update tools

easymocap/annotator/__init__.py

@@ -10,7 +10,6 @@ from .basic_dataset import ImageFolder, MVBase
 from .basic_visualize import vis_point, vis_line, vis_bbox
 from .basic_visualize import plot_bbox_body, plot_skeleton, plot_text, vis_active_bbox, plot_bbox_factory
 from .basic_annotator import AnnotBase, AnnotMV
-from .chessboard import findChessboardCorners
 # bbox callbacks
 # create, delete, copy
 from .bbox_callback import create_bbox, delete_bbox, delete_all_bbox, copy_previous_bbox, copy_previous_missing

easymocap/annotator/basic_annotator.py

@@ -1,5 +1,6 @@
 import shutil
 import cv2
+import os
 from tqdm import tqdm
 from .basic_keyboard import print_help, register_keys
 from .basic_visualize import plot_text, resize_to_screen, merge
@@ -203,6 +204,7 @@ class AnnotBase:
         param['frame'] = nf
         param['annots'] = annots
         if not no_img:
+            assert os.path.exists(imgname), imgname
             img0 = cv2.imread(imgname)
             param['img0'] = img0
             # param['pid'] = len(annot['annots'])
@@ -239,6 +241,7 @@ class AnnotBase:
             img = func(img, **self.param)
         if not self.no_window:
             cv2.imshow(self.name, img)
+        return img
 
 class AnnotMV:
     def __init__(self, datasets, key_funcs={}, key_funcs_view={}, callbacks=[], vis_funcs=[], vis_funcs_all=[], 
@@ -602,8 +605,11 @@ def parse_parser(parser):
         data = read_json(args.from_file)
         args.sub = sorted([v['vid'] for v in data])
     elif len(args.sub) == 0:
+        if not os.path.exists(join(args.path, args.image)):
+            print('{} not exists, Please run extract_image first'.format(join(args.path, args.image)))
+            raise FileNotFoundError
         subs = sorted(os.listdir(join(args.path, args.image)))
-        subs = [s for s in subs if os.path.isdir(join(args.path, args.image, s))]
+        subs = [s for s in subs if os.path.isdir(join(args.path, args.image, s)) and not s.startswith('._')]
         if len(subs) > 0 and subs[0].isdigit():
             subs = sorted(subs, key=lambda x:int(x))
         args.sub = subs

easymocap/annotator/basic_dataset.py

@@ -2,8 +2,8 @@
   @ Date: 2021-04-15 16:57:53
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2021-10-15 16:43:12
+  @ LastEditTime: 2022-09-15 21:58:57
-  @ FilePath: /EasyMocap/easymocap/annotator/basic_dataset.py
+  @ FilePath: /EasyMocapPublic/easymocap/annotator/basic_dataset.py
 '''
 from os.path import join
 import os
@@ -25,13 +25,20 @@ class ImageFolder:
         self.annot_root_tmp = join(path, self.annot + '_tmp')
         if os.path.exists(self.annot_root_tmp) and remove_tmp:
             shutil.rmtree(self.annot_root_tmp)
+        print('- Load data from {}'.format(path))        
         if sub is None:
+            print('- Try to find image names...')
             self.imgnames = getFileList(self.image_root, ext=ext, max=max_per_folder)
+            print('  -> find {} images'.format(len(self.imgnames)))
             if not no_annot:
+                print('- Try to find annot names...')
                 self.annnames = getFileList(self.annot_root, ext='.json')
+                print('  -> find {} annots'.format(len(self.annnames)))
         else:
+            print('- Try to find image names of camera {}...'.format(sub))
             self.imgnames = getFileList(join(self.image_root, sub), ext=ext)
             self.imgnames = [join(sub, name) for name in self.imgnames]
+            print('  -> find {} images'.format(len(self.imgnames)))
             if not no_annot:
                 self.annnames = getFileList(join(self.annot_root, sub), ext='.json')
                 self.annnames = [join(sub, name) for name in self.annnames]
@@ -46,6 +53,9 @@ class ImageFolder:
         self.no_annot = no_annot
     
     def __getitem__(self, index):
+        if index > len(self.imgnames):
+            print('!!! You are try to read {} image from {} images'.format(index, len(self.imgnames)))
+            print('!!! Please check image path: {}'.format(self.image_root))
         imgname = join(self.image_root, self.imgnames[index])
         if self.no_annot:
             annname = None

easymocap/annotator/chessboard.py

@@ -2,8 +2,8 @@
   @ Date: 2021-04-13 16:14:36
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2022-08-17 16:49:40
+  @ LastEditTime: 2022-10-25 20:56:26
-  @ FilePath: /EasyMocapPublic/easymocap/annotator/chessboard.py
+  @ FilePath: /EasyMocapRelease/easymocap/annotator/chessboard.py
 '''
 import numpy as np
 import cv2
@@ -101,14 +101,14 @@ def create_chessboard(path, keypoints3d, out='annots'):
             annots['keypoints3d'] = template['keypoints3d']
             save_json(annname, annots)
 
