717595],[0.203982,0.061435,-0.092824],[-0.116019,0.061435,-0.092824],[-0.116019,-0.178565,-0.092824],[0.203982,-0.178565,-0.092824],[0.131154,-0.0361827,0.00717595],[0.131154,-0.0361827,0.092176],[0.122849,-0.015207,0.00717595],[0.122849,-0.015207,0.092176],[0.109589,0.00304419,0.00717595],[0.109589,0.00304419,0.092176],[0.092206,0.0174247,0.00717595],[0.092206,0.0174247,0.092176],[0.071793,0.0270302,0.00717595],[0.071793,0.0270302,0.092176],[0.0496327,0.0312577,0.00717595],[0.0496327,0.0312577,0.092176],[0.0271172,0.0298412,0.00717595],[0.0271172,0.0298412,0.092176],[0.00566135,0.0228697,0.00717595],[0.00566135,0.0228697,0.092176],[-0.0133865,0.0107812,0.00717595],[-0.0133865,0.0107812,0.092176],[-0.02883,-0.0056643,0.00717595],[-0.02883,-0.0056643,0.092176],[-0.0396985,-0.0254336,0.00717595],[-0.0396985,-0.0254336,0.092176],[-0.045309,-0.0472848,0.00717595],[-0.045309,-0.0472848,0.092176],[-0.045309,-0.069845,0.00717595],[-0.045309,-0.069845,0.092176],[-0.0396985,-0.091696,0.00717595],[-0.0396985,-0.091696,0.092176],[-0.02883,-0.111466,0.00717595],[-0.02883,-0.111466,0.092176],[-0.0133865,-0.127911,0.00717595],[-0.0133865,-0.127911,0.092176],[0.00566135,-0.14,0.00717595],[0.00566135,-0.14,0.092176],[0.0271172,-0.146971,0.00717595],[0.0271172,-0.146971,0.092176],[0.0496327,-0.148388,0.00717595],[0.0496327,-0.148388,0.092176],[0.071793,-0.14416,0.00717595],[0.071793,-0.14416,0.092176],[0.092206,-0.134554,0.00717595],[0.092206,-0.134554,0.092176],[0.109589,-0.120174,0.00717595],[0.109589,-0.120174,0.092176],[0.122849,-0.101923,0.00717595],[0.122849,-0.101923,0.092176],[0.131154,-0.080947,0.00717595],[0.131154,-0.080947,0.092176],[0.133982,-0.058565,0.00717595],[0.133982,-0.058565,0.092176],[-0.0074325,0.061435,-0.0372285],[-0.0074325,0.074435,-0.0372285],[-0.0115845,0.061435,-0.0319846],[-0.0115845,0.074435,-0.0319846],[-0.018215,0.061435,-0.0274218],[-0.018215,0.074435,-0.0274218],[-0.0269065,0.061435,-0.0238267],[-0.0269065,0.074435,-0.0238267],[-0.0371125,0.061435,-0.0214253],[-0.0371125,0.074435,-0.0214253],[-0.048193,0.061435,-0.0203685],[-0.048193,0.074435,-0.0203685],[-0.0594505,0.061435,-0.0207226],[-0.0594505,0.074435,-0.0207226],[-0.0701785,0.061435,-0.0224655],[-0.0701785,0.074435,-0.0224655],[-0.0797025,0.061435,-0.0254875],[-0.0797025,0.074435,-0.0254875],[-0.0874245,0.061435,-0.0295989],[-0.0874245,0.074435,-0.0295989],[-0.0928585,0.061435,-0.0345412],[-0.0928585,0.074435,-0.0345412],[-0.0956635,0.061435,-0.040004],[-0.0956635,0.074435,-0.040004],[-0.0956635,0.061435,-0.045644],[-0.0956635,0.074435,-0.045644],[-0.0928585,0.061435,-0.051107],[-0.0928585,0.074435,-0.051107],[-0.0874245,0.061435,-0.056049],[-0.0874245,0.074435,-0.056049],[-0.0797025,0.061435,-0.0601605],[-0.0797025,0.074435,-0.0601605],[-0.0701785,0.061435,-0.0631825],[-0.0701785,0.074435,-0.0631825],[-0.0594505,0.061435,-0.0649255],[-0.0594505,0.074435,-0.0649255],[-0.048193,0.061435,-0.0652795],[-0.048193,0.074435,-0.0652795],[-0.0371125,0.061435,-0.064223],[-0.0371125,0.074435,-0.064223],[-0.0269065,0.061435,-0.0618215],[-0.0269065,0.074435,-0.0618215],[-0.018215,0.061435,-0.0582265],[-0.018215,0.074435,-0.0582265],[-0.0115845,0.061435,-0.0536635],[-0.0115845,0.074435,-0.0536635],[-0.0074325,0.061435,-0.0484195],[-0.0074325,0.074435,-0.0484195],[-0.0060185,0.061435,-0.0428241],[-0.0060185,0.074435,-0.0428241]])*0.5
