From 7a8546e118848dc0fc0090195b8195c864d285fb Mon Sep 17 00:00:00 2001 From: Qing Shuai Date: Mon, 5 Sep 2022 12:47:33 +0800 Subject: [PATCH] [annot] add openpose --- easymocap/estimator/openpose_wrapper.py | 347 ++++++++++++++++++++++++ 1 file changed, 347 insertions(+) create mode 100644 easymocap/estimator/openpose_wrapper.py diff --git a/easymocap/estimator/openpose_wrapper.py b/easymocap/estimator/openpose_wrapper.py new file mode 100644 index 0000000..3479817 --- /dev/null +++ b/easymocap/estimator/openpose_wrapper.py @@ -0,0 +1,347 @@ +''' + @ Date: 2021-08-21 14:16:38 + @ Author: Qing Shuai + @ LastEditors: Qing Shuai + @ LastEditTime: 2022-05-23 23:10:43 + @ FilePath: /EasyMocapPublic/easymocap/estimator/openpose_wrapper.py +''' +import os +import shutil +from tqdm import tqdm +from .wrapper_base import bbox_from_keypoints, create_annot_file, check_result +from ..mytools import read_json +from ..annotator.file_utils import save_annot +from os.path import join +import numpy as np +import cv2 +from glob import glob +from multiprocessing import Process + +def run_openpose(image_root, annot_root, config): + os.makedirs(annot_root, exist_ok=True) + pwd = os.getcwd() + if os.name != 'nt': + cmd = './build/examples/openpose/openpose.bin --image_dir {} --write_json {} --display 0'.format( + image_root, annot_root) + else: + cmd = 'bin\\OpenPoseDemo.exe --image_dir {} --write_json {} --display 0'.format( + os.path.abspath(image_root), os.path.abspath(annot_root)) + if config['res'] != 1: + cmd = cmd + ' --net_resolution -1x{}'.format(int(16*((368*config['res'])//16))) + if config['hand']: + cmd = cmd + ' --hand' + if config['face']: + cmd = cmd + ' --face' + if config['vis']: + cmd = cmd + ' --write_images {}'.format(annot_root) + else: + cmd = cmd + ' --render_pose 0' + os.chdir(config['root']) + print(cmd) + os.system(cmd) + os.chdir(pwd) + +def convert_from_openpose(src, dst, image_root, ext): + # convert the 2d pose from openpose + inputlist = sorted(os.listdir(src)) + for inp in tqdm(inputlist, desc='{:10s}'.format(os.path.basename(dst))): + annots = load_openpose(join(src, inp)) + base = inp.replace('_keypoints.json', '') + annotname = join(dst, base+'.json') + imgname = join(image_root, inp.replace('_keypoints.json', ext)) + annot = create_annot_file(annotname, imgname) + annot['annots'] = annots + save_annot(annotname, annot) + +global_tasks = [] + +def extract_2d(image_root, annot_root, tmp_root, config): + if check_result(image_root, annot_root): + return global_tasks + if not check_result(image_root, tmp_root): + run_openpose(image_root, tmp_root, config) + # TODO: add current task to global_tasks + thread = Process(target=convert_from_openpose, + args=(tmp_root, annot_root, image_root, config['ext'])) # 应该不存在任何数据竞争 + thread.start() + global_tasks.append(thread) + return global_tasks + +def load_openpose(opname): + mapname = { + 'face_keypoints_2d':'face2d', + 'hand_left_keypoints_2d':'handl2d', + 'hand_right_keypoints_2d':'handr2d'} + assert os.path.exists(opname), opname + data = read_json(opname) + out = [] + pid = 0 + for i, d in enumerate(data['people']): + keypoints = d['pose_keypoints_2d'] + keypoints = np.array(keypoints).reshape(-1, 3) + annot = { + 'bbox': bbox_from_keypoints(keypoints), + 'personID': pid + i, + 'keypoints': keypoints.tolist(), + 'isKeyframe': False + } + bbox = annot['bbox'] + if bbox[-1] < 0.01: + continue + annot['area'] = (bbox[2] - bbox[0])*(bbox[3] - bbox[1]) + for key in mapname.keys(): + if len(d[key]) == 0: + continue + kpts = np.array(d[key]).reshape(-1, 3) + annot[mapname[key]] = kpts.tolist() + annot['bbox_'+mapname[key]] = bbox_from_keypoints(kpts) + out.append(annot) + out.sort(key=lambda x:-x['area']) + for i in range(len(out)): + out[i]['personID'] = pid + i + return out + +def get_crop(image, bbox, rot, scale=1.2): + l, t, r, b, _ = bbox + cx = (l+r)/2 + cy = (t+b)/2 + wx = (r-l)*scale/2 + wy = (b-t)*scale/2 + l = cx - wx + r = cx + wx + t = cy - wy + b = cy + wy + l = max(0, int(l+0.5)) + t = max(0, int(t+0.5)) + r = min(image.shape[1], int(r+0.5)) + b = min(image.shape[0], int(b+0.5)) + crop = image[t:b, l:r].copy() + crop = np.ascontiguousarray(crop) + # rotate the image + if rot == 180: + crop = cv2.flip(crop, -1) + return crop, (l, t) + +def transoform_foot(crop_shape, start, rot, keypoints, kpts_old=None): + l, t = start + if rot == 180: + keypoints[..., 0] = crop_shape[1] - keypoints[..., 0] - 1 + keypoints[..., 1] = crop_shape[0] - keypoints[..., 1] - 1 + keypoints[..., 0] += l + keypoints[..., 1] += t + if kpts_old is None: + kpts_op = keypoints[0] + return kpts_op + # 选择最好的 + kpts_np = np.array(kpts_old) + dist = np.linalg.norm(kpts_np[None, :15, :2] - keypoints[:, :15, :2], axis=-1) + conf = np.minimum(kpts_np[None, :15, 2], keypoints[:, :15, 2]) + dist = (dist * conf).sum(axis=-1)/conf.sum(axis=-1)*conf.shape[1]/(conf>0).sum(axis=-1) + best = dist.argmin() + kpts_op = keypoints[best] + # TODO:判断一下关键点 + # 这里以HRNet的估计为准 + # WARN: disable feet + # 判断OpenPose的脚与HRNet的脚是否重合 + if (kpts_np[[11, 14], -1] > 0.3).all() and (kpts_op[[11, 14], -1] > 0.3).all(): + dist_ll = np.linalg.norm(kpts_np[11, :2] - kpts_op[11, :2]) + dist_rr = np.linalg.norm(kpts_np[14, :2] - kpts_op[14, :2]) + dist_lr = np.linalg.norm(kpts_np[11, :2] - kpts_op[14, :2]) + dist_rl = np.linalg.norm(kpts_np[14, :2] - kpts_op[11, :2]) + if dist_lr < dist_ll and dist_rl < dist_rr: + kpts_op[[19, 20, 21, 22, 23, 24]] = kpts_op[[22, 23, 24, 19, 20, 21]] + # if (kpts_np[[11, 14], -1] > 0.3).all() and (kpts_op[[19, 22], -1] > 0.3).all(): + # if np.linalg.norm(kpts_op[19, :2] - kpts_np[11, :2]) \ + # < np.linalg.norm(kpts_op[19, :2] - kpts_np[14, :2])\ + # and np.linalg.norm(kpts_op[22, :2] - kpts_np[11, :2]) \ + # > np.linalg.norm(kpts_op[22, :2] - kpts_np[14, :2]): + # kpts_op[[19, 20, 21, 22, 23, 24]] = kpts_op[[22, 23, 24, 19, 20, 21]] + # print('[info] swap left and right') + # 直接选择第一个 + kpts_np[19:] = kpts_op[19:] + return kpts_np + +def filter_feet(kpts): + # 判断左脚 + if (kpts[[13, 14, 19], -1]>0).all(): + l_feet = ((kpts[[19,20,21],-1]>0)*np.linalg.norm(kpts[[19, 20, 21], :2] - kpts[14, :2], axis=-1)).max() + l_leg = np.linalg.norm(kpts[13, :2] - kpts[14, :2]) + if l_leg < 1.5 * l_feet: + kpts[[19, 20, 21]] = 0. + print('[LOG] remove left ankle {} < {}'.format(l_leg, l_feet)) + # 判断右脚 + if (kpts[[10, 11], -1]>0).all(): + l_feet = ((kpts[[22, 23, 24],-1]>0)*np.linalg.norm(kpts[[22, 23, 24], :2] - kpts[11, :2], axis=-1)).max() + l_leg = np.linalg.norm(kpts[10, :2] - kpts[11, :2]) + if l_leg < 1.5 * l_feet: + kpts[[22, 23, 24]] = 0. + print('[LOG] remove right ankle {} < {}'.format(l_leg, l_feet)) + return kpts + +class FeetEstimatorByCrop: + def __init__(self, openpose, tmpdir=None, fullbody=False, hand=False, face=False) -> None: + self.openpose = openpose + if tmpdir is None: + tmpdir = os.path.abspath(join('./', 'tmp')) + else: + tmpdir = os.path.abspath(tmpdir) + self.tmpdir = tmpdir + self.fullbody = fullbody + self.hand = hand + self.face = face + if os.path.exists(tmpdir): + shutil.rmtree(tmpdir) + os.makedirs(join(tmpdir, 'images'), exist_ok=True) + self.config = { + 'root': self.openpose, + 'res': 1, + 'hand': hand, # detect hand when in fullbody mode + 'face': face, + 'vis': False, + } + + def detect_foot(self, image_root, annot_root, ext): + # TODO:换成取heatmap的最大值 + THRES = 0.3 + imgnames = sorted(glob(join(image_root, '*'+ext))) + if len(imgnames) == 0: + # 尝试换成png格式 + ext = '.png' + imgnames = sorted(glob(join(image_root, '*'+ext))) + infos = {} + crop_counts = 0 + for imgname in tqdm(imgnames, desc='{:10s}'.format(os.path.basename(annot_root))): + base = os.path.basename(imgname).replace(ext, '') + annotname = join(annot_root, base+'.json') + annots = read_json(annotname) + image = cv2.imread(imgname) + if 'detect_feet' in annots.keys() and annots['detect_feet'] and False: + continue + infos[base] = {} + for i, annot in enumerate(annots['annots']): + bbox = annot['bbox'] + # 判断bbox大小 + width, height = bbox[2] - bbox[0], bbox[3] - bbox[1] + if width < 100 and height < 100: + continue + rot = 0 + if not self.fullbody: + kpts = np.array(annot['keypoints']) + # 判断有没有脚的关键点 + if kpts[11][-1] < THRES and kpts[14][-1] < THRES: + continue + # 判断(1, 8)的朝向 + if kpts[1][-1] < THRES or kpts[8][-1] < THRES: + continue + dir_1_8 = np.array([kpts[1][0]-kpts[8][0], kpts[1][1]-kpts[8][1]]) + dir_1_8 = dir_1_8 / np.linalg.norm(dir_1_8) + if dir_1_8[1] > 0.8: + rot = 180 + crop, start = get_crop(image, bbox, rot) + cropname = join(self.tmpdir, 'images', f'{base}_{i}.jpg') + infos[base][i] = { + 'crop_shape': crop.shape, + 'start': start, + 'rot': rot, + 'name': f'{base}_{i}.json' + } + cv2.imwrite(cropname, crop) + crop_counts += 1 + tmp_image_root = join(self.tmpdir, 'images') + tmp_annot_root = join(self.tmpdir, 'annots') + tmp_tmp_root = join(self.tmpdir, 'openpose') + print(len(os.listdir(tmp_image_root)), crop_counts) + run_openpose(tmp_image_root, tmp_tmp_root, self.config) + convert_from_openpose(tmp_tmp_root, tmp_annot_root, tmp_image_root, '.jpg') # 应该不存在任何数据竞争 + for imgname in tqdm(imgnames, desc='{:10s}'.format(os.path.basename(annot_root))): + base = os.path.basename(imgname).replace(ext, '') + annotname = join(annot_root, base+'.json') + annots_ori = read_json(annotname) + if base not in infos.keys(): + continue + for i, annots in enumerate(annots_ori['annots']): + if i not in infos[base].keys(): + continue + info = infos[base][i] + cropname = join(tmp_annot_root, info['name']) + if not os.path.exists(cropname): + print('[WARN] {} not exists!'