+
+def detect_charuco(image, aruco_type, long, short, squareLength, aruco_len):
     ARUCO_DICT = {
         "4X4_50": cv2.aruco.DICT_4X4_50,
         "4X4_100": cv2.aruco.DICT_4X4_100,
         "5X5_100": cv2.aruco.DICT_5X5_100,
         "5X5_250": cv2.aruco.DICT_5X5_250,
     }
-
-def detect_charuco(image, aruco_type, long, short, squareLength, aruco_len):
     # 创建ChArUco标定板
     dictionary = cv2.aruco.getPredefinedDictionary(dict=ARUCO_DICT[aruco_type])
     board = cv2.aruco.CharucoBoard_create(
@@ -139,3 +139,95 @@ def detect_charuco(image, aruco_type, long, short, squareLength, aruco_len):
     else:
         retval = False
     return retval, keypoints2d, corners3d
+
+class CharucoBoard:
+    def __init__(self, long, short, squareLength, aruco_len, aruco_type) -> None:    
+        '''
+            short,long 分别表示短边、长边的格子数.
+            squareLength,aruco_len 分别表示棋盘格的边长与aruco的边长.
+            aruco_type 表示Aruco的类型 4X4表示aruco中的白色格子是4x4的 _50表示aruco字典中有多少种aruco.
+        '''
+        # 定义现有的Aruco类型
+        self.ARUCO_DICT = {
+            "4X4_50": cv2.aruco.DICT_4X4_50,
+            "4X4_100": cv2.aruco.DICT_4X4_100,
+            "5X5_100": cv2.aruco.DICT_5X5_100,
+            "5X5_250": cv2.aruco.DICT_5X5_250,
+        }
+        # 创建ChArUco标定板
+        dictionary = cv2.aruco.getPredefinedDictionary(dict=self.ARUCO_DICT[aruco_type])
+        board = cv2.aruco.CharucoBoard_create(
+            squaresY=long,
+            squaresX=short,
+            squareLength=squareLength,
+            markerLength=aruco_len,
+            dictionary=dictionary,
+        )
+        corners = board.chessboardCorners
+        # ATTN: exchange the XY
+        corners = corners[:, [1, 0, 2]]
+        self.template = {
+            'keypoints3d': corners,
+            'keypoints2d': np.zeros_like(corners),
+            'pattern': (long-1, short-1),
+            'grid_size': squareLength,
+            'visted': False
+        }
+        print(corners.shape)
+        self.dictionary = dictionary
+        self.board = board
+    
+    def detect(self, img_color, annots):
+        # 查找标志块的左上角点
+        corners, ids, _ = cv2.aruco.detectMarkers(
+            image=img_color, dictionary=self.dictionary, parameters=None
+        )
+        # 棋盘格黑白块内角点
+        if ids is not None:
+            retval, charucoCorners, charucoIds = cv2.aruco.interpolateCornersCharuco(
+                markerCorners=corners, markerIds=ids, image=img_color, board=self.board
+            )
+        else:
+            retval = False
+        if retval:
+            # 绘制棋盘格黑白块内角点
+            cv2.aruco.drawDetectedCornersCharuco(
+                img_color, charucoCorners, charucoIds, [0, 0, 255]
+            )
+            if False:
+                cv2.aruco.drawDetectedMarkers(
+                    image=img_color, corners=corners, ids=ids, borderColor=None
+                )
+
+            ids = charucoIds[:, 0]
+            pts = charucoCorners[:, 0]
+            annots['keypoints2d'][ids, :2] = pts
+            annots['keypoints2d'][ids, 2] = 1.
+            # if args.show:
+            #     img_color = cv2.resize(img_color, None, fx=0.5, fy=0.5)
+            #     cv2.imshow('vis', img_color)
+            #     cv2.waitKey(0)
+            # visname = imgname.replace(images, output)
+            # os.makedirs(os.path.dirname(visname), exist_ok=True)
+            # cv2.imwrite(visname, img_color)
+        else:
+            # mywarn('Cannot find in {}'.format(imgname))
+            pass
+        
+    def __call__(self, imgname, images='images', output='output'):
+        import os
+        from .file_utils import read_json, save_json
+        import copy
+        img_color = cv2.imread(imgname)
+        annotname = imgname.replace('images', 'chessboard').replace('.jpg', '.json')
+        if os.path.exists(annotname):
+            annots = read_json(annotname)
+            if annots['visited']:
+                return
+        else:
+            annots = copy.deepcopy(self.template)
+        annots['visited'] = True
+        self.detect(img_color, annots)
+        annots['keypoints2d'] = annots['keypoints2d'].tolist()
+        annots['keypoints3d'] = annots['keypoints3d'].tolist()
+        save_json(annotname, annots)