+    tri = [[4,3,2],[1,4,2],[6,1,2],[6,5,1],[8,4,1],[5,8,1],[3,7,2],[7,6,2],[4,7,3],[8,7,4],[6,7,5],[7,8,5],[43,42,44],[42,43,41],[43,46,45],[46,43,44],[58,9,57],[9,58,10],[55,58,57],[56,58,55],[53,54,55],[54,56,55],[12,11,9],[12,9,10],[21,20,22],[20,21,19],[34,33,32],[32,33,31],[35,36,37],[37,36,38],[33,36,35],[36,33,34],[29,30,31],[30,32,31],[40,39,37],[40,37,38],[39,40,41],[40,42,41],[47,48,49],[49,48,50],[48,47,45],[46,48,45],[49,52,51],[52,49,50],[52,53,51],[52,54,53],[14,15,13],[15,14,16],[11,14,13],[12,14,11],[18,17,15],[18,15,16],[17,18,19],[18,20,19],[27,35,37],[17,27,15],[27,53,55],[27,49,51],[11,27,9],[27,47,49],[27,33,35],[23,27,21],[27,39,41],[27,55,57],[9,27,57],[15,27,13],[39,27,37],[47,27,45],[53,27,51],[27,11,13],[43,27,41],[27,29,31],[27,43,45],[27,17,19],[21,27,19],[33,27,31],[27,23,25],[23,24,25],[25,24,26],[24,21,22],[24,23,21],[28,36,34],[42,28,44],[28,58,56],[54,28,56],[52,28,54],[28,34,32],[28,46,44],[18,28,20],[20,28,22],[30,28,32],[40,28,42],[58,28,10],[28,48,46],[28,12,10],[28,14,12],[36,28,38],[28,24,22],[28,40,38],[48,28,50],[28,52,50],[14,28,16],[28,18,16],[24,28,26],[28,27,25],[28,25,26],[28,30,29],[27,28,29],[108,59,60],[59,108,107],[62,59,61],[59,62,60],[103,102,101],[102,103,104],[64,61,63],[64,62,61],[70,67,69],[67,70,68],[70,71,72],[71,70,69],[83,84,82],[83,82,81],[86,85,87],[86,87,88],[86,83,85],[83,86,84],[77,78,75],[75,78,76],[105,106,103],[103,106,104],[108,106,107],[106,105,107],[97,96,95],[96,97,98],[96,93,95],[93,96,94],[93,92,91],[92,93,94],[79,105,103],[59,79,61],[79,93,91],[83,79,85],[85,79,87],[61,79,63],[79,103,101],[65,79,67],[79,99,97],[89,79,91],[79,77,75],[79,59,107],[67,79,69],[79,89,87],[79,73,71],[105,79,107],[79,97,95],[79,71,69],[79,83,81],[99,79,101],[93,79,95],[79,65,63],[73,79,75],[99,100,97],[97,100,98],[102,100,101],[100,99,101],[89,90,87],[87,90,88],[90,89,91],[92,90,91],[66,67,68],[66,65,67],[66,64,63],[65,66,63],[74,75,76],[74,73,75],[71,74,72],[73,74,71],[80,106,108],[74,80,72],[86,80,84],[84,80,82],[64,80,62],[80,108,60],[80,100,102],[62,80,60],[66,80,64],[80,70,72],[80,102,104],[96,80,94],[80,90,92],[70,80,68],[80,86,88],[78,80,76],[106,80,104],[80,96,98],[80,92,94],[100,80,98],[90,80,88],[80,66,68],[80,74,76],[82,80,81],[80,79,81],[80,78,77],[79,80,77]]
+    tri = [a[::-1] for a in tri]
+    triangles = np.array(tri) - 1
+    meshes = []
+    for nv, (key, camera) in enumerate(cameras.items()):
+        vertices = (camera['R'].T @ (vertex.T - camera['T'])).T
+        meshes.append({
+            'vertices': vertices, 'faces': triangles, 'name': 'camera_{}'.format(nv), 'vid': nv
+        })
+    return meshes
--- a/easymocap/visualize/renderer.py
+++ b/easymocap/visualize/renderer.py
@ -0,0 +1,341 @@
+import os
+import numpy as np
+import cv2
+import pyrender
+import trimesh
+import copy
+# 这个顺序是BGR的。虽然render的使用的是RGB的，但是由于和图像拼接了，所以又变成BGR的了
+colors = [
+    # (0.5, 0.2, 0.2, 1.),  # Defalut BGR
+    (.5, .5, .7, 1.),  # Pink BGR
+    (.44, .50, .98, 1.), # Red
+    (.7, .7, .6, 1.),  # Neutral
+    (.5, .5, .7, 1.),  # Blue
+    (.5, .55, .3, 1.),  # capsule
