diff --git a/easymocap/dataset/__init__.py b/easymocap/dataset/__init__.py index d8f9ad7..6b01d5d 100644 --- 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 \ No newline at end of file +from .mv1pmf_mirror import MV1PMF_Mirror \ No newline at end of file diff --git a/easymocap/estimator/__init__.py b/easymocap/estimator/__init__.py new file mode 100644 index 0000000..b848565 --- /dev/null +++ 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 \ No newline at end of file diff --git a/easymocap/mytools/__init__.py b/easymocap/mytools/__init__.py new file mode 100644 index 0000000..367a259 --- /dev/null +++ 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 \ No newline at end of file diff --git a/easymocap/mytools/utils.py b/easymocap/mytools/utils.py new file mode 100644 index 0000000..e469eb4 --- /dev/null +++ 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)) diff --git a/easymocap/visualize/__init__.py b/easymocap/visualize/__init__.py new file mode 100644 index 0000000..0566748 --- /dev/null +++ b/easymocap/visualize/__init__.py @@ -0,0 +1 @@ +from .renderer import Renderer \ No newline at end of file diff --git a/easymocap/visualize/geometry.py b/easymocap/visualize/geometry.py new file mode 100644 index 0000000..0118716 --- /dev/null +++ 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 diff --git a/easymocap/visualize/renderer.py b/easymocap/visualize/renderer.py new file mode 100644 index 0000000..5a274d0 --- /dev/null +++ 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 \ No newline at end of file diff --git a/easymocap/visualize/skelmodel.py b/easymocap/visualize/skelmodel.py new file mode 100644 index 0000000..0ad9dc1 --- /dev/null +++ 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, :, :] \ No newline at end of file diff --git a/easymocap/visualize/sphere_faces_20.txt 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--git a/setup.py b/setup.py index 8da3080..eebb1f7 100644 --- 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=[],