.format(cropname)) + continue + annots_sub = read_json(cropname)['annots'] + if len(annots_sub) < 1: + continue + keypoints = np.stack([np.array(d['keypoints']) for d in annots_sub]) + if self.hand or self.face: + for key in ['handl2d', 'handr2d', 'face2d']: + if key in annots_sub[0].keys(): + khand = np.array(annots_sub[0][key])[None] + annots[key] = transoform_foot(info['crop_shape'], info['start'], info['rot'], khand, None) + annots['bbox_'+key] = bbox_from_keypoints(annots[key]) + if self.fullbody: + kpts_np = transoform_foot(info['crop_shape'], info['start'], info['rot'], keypoints, None) + else: + kpts = annots['keypoints'] + kpts_np = transoform_foot(info['crop_shape'], info['start'], info['rot'], keypoints, kpts) + if False: # WARN: disable filter feet + kpts_np = filter_feet(kpts_np) + annots['keypoints'] = kpts_np + annots_ori['detect_feet'] = True + save_annot(annotname, annots_ori) + +class FeetEstimator: + def __init__(self, openpose='/media/qing/Project/openpose') -> None: + import sys + sys.path.append('{}/build_py/python'.format(openpose)) + from openpose import pyopenpose as op + opWrapper = op.WrapperPython() + params = dict() + params["model_folder"] = "{}/models".format(openpose) + opWrapper.configure(params) + opWrapper.start() + self.wrapper = opWrapper + self.rect = op.Rectangle + self.datum = op.Datum + try: + self.vec = op.VectorDatum + except: + self.vec = lambda x:x + + def detect_foot(self, image_root, annot_root, ext): + # TODO:换成取heatmap的最大值 + THRES = 0.3 + imgnames = sorted(glob(join(image_root, '*'+ext))) + for imgname in tqdm(imgnames, desc='{:10s}'.format(os.path.basename(annot_root))): + base = os.path.basename(imgname).replace(ext, '') + annotname = join(annot_root, base+'.json') + annots = read_json(annotname) + image = cv2.imread(imgname) + for annot in annots['annots']: + bbox = annot['bbox'] + kpts = np.array(annot['keypoints']) + # 判断(1, 8)的朝向 + if kpts[1][-1] < THRES or kpts[8][-1] < THRES: + continue + dir_1_8 = np.array([kpts[1][0]-kpts[8][0], kpts[1][1]-kpts[8][1]]) + dir_1_8 = dir_1_8 / np.linalg.norm(dir_1_8) + if dir_1_8[1] > 0.8: + rot = 180 + else: + rot = 0 + kpts = self._detect_with_bbox(image, kpts, bbox, rot=rot) + kpts = filter_feet() + annot['keypoints'] = kpts + save_annot(annotname, annots) + + def _detect_with_bbox(self, image, kpts, bbox, rot=0): + crop, start = get_crop(image, bbox, rot) + datum = self.datum() + datum.cvInputData = crop + self.wrapper.emplaceAndPop(self.vec([datum])) + # keypoints: (N, 25, 3) + keypoints = datum.poseKeypoints + if len(keypoints.shape) < 3: + print(keypoints) + print('Not detect person!') + return kpts + kpts_np = transoform_foot(crop.shape, start, rot, keypoints, kpts) + return kpts_np \ No newline at end of file