+    (.3, .5, .55, 1.),  # Yellow
+    # (.6, .6, .6, 1.), # gray
+    (.9, 1., 1., 1.),
+    (0.95, 0.74, 0.65, 1.),
+    (.9, .7, .7, 1.)
+]
+
+colors_table = {
+    # colorblind/print/copy safe:
+    '_blue': [0.65098039, 0.74117647, 0.85882353],
+    '_pink': [.9, .7, .7],
+    '_mint': [ 166/255.,  229/255.,  204/255.],
+    '_mint2': [ 202/255.,  229/255.,  223/255.],
+    '_green': [ 153/255.,  216/255.,  201/255.],
+    '_green2': [ 171/255.,  221/255.,  164/255.],
+    '_red': [ 251/255.,  128/255.,  114/255.],
+    '_orange': [ 253/255.,  174/255.,  97/255.],
+    '_yellow': [ 250/255.,  230/255.,  154/255.],
+    'r':[255/255,0,0],
+    'g':[0,255/255,0],
+    'b':[0,0,255/255],
+    'k':[0,0,0],
+    'y':[255/255,255/255,0],
+    'purple':[128/255,0,128/255]
+}
+
+def get_colors(pid):
+    if isinstance(pid, int):
+        return colors[pid % len(colors)]
+    elif isinstance(pid, str):
+        return colors_table[pid]
+
+from pyrender import RenderFlags
+render_flags =  {
+    'flip_wireframe': False,
+    'all_wireframe': False,
+    'all_solid': True,
+    'shadows': False, # TODO:bug exists in shadow mode
+    'vertex_normals': False,
+    'face_normals': False,
+    'cull_faces': False, # set to False
+    'point_size': 1.0,
+    'rgba':True
+}
+
+flags = RenderFlags.NONE
+if render_flags['flip_wireframe']:
+    flags |= RenderFlags.FLIP_WIREFRAME
+elif render_flags['all_wireframe']:
+    flags |= RenderFlags.ALL_WIREFRAME
+elif render_flags['all_solid']:
+    flags |= RenderFlags.ALL_SOLID
+
+if render_flags['shadows']:
+    flags |= RenderFlags.SHADOWS_DIRECTIONAL | RenderFlags.SHADOWS_SPOT
+if render_flags['vertex_normals']:
+    flags |= RenderFlags.VERTEX_NORMALS
+if render_flags['face_normals']:
+    flags |= RenderFlags.FACE_NORMALS
+if not render_flags['cull_faces']:
+    flags |= RenderFlags.SKIP_CULL_FACES
+if render_flags['rgba']:
+    flags |= RenderFlags.RGBA
+
+
+class Renderer(object):
+    def __init__(self, focal_length=1000, height=512, width=512, faces=None,
+        bg_color=[1.0, 1.0, 1.0, 0.0], down_scale=1,   # render 配置
+        extra_mesh=[]
+    ): 
+        self.renderer = pyrender.OffscreenRenderer(height, width)
+        self.faces = faces
+        self.focal_length = focal_length
+        self.bg_color = bg_color
+        self.ambient_light = (0.5, 0.5, 0.5)
+        self.down_scale = down_scale
+        self.extra_mesh = extra_mesh
+
+    def add_light(self, scene):
+        trans = [0, 0, 0]
+        # Use 3 directional lights
+        # Create light source
+        light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=3)
+        light_forward = np.eye(4)
+        light_forward[:3, 3] = np.array([0, 1, 1])
+        scene.add(light, pose=light_forward)
+        light_z = np.eye(4)
+        light_z[:3, :3] = cv2.Rodrigues(np.array([-np.pi/2, 0, 0]))[0]
+        scene.add(light, pose=light_z)
+
+    def render(self, render_data, cameras, images,
+        use_white=False, add_back=True,
+        ret_depth=False, ret_color=False):
+        # Need to flip x-axis
+        rot = trimesh.transformations.rotation_matrix(
+            np.radians(180), [1, 0, 0])
+        output_images, output_colors, output_depths = [], [], []