easymocap/datasets/base.py

@@ -229,10 +229,15 @@ class Base(BaseData):
             self.image_names = get_allname(self.root, self.subs, self.ranges, **reader.image)
         self.reader = reader
         self.writer = writer
-        if camera != 'none' and os.path.exists(camera):
+        if camera != 'none':
+            if not os.path.isabs(camera):
+                camera = join(self.root, camera)
+            if os.path.exists(camera):
                 cameras = read_cameras(camera)
             else:
                 cameras = None
+        else:
+            cameras = None
         self.cameras = cameras
         self.distortMap = {}
         self.out = out
@@ -417,7 +422,7 @@ class ImageFolder(Base):
             if self.loadmp:
                 for i, data_ in enumerate(data['annots']['annots']):
                     if keyname not in data_.keys():
-                        if key not in self.cache_shape.keys():
+                        if key not in self.cache_shape.keys() and self.read_flag[keyname]:
                             cache_shape = {
                                 'handl2d': np.zeros((21, 3)),
                                 'handr2d': np.zeros((21, 3)),
@@ -473,6 +478,23 @@ class ImageFolder(Base):
                 data[key+'_distort'] = np.stack([d[key+'_distort'] for d in data['annots']])
         else:
             data.pop('annots')
+        if not self.loadmp:
+            if 'depth' in self.reader.keys():
+                depthname = join(self.root, self.reader['depth']['root'], self.get_view(index)[1], '{}.png'.format(os.path.basename(data['annname']).replace('.json', '')))
+                depthmap = cv2.imread(depthname, cv2.IMREAD_UNCHANGED)
+                depthmap = depthmap.astype(np.float32)/1000.
+                depths = np.zeros_like(data['keypoints2d'][:, :2])
+                for i, (x, y, c) in enumerate(data['keypoints2d']):
+                    if c < 0.3:continue
+                    if i >= 15:continue
+                    x, y = int(x+0.5), int(y+0.5)
+                    if x > depthmap.shape[0] or y > depthmap.shape[1] or x < 0 or y < 0:
+                        continue
+                    d_value = depthmap[y, x]
+                    if d_value < 0.1:continue
+                    depths[i, 0] = d_value
+                    depths[i, 1] = c
+                data['depth'] = depths
         return data
     
     def vis_data(self, data, img=None):
@@ -503,14 +525,27 @@ class MultiVideo(ImageFolder):
         camera_for_each_image = False
         if 'camera' in self.reader.keys():
             camera_for_each_image = True
+            if os.path.exists(join(self.root, self.reader['camera'], sub)):
                 cameras = read_cameras(join(self.root, self.reader['camera'], sub))
+            elif os.path.exists(join(self.root, self.reader['camera'])):
+                cameras = read_cameras(join(self.root, self.reader['camera']))
+            else:
+                myerror("You must give a valid camera path")
+                raise NotImplementedError
         for info in tqdm(self.image_dict[sub], 'Loading {}'.format(sub)):
             basename = os.path.basename(info['imgname']).split('.')[0]
             if camera_for_each_image:
-                K, dist = cameras[basename]['K'], cameras[basename]['dist']
+                if basename in cameras.keys():
+                    camera = cameras[basename]
+                elif sub+'/'+basename in cameras.keys():
+                    camera = cameras[sub+'/'+basename]
+                else:
+                    myerror("You must give a valid camera")
+                    raise NotImplementedError
+                K, dist = camera['K'], camera['dist']
                 data = super().__getitem__(info['index'], K=K, dist=dist)
                 for oldkey, newkey in [('K', 'K'), ('dist', 'dist'), ('R', 'Rc'), ('T', 'Tc')]:
-                    data[newkey] = cameras[basename][oldkey].astype(np.float32)
+                    data[newkey] = camera[oldkey].astype(np.float32)
             else:
                 data = super().__getitem__(info['index'])
             data_all.append(data)
@@ -518,6 +553,12 @@ class MultiVideo(ImageFolder):
         ret = self.collect_data(data_all)
         if self.loadmp and self.compose_mp: # 针对镜子的情况，需要load多人的数据
             for key in ['keypoints2d', 'keypoints2d_distort', 'keypoints2d_unproj']:
+                if len(self.pids) > 0:
+                    for i in range(len(ret[key])):
+                        ret[key][i] = ret[key][i][:len(self.pids)]
+                shapes = set([v.shape for v in ret[key]])
+                if len(shapes) > 1:
+                    myerror('The shape is not the same!')
                 ret[key] = np.stack(ret[key])
             ret['pid'] = self.pids
         return ret

easymocap/multistage/base.py

@@ -250,13 +250,7 @@ class MultiStage:
                 infos[key] = val.detach().cpu()
         return body_params
 
-    def fit(self, body_model, dataset):
+    def fit_data(self, data, body_model):
-        batch_size = len(dataset) if self.batch_size == -1 else self.batch_size
-        dataloader = DataLoader(dataset, batch_size=batch_size, shuffle=False, num_workers=0, drop_last=False)
-        if len(dataloader) > 1:
-            dataloader = tqdm(dataloader, desc='optimizing')
-        for data in dataloader:
-            data = dataset.reshape_data(data)
         infos = data.copy()
         init_params = body_model.init_params(nFrames=infos['nFrames'], nPerson=infos.get('nPerson', 1))
         # first initialize the model
@@ -289,10 +283,20 @@ class MultiStage:
             best_idx = np.argmin(metrics)
         else:
             best_idx = 0
+        body_params = Params(**results[best_idx])
+        return body_params, infos
+
+    def fit(self, body_model, dataset):
+        batch_size = len(dataset) if self.batch_size == -1 else self.batch_size
+        dataloader = DataLoader(dataset, batch_size=batch_size, shuffle=False, num_workers=0, drop_last=False)
+        if len(dataloader) > 1:
+            dataloader = tqdm(dataloader, desc='optimizing')
+        for data in dataloader:
+            data = dataset.reshape_data(data)
+            body_params, infos = self.fit_data(data, body_model)
             if 'sync_offset' in body_params.keys():
                 offset = body_params.pop('sync_offset')
                 dataset.write_offset(offset)
-            body_params = Params(**results[best_idx])
             if data['nFrames'] != body_params['poses'].shape[0]:
                 for key in body_params.keys():
                     if body_params[key].shape[0] == 1:continue

easymocap/multistage/init_cnn.py

@@ -3,7 +3,7 @@
   @ Author: Qing Shuai
   @ Mail: s_q@zju.edu.cn
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2022-07-11 22:20:44
+  @ LastEditTime: 2022-08-30 19:47:04
   @ FilePath: /EasyMocapPublic/easymocap/multistage/init_cnn.py
 '''
 import os
@@ -82,7 +82,10 @@ class InitSpin:
                     print('[WARN] not enough joints: {} in first frame'.format(imgname))
                 else:
                     print('[WARN] not enough joints: {}'.format(imgname))
+                    if self.multi_person:
                         result = {'body_params': params_all[-1][pid]}
+                    else:
+                        result = {'body_params': params_all[-1]}
                 params = result['body_params']
                 params['id'] = pid
                 params_current.append(params)

easymocap/multistage/initialize.py

@@ -73,7 +73,9 @@ class InitRT:
         self.torso = torso
 
     def __call__(self, body_model, body_params, infos):
-        keypoints3d = infos['keypoints3d'].detach().cpu().numpy()
+        keypoints3d = infos['keypoints3d']
+        if torch.is_tensor(keypoints3d):
+            keypoints3d = keypoints3d.detach().cpu().numpy()
         temp_joints = body_model.keypoints(body_params, return_tensor=False)
         
         torso = keypoints3d[..., self.torso, :3].copy()