+        for nv, img_ in enumerate(images):
+            if use_white:
+                img = np.zeros_like(img_, dtype=np.uint8) + 255
+            else:
+                img = img_.copy()
+            K, R, T = cameras['K'][nv].copy(), cameras['R'][nv], cameras['T'][nv]
+            # down scale the image to speed up rendering
+            img = cv2.resize(img, None, fx=1/self.down_scale, fy=1/self.down_scale)
+            K[:2, :] /= self.down_scale
+
+            self.renderer.viewport_height = img.shape[0]
+            self.renderer.viewport_width = img.shape[1]
+            scene = pyrender.Scene(bg_color=self.bg_color,
+                                   ambient_light=self.ambient_light)
+            for iextra, _mesh in enumerate(self.extra_mesh):
+                if True:
+                    mesh = _mesh.copy()
+                    trans_cam = np.eye(4)
+                    trans_cam[:3, :3] = R
+                    trans_cam[:3, 3:] = T
+                    mesh.apply_transform(trans_cam)
+                    mesh.apply_transform(rot)
+                    # mesh.vertices = np.asarray(mesh.vertices) @ R.T + T.T
+                    mesh_ = pyrender.Mesh.from_trimesh(mesh)
+                    scene.add(mesh_, 'extra{}'.format(iextra))
+                else:
+                    vert = np.asarray(_mesh.vertices).copy()
+                    faces = np.asarray(_mesh.faces)
+                    vert = vert @ R.T + T.T
+                    mesh = trimesh.Trimesh(vert, faces, process=False)
+                    mesh.apply_transform(rot)
+                    material = pyrender.MetallicRoughnessMaterial(
+                        metallicFactor=0.0,
+                        alphaMode='OPAQUE',
+                        baseColorFactor=(0., 0., 0., 1.))
+                    mesh = pyrender.Mesh.from_trimesh(
+                        mesh,
+                        material=material)
+                    scene.add(mesh, 'extra{}'.format(iextra))
+            for trackId, data in render_data.items():
+                vert = data['vertices'].copy()
+                faces = data['faces']
+                vert = vert @ R.T + T.T
+                if 'colors' not in data.keys():
+                    # 如果使用了vid这个键，那么可视化的颜色使用vid的颜色
+                    col = get_colors(data.get('vid', trackId))
+                    mesh = trimesh.Trimesh(vert, faces, process=False)
+                    mesh.apply_transform(rot)
+                    material = pyrender.MetallicRoughnessMaterial(
+                        metallicFactor=0.0,
+                        alphaMode='OPAQUE',
+                        baseColorFactor=col)
+                    mesh = pyrender.Mesh.from_trimesh(
+                        mesh,
+                        material=material)
+                    scene.add(mesh, data['name'])
+                else:
+                    mesh = trimesh.Trimesh(vert, faces, vertex_colors=data['colors'], process=False)
+                    mesh.apply_transform(rot)
+                    material = pyrender.MetallicRoughnessMaterial(
+                        metallicFactor=0.0,
+                        alphaMode='OPAQUE',
+                        baseColorFactor=(1., 1., 1.))
+                    mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
+                    scene.add(mesh, data['name'])
+            camera_pose = np.eye(4)
+            camera = pyrender.camera.IntrinsicsCamera(fx=K[0, 0], fy=K[1, 1], cx=K[0, 2], cy=K[1, 2])
+            scene.add(camera, pose=camera_pose)
+            self.add_light(scene)
+            # pyrender.Viewer(scene, use_raymond_lighting=True)
+            # Alpha channel was not working previously need to check again
+            # Until this is fixed use hack with depth image to get the opacity
+            rend_rgba, rend_depth = self.renderer.render(scene, flags=flags)
+            if rend_rgba.shape[2] == 3: # fail to generate transparent channel
+                valid_mask = (rend_depth > 0)[:, :, None]
+                rend_rgba = np.dstack((rend_rgba, (valid_mask*255).astype(np.uint8)))
+            rend_rgba = rend_rgba[..., [2, 1, 0, 3]]
+            if add_back:
+                rend_cat = cv2.addWeighted(
+                    cv2.bitwise_and(img, 255 - rend_rgba[:, :, 3:4].repeat(3, 2)), 1, 
+                    cv2.bitwise_and(rend_rgba[:, :, :3], rend_rgba[:, :, 3:4].repeat(3, 2)), 1, 0)
+            else:
+                rend_cat = rend_rgba
+            
+            output_colors.append(rend_rgba)
+            output_depths.append(rend_depth)
+            output_images.append(rend_cat)
+        if ret_depth:
+            return output_images, output_depths
+        elif ret_color:
+            return output_colors
+        else:
+            return output_images
+
+    def _render_multiview(self, vertices, K, R, T, imglist, trackId=0, return_depth=False, return_color=False,
+        bg_color=[0.0, 0.0, 0.0, 0.0], camera=None):
+        # List to store rendered scenes
+        output_images, output_colors, output_depths = [], [], []
+        # Need to flip x-axis
+        rot = trimesh.transformations.rotation_matrix(
+            np.radians(180), [1, 0, 0])
+        nViews = len(imglist)
+        for nv in range(nViews):
+            img = imglist[nv]
+            self.renderer.viewport_height = img.shape[0]
+            self.renderer.viewport_width = img.shape[1]
+            # Create a scene for each image and render all meshes
+            scene = pyrender.Scene(bg_color=bg_color,
+                                   ambient_light=(0.3, 0.3, 0.3))
+            camera_pose = np.eye(4)
+
+            # for every person in the scene
+            if isinstance(vertices, dict):
+                for trackId, data in vertices.items():
+                    vert = data['vertices'].copy()
+                    faces = data['faces']
+                    col = data.get('col', trackId)
+                    vert = vert @ R[nv].T + T[nv]
+                    mesh = trimesh.Trimesh(vert, faces)
+                    mesh.apply_transform(rot)
+                    trans = [0, 0, 0]
+
+                    material = pyrender.MetallicRoughnessMaterial(
+                        metallicFactor=0.0,
+                        alphaMode='OPAQUE',
+                        baseColorFactor=colors[col % len(colors)])
+                    mesh = pyrender.Mesh.from_trimesh(
+                        mesh,
+                        material=material)
+                    scene.add(mesh, 'mesh')
+            else:
+                verts = vertices @ R[nv].T + T[nv]
+                mesh = trimesh.Trimesh(verts, self.faces)
+                mesh.apply_transform(rot)
+                trans = [0, 0, 0]
+
+                material = pyrender.MetallicRoughnessMaterial(
+                    metallicFactor=0.0,
+                    alphaMode='OPAQUE',
+                    baseColorFactor=colors[trackId % len(colors)])
+                mesh = pyrender.Mesh.from_trimesh(
+                    mesh,
+                    material=material)
+                scene.add(mesh, 'mesh')
+
+            if camera is not None:
+                light = pyrender.PointLight(color=[1.0, 1.0, 1.0], intensity=70)
+                light_pose = np.eye(4)
+                light_pose[:3, 3] = [0, 0, 4.5]
+                scene.add(light, pose=light_pose)
+
+                light_pose[:3, 3] = [0, 1, 4]
+                scene.add(light, pose=light_pose)
+
+                light_pose[:3, 3] = [0, -1, 4]
+                scene.add(light, pose=light_pose)
+            else:
+                trans = [0, 0, 0]
+                # Use 3 directional lights
+                # Create light source
+                light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
+                light_pose = np.eye(4)
+                light_pose[:3, 3] = np.array([0, -1, 1]) + trans
+                scene.add(light, pose=light_pose)
+                light_pose[:3, 3] = np.array([0, 1, 1]) + trans
+                scene.add(light, pose=light_pose)
+                light_pose[:3, 3] = np.array([1, 1, 2]) + trans
+                scene.add(light, pose=light_pose)
+            if camera is None:
+                if K is None:
+                    camera_center = np.array([img.shape[1] / 2., img.shape[0] / 2.])