easymocap/multistage/lossbase.py

@@ -242,6 +242,8 @@ class AnySmooth(LossBase):
         return name
 
     def check_at_start(self, **kwargs):
+        if self.key not in kwargs.keys():
+            return 0
         value = kwargs[self.key]
         if value.shape[0] < len(self.weight):
             return 0
@@ -253,6 +255,8 @@ class AnySmooth(LossBase):
         return super().check_at_start(**kwargs)
 
     def check_at_end(self, **kwargs):
+        if self.key not in kwargs.keys():
+            return 0
         value = kwargs[self.key]
         if value.shape[0] < len(self.weight):
             return 0
@@ -587,3 +591,24 @@ class Keypoints2D(BaseKeypoints):
         header.append('after(pix)')
         contents.append(err_after.detach().cpu().numpy().tolist())
         print_table(header, contents)
+
+class DepthLoss(LossBase):
+    def __init__(self, K, Rc, Tc, depth, norm, norm_info, index_est=[]):
+        super().__init__()
+        P = torch.bmm(K, torch.cat([Rc, Tc], dim=-1))
+        self.register_buffer('P', P)
+        self.index_est = index_est
+        depth = BaseKeypoints.select(depth, self.index_est, [])
+        self.register_buffer('depth', depth)
+        self.einsum = 'fab,fnb->fna'
+        self.lossfunc = make_loss(norm, norm_info)
+    
+    def forward(self, kpts_est, **kwargs):
+        kpts_est = BaseKeypoints.select(kpts_est, self.index_est, [])
+        kpts_homo = torch.ones_like(kpts_est[..., -1:])
+        kpts_homo = torch.cat([kpts_est, kpts_homo], dim=-1)
+        point_cam = torch.einsum(self.einsum, self.P, kpts_homo)
+        depth = point_cam[..., -1]
+        conf = self.depth[..., 1]
+        loss = self.lossfunc(depth[..., None], self.depth[..., :1], conf)
+        return loss

easymocap/mytools/camera_utils.py

@@ -193,7 +193,7 @@ class Undistort:
         kpts = keypoints[:, None, :2]
         kpts = np.ascontiguousarray(kpts)
         kpts = cv2.undistortPoints(kpts, K, dist, P=K)
-        keypoints[:, :2] = kpts[:, 0]
+        keypoints = np.hstack([kpts[:, 0], keypoints[:, 2:]])
         return keypoints
     
     @staticmethod
@@ -221,7 +221,7 @@ class UndistortFisheye:
         kpts = keypoints[:, None, :2]
         kpts = np.ascontiguousarray(kpts)
         kpts = cv2.fisheye.undistortPoints(kpts, K, dist, P=Knew)
-        keypoints[:, :2] = kpts[:, 0]
+        keypoints = np.hstack([kpts[:, 0], keypoints[:, 2:]])
         return keypoints
     
     @staticmethod

easymocap/mytools/timer.py

@@ -0,0 +1,80 @@
+'''
+  @ Date: 2021-01-15 11:12:00
+  @ Author: Qing Shuai
+  @ LastEditors: Qing Shuai
+  @ LastEditTime: 2022-09-27 15:50:50
+  @ FilePath: /EasyMocapPublic/easymocap/mytools/timer.py
+'''
+import time
+import tabulate
+class Timer:
+    records = {}
+    tmp = None
+    indent = -1
+
+    @classmethod
+    def tic(cls):
+        cls.tmp = time.time()
+    @classmethod
+    def toc(cls):
+        res = (time.time() - cls.tmp) * 1000
+        cls.tmp = None
+        return res
+    
+    @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()
+        Timer.indent += 1
+
+    def __exit__(self, exc_type, exc_value, exc_tb):
+        end = time.time()
+        Timer.records[self.name].append((end-self.start)*1000)
+        indent = self.indent * '  '
+        if not self.silent:
+            t = (end - self.start)*1000
+            if t > 1000:
+                print('-> {}[{:20s}]: {:5.1f}s'.format(indent, self.name, t/1000))
+            elif t > 1e3*60*60:
+                print('-> {}[{:20s}]: {:5.1f}min'.format(indent, self.name, t/1e3/60))
+            else:
+                print('-> {}[{:20s}]: {:5.1f}ms'.format(indent, self.name, (end-self.start)*1000))
+        Timer.indent -= 1
+
+    @staticmethod
+    def timer(name):
+        from functools import wraps
+        def decorator(func):
+            @wraps(func)
+            def wrapped_function(*args, **kwargs):
+                with Timer(name):
+                    ret = func(*args, **kwargs)
+                return ret
+            return wrapped_function
+        return decorator
+
+if __name__ == '__main__':
+    @Timer.timer('testfunc')
+    def dummyfunc():
+        time.sleep(1)
+    with Timer('level0'):
+        with Timer('level1'):
+            with Timer('level2'):
+                time.sleep(1)
+            time.sleep(1)
+        time.sleep(1)
+    dummyfunc()
+    Timer.report()
+            