+                    camera = pyrender.camera.IntrinsicsCamera(fx=self.focal_length, fy=self.focal_length, cx=camera_center[0], cy=camera_center[1])
+                else:
+                    camera = pyrender.camera.IntrinsicsCamera(fx=K[nv][0, 0], fy=K[nv][1, 1], cx=K[nv][0, 2], cy=K[nv][1, 2])
+            scene.add(camera, pose=camera_pose)
+            # Alpha channel was not working previously need to check again
+            # Until this is fixed use hack with depth image to get the opacity
+            color, rend_depth = self.renderer.render(scene, flags=flags)
+            # color = color[::-1,::-1]
+            # rend_depth = rend_depth[::-1,::-1]
+            output_depths.append(rend_depth)
+            color = color.astype(np.uint8)
+            valid_mask = (rend_depth > 0)[:, :, None]
+            if color.shape[2] == 3: # 在服务器上透明通道失败
+                color = np.dstack((color, (valid_mask*255).astype(np.uint8)))
+            output_colors.append(color)
+            output_img = (color[:, :, :3] * valid_mask +
+                          (1 - valid_mask) * img)
+            
+            output_img = output_img.astype(np.uint8)
+            output_images.append(output_img)
+        if return_depth:
+            return output_images, output_depths
+        elif return_color:
+            return output_colors
+        else:
+            return output_images
+
+def render_results(img, render_data, cam_params, outname=None, rotate=False, degree=90, axis=[1.,0.,0],
+    fix_center=None):
+    render_data = copy.deepcopy(render_data)
+    render = Renderer(height=1024, width=1024, faces=None)
+    Ks, Rs, Ts = [cam_params['K']], [cam_params['Rc']], [cam_params['Tc']]
+    imgsrender = render.render_multiview(render_data, Ks, Rs, Ts, [img], return_color=True)[0]
+    render0 = cv2.addWeighted(cv2.bitwise_and(img, 255 - imgsrender[:, :, 3:4].repeat(3, 2)), 1, imgsrender[:, :, :3], 1, 0.0)
+    if rotate:
+        # simple rotate the vertices
+        if fix_center is None:
+            center = np.mean(np.vstack([v['vertices'] for i, v in render_data.items()]), axis=0, keepdims=True)
+            new_center = center.copy()
+            new_center[:, 0:2] = 0
+        else:
+            center = fix_center.copy()
+            new_center = fix_center.copy()
+            new_center[:, 2] *= 1.5
+        direc = np.array(axis)
+        rot, _ = cv2.Rodrigues(direc*degree/90*np.pi/2)
+        for key in render_data.keys():
+            vertices = render_data[key]['vertices']
+            vert = (vertices - center) @ rot.T + new_center
+            render_data[key]['vertices'] = vert
+        blank = np.zeros(())
+        blank = np.zeros((img.shape[0], img.shape[1], 3), dtype=img.dtype) + 255
+        imgsrender = render.render_multiview(render_data, Ks, Rs, Ts, [blank], return_color=True)[0]
+        render1 = cv2.addWeighted(cv2.bitwise_and(blank, 255- imgsrender[:, :, 3:4].repeat(3, 2)), 1, imgsrender[:, :, :3], 1, 0.0)
+        render0 = np.vstack([render0, render1])
+    if outname is not None:
+        os.makedirs(os.path.dirname(outname), exist_ok=True)
+        cv2.imwrite(outname, render0)
+    return render0
--- a/easymocap/visualize/skelmodel.py
+++ b/easymocap/visualize/skelmodel.py
@ -0,0 +1,77 @@
+'''
+  @ Date: 2021-01-17 21:38:19
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2021-01-22 23:08:18
+  @ FilePath: /EasyMocap/code/visualize/skelmodel.py
+'''
+import numpy as np