easymocap/mytools/triangulator.py

@@ -7,6 +7,16 @@ from easymocap.mytools.vis_base import merge, plot_keypoints_auto
 from .debug_utils import log, mywarn, myerror
 
 def batch_triangulate(keypoints_, Pall, min_view=2):
+    """ triangulate the keypoints of whole body
+
+    Args:
+        keypoints_ (nViews, nJoints, 3): 2D detections
+        Pall (nViews, 3, 4): projection matrix of each view
+        min_view (int, optional): min view for visible points. Defaults to 2.
+
+    Returns:
+        keypoints3d: (nJoints, 4)
+    """
     # keypoints: (nViews, nJoints, 3)
     # Pall: (nViews, 3, 4)
     # A: (nJoints, nViewsx2, 4), x: (nJoints, 4, 1); b: (nJoints, nViewsx2, 1)
@@ -589,6 +599,7 @@ class SimpleMatchAndTriangulator(SimpleTriangulator):
             plt.vlines([i-0.5 for i in dimGroups[1:]], -0.5, M-0.5, 'w')
             plt.ioff()
             plt.show()
+            import ipdb;ipdb.set_trace()
         return aff_svt
 
     def _track_add(self, res):

easymocap/visualize/ffmpeg_wrapper.py

@@ -2,7 +2,7 @@
   @ Date: 2021-11-27 16:50:33
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2022-04-13 18:19:03
+  @ LastEditTime: 2022-10-19 21:37:49
   @ FilePath: /EasyMocapPublic/easymocap/visualize/ffmpeg_wrapper.py
 '''
 import shutil
@@ -41,6 +41,7 @@ class VideoMaker:
                 self.reorder = True
         if self.reorder:
             tmpdir = '/tmp/ffmpeg-tmp'
+            if os.path.exists(tmpdir):
                 shutil.rmtree(tmpdir)
             os.makedirs(tmpdir, exist_ok=True)
             for nf, imgname in tqdm(enumerate(imgnames), desc='copy to /tmp'):

easymocap/visualize/pyrender_wrapper.py

@@ -2,7 +2,7 @@
   @ Date: 2021-05-13 14:20:13
   @ Author: Qing Shuai
   @ LastEditors: Qing Shuai
-  @ LastEditTime: 2022-06-10 22:47:42
+  @ LastEditTime: 2022-09-13 12:24:20
   @ FilePath: /EasyMocapPublic/easymocap/visualize/pyrender_wrapper.py
 '''
 import pyrender
@@ -97,7 +97,7 @@ class Renderer:
                     # material = pyrender.material.SpecularGlossinessMaterial(
                     #     diffuseFactor=1.0, glossinessFactor=0.0
                     # )
-                    mesh = pyrender.Mesh.from_trimesh(mesh, material=material, smooth=True)
+                    mesh = pyrender.Mesh.from_trimesh(mesh, material=material, smooth=data.get('smooth', True))
                 else:
                     mesh = trimesh.Trimesh(vert, faces, vertex_colors=data['colors'], process=False)
                     mesh.apply_transform(rot)
@@ -149,17 +149,12 @@ def plot_meshes(img, meshes, K, R, T, mode='image'):
 
 # 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
+    (94/255, 124/255, 226/255), # 青色
-    (.5, .5, .7, 1.),  # Pink BGR
+    (255/255, 200/255, 87/255), # yellow
-    (.44, .50, .98, 1.), # Red
+    (74/255.,  189/255.,  172/255.), # green
-    (.7, .7, .6, 1.),  # Neutral
+    (8/255, 76/255, 97/255), # blue
-    (.5, .5, .7, 1.),  # Blue
+    (219/255, 58/255, 52/255), # red
-    (.5, .55, .3, 1.),  # capsule
+    (77/255, 40/255, 49/255), # brown
-    (.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 = {