+import cv2
+from os.path import join
+import os
+
+def calTransformation(v_i, v_j, r, adaptr=False, ratio=10):
+    """ from to vertices to T
+    
+    Arguments:
+        v_i {} -- [description]
+        v_j {[type]} -- [description]
+    """
+    xaxis = np.array([1, 0, 0])
+    v = (v_i + v_j)/2
+    direc = (v_i - v_j)
+    length = np.linalg.norm(direc)
+    direc = direc/length
+    rotdir = np.cross(xaxis, direc)
+    rotdir = rotdir/np.linalg.norm(rotdir)
+    rotdir = rotdir * np.arccos(np.dot(direc, xaxis))
+    rotmat, _ = cv2.Rodrigues(rotdir)
+    # set the minimal radius for the finger and face
+    shrink = max(length/ratio, 0.005)
+    eigval = np.array([[length/2/r, 0, 0], [0, shrink, 0], [0, 0, shrink]])
+    T = np.eye(4)
+    T[:3,:3] = rotmat @ eigval @ rotmat.T
+    T[:3, 3] = v
+    return T, r, length
+
+class SkelModel:
+    def __init__(self, nJoints, kintree) -> None:
+        self.nJoints = nJoints
+        self.kintree = kintree
+        cur_dir = os.path.dirname(__file__)
+        faces = np.loadtxt(join(cur_dir, 'sphere_faces_20.txt'), dtype=np.int)
+        self.vertices = np.loadtxt(join(cur_dir, 'sphere_vertices_20.txt'))
+        # compose faces
+        faces_all = []
+        for nj in range(nJoints):
+            faces_all.append(faces + nj*self.vertices.shape[0])
+        for nk in range(len(kintree)):
+            faces_all.append(faces + nJoints*self.vertices.shape[0] + nk*self.vertices.shape[0])
+        self.faces = np.vstack(faces_all)
+
+    def __call__(self, keypoints3d, id=0, return_verts=True, return_tensor=False):
+        vertices_all = []
+        r = 0.02
+        # joints 
+        for nj in range(self.nJoints):
+            if nj > 25:
+                r_ = r * 0.4
+            else:
+                r_ = r
+            if keypoints3d[nj, -1] < 0.01:
+                vertices_all.append(self.vertices*0.001)
+                continue
+            vertices_all.append(self.vertices*r_ + keypoints3d[nj:nj+1, :3])
+        # limb
+        for nk, (i, j) in enumerate(self.kintree):
+            if keypoints3d[i][-1] < 0.1 or keypoints3d[j][-1] < 0.1:
+                vertices_all.append(self.vertices*0.001)
+                continue
+            T, _, length = calTransformation(keypoints3d[i, :3], keypoints3d[j, :3], r=1)
+            if length > 2: # 超过两米的
+                vertices_all.append(self.vertices*0.001)
+                continue
+            vertices = self.vertices @ T[:3, :3].T + T[:3, 3:].T
+            vertices_all.append(vertices)
+        vertices = np.vstack(vertices_all)
+        return vertices[None, :, :]
--- a/easymocap/visualize/sphere_faces_20.txt
+++ b/easymocap/visualize/sphere_faces_20.txt
--- a/easymocap/visualize/sphere_vertices_20.txt
+++ b/easymocap/visualize/sphere_vertices_20.txt
@ -0,0 +1,762 @@
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--- a/setup.py
+++ b/setup.py
@ -2,8 +2,8 @@
  @ Date: 2021-03-02 16:53:55
  @ Author: Qing Shuai
  @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-04-14 15:17:28
-  @ FilePath: /EasyMocapRelease/setup.py
+  @ LastEditTime: 2021-04-14 16:20:10
+  @ FilePath: /EasyMocap/setup.py
 '''
 from setuptools import setup

@ -20,7 +20,7 @@ setup(
        'easymocap.smplmodel',
        'easymocap.pyfitting',
        'easymocap.mytools', 
-        'easymocap.annotator'
+        'easymocap.annotator',
        'easymocap.estimator'
    ],
    install_requires=[],