From ceba363dcb8cad9f016bf7a168eb69393fee6c70 Mon Sep 17 00:00:00 2001 From: shuaiqing Date: Mon, 25 Jan 2021 19:37:23 +0800 Subject: [PATCH] :rocket: update 3d visualization code --- Readme.md | 10 +- code/dataset/base.py | 41 +- code/demo_mv1pmf_smpl.py | 8 +- code/mytools/reconstruction.py | 8 +- code/vis_render.py | 97 ++ code/visualize/geometry.py | 82 ++ code/visualize/skelmodel.py | 74 ++ code/visualize/sphere_faces_20.txt | 1520 +++++++++++++++++++++++++ code/visualize/sphere_vertices_20.txt | 762 +++++++++++++ scripts/preprocess/extract_video.py | 12 +- 10 files changed, 2596 insertions(+), 18 deletions(-) create mode 100644 code/vis_render.py create mode 100644 code/visualize/geometry.py create mode 100644 code/visualize/skelmodel.py create mode 100644 code/visualize/sphere_faces_20.txt create mode 100644 code/visualize/sphere_vertices_20.txt diff --git a/Readme.md b/Readme.md index e2dbaa9..e78881f 100644 --- a/Readme.md +++ b/Readme.md @@ -2,7 +2,7 @@ * @Date: 2021-01-13 20:32:12 * @Author: Qing Shuai * @LastEditors: Qing Shuai - * @LastEditTime: 2021-01-24 22:11:37 + * @LastEditTime: 2021-01-25 19:35:14 * @FilePath: /EasyMocapRelease/Readme.md --> # EasyMocap @@ -74,10 +74,14 @@ out=path/to/output python3 scripts/preprocess/extract_video.py ${data} # 1. example for skeleton reconstruction python3 code/demo_mv1pmf_skel.py ${data} --out ${out} --vis_det --vis_repro --undis --sub_vis 1 7 13 19 -# 2. example for SMPL reconstruction +# 2.1 example for SMPL reconstruction python3 code/demo_mv1pmf_smpl.py ${data} --out ${out} --end 300 --vis_smpl --undis --sub_vis 1 7 13 19 --gender male -# 2. example for SMPL-X reconstruction +# 2.2 example for SMPL-X reconstruction python3 code/demo_mv1pmf_smpl.py ${data} --out ${out} --undis --body bodyhandface --sub_vis 1 7 13 19 --start 400 --model smplx --vis_smpl --gender male +# 3.1 example for rendering SMPLX to ${out}/smpl +python3 code/vis_render.py ${data} --out ${out} --skel ${out}/smpl --model smplx --gender male --undis --start 400 --sub_vis 1 +# 3.2 example for rendering skeleton of SMPL to ${out}/smplskel +python3 code/vis_render.py ${data} --out ${out} --skel ${out}/smpl --model smplx --gender male --undis --start 400 --sub_vis 1 --type smplskel --body bodyhandface ``` ## Not Quick Start diff --git a/code/dataset/base.py b/code/dataset/base.py index 880d877..6a019b8 100644 --- a/code/dataset/base.py +++ b/code/dataset/base.py @@ -2,8 +2,8 @@ @ Date: 2021-01-13 16:53:55 @ Author: Qing Shuai @ LastEditors: Qing Shuai - @ LastEditTime: 2021-01-24 22:27:01 - @ FilePath: /EasyMocapRelease/code/dataset/base.py + @ LastEditTime: 2021-01-25 19:12:34 + @ FilePath: /EasyMocap/code/dataset/base.py ''' import os import json @@ -351,6 +351,8 @@ class MVBase(Dataset): self.mode = mode self.undis = undis self.no_img = no_img + # use when debug + self.ret_crop = False self.config = config # results path # the results store keypoints3d @@ -425,6 +427,18 @@ class MVBase(Dataset): images.append(img) # TODO:这里直接取了0 annot = read_annot(annname, self.mode) + if self.ret_crop: + for det in annot: + bbox = det['bbox'] + l, t, r, b = det['bbox'][:4] + l = max(0, int(l+0.5)) + t = max(0, int(t+0.5)) + r = min(img.shape[1], int(r+0.5)) + b = min(img.shape[0], int(b+0.5)) + det['bbox'][:4] = [l, t, r, b] + crop_img = img[t:b, l:r, :] + crop_img = cv2.resize(crop_img, (128, 256)) + det['crop'] = crop_img annots.append(annot) if self.undis: images = self.undistort(images) @@ -465,6 +479,29 @@ class MVBase(Dataset): results.append(result) self.writer.write_smpl(results, nf) + def vis_smpl(self, peopleDict, faces, images, nf, sub_vis=[], + mode='smpl', extra_data=[], add_back=True): + # render the smpl to each view + render_data = {} + for pid, data in peopleDict.items(): + render_data[pid] = { + 'vertices': data.vertices, 'faces': faces, + 'vid': pid, 'name': 'human_{}_{}'.format(nf, pid)} + for iid, extra in enumerate(extra_data): + render_data[10000+iid] = { + 'vertices': extra['vertices'], + 'faces': extra['faces'], + 'colors': extra['colors'], + 'name': extra['name'] + } + cameras = {'K': [], 'R':[], 'T':[]} + if len(sub_vis) == 0: + sub_vis = self.cams + for key in cameras.keys(): + cameras[key] = [self.cameras[cam][key] for cam in sub_vis] + images = [images[self.cams.index(cam)] for cam in sub_vis] + self.writer.vis_smpl(render_data, nf, images, cameras, mode, add_back=add_back) + def read_skel(self, nf, mode='none'): if mode == 'a4d': outname = join(self.skel_path, '{}.txt'.format(nf)) diff --git a/code/demo_mv1pmf_smpl.py b/code/demo_mv1pmf_smpl.py index 55d8aeb..f4ce352 100644 --- a/code/demo_mv1pmf_smpl.py +++ b/code/demo_mv1pmf_smpl.py @@ -2,7 +2,7 @@ @ Date: 2021-01-12 17:08:25 @ Author: Qing Shuai @ LastEditors: Qing Shuai - @ LastEditTime: 2021-01-24 22:26:09 + @ LastEditTime: 2021-01-25 19:32:44 @ FilePath: /EasyMocapRelease/code/demo_mv1pmf_smpl.py ''' # show skeleton and reprojection @@ -23,10 +23,7 @@ def load_weight_shape(): def load_weight_pose(model): if model == 'smpl': weight = { - 'k3d': 1., 'reg_poses_zero': 1e-2, - 'reg_expression': 1e-1, - 'smooth_joints': 1e-5 - # 'smooth_Rh': 1e-1, 'smooth_Th': 1e-1, 'smooth_poses': 1e-1, 'smooth_hands': 1e-2 + 'k3d': 1., 'reg_poses_zero': 1e-2, 'smooth_body': 1e-2 } elif model == 'smplh': weight = { @@ -38,7 +35,6 @@ def load_weight_pose(model): 'k3d': 1., 'reg_poses_zero': 1e-3, 'reg_expression': 1e-2, 'smooth_body': 1e-2, 'smooth_hand': 1e-2 - # 'smooth_Rh': 1e-1, 'smooth_Th': 1e-1, 'smooth_poses': 1e-1, 'smooth_hands': 1e-2 } else: raise NotImplementedError diff --git a/code/mytools/reconstruction.py b/code/mytools/reconstruction.py index 3657a82..5a11d15 100644 --- a/code/mytools/reconstruction.py +++ b/code/mytools/reconstruction.py @@ -2,8 +2,8 @@ * @ Date: 2020-09-14 11:01:52 * @ Author: Qing Shuai @ LastEditors: Qing Shuai - @ LastEditTime: 2021-01-24 22:28:09 - @ FilePath: /EasyMocapRelease/code/mytools/reconstruction.py + @ LastEditTime: 2021-01-25 16:06:41 + @ FilePath: /EasyMocap/code/mytools/reconstruction.py ''' import numpy as np @@ -72,14 +72,14 @@ def simple_recon_person(keypoints_use, Puse, config=None, ret_repro=False): # 计算重投影误差 kpts_repro = projectN3(out, Puse) square_diff = (keypoints_use[:, :, :2] - kpts_repro[:, :, :2])**2 - # conf = (out[None, :, -1] > 0.01) * (keypoints_use[:, :, 2] > 0.01) conf = np.repeat(out[None, :, -1:], len(Puse), 0) kpts_repro = np.concatenate((kpts_repro, conf), axis=2) if conf.sum() < 3: # 至少得有3个有效的关节 repro_error = 1e3 else: + conf2d = conf *(keypoints_use[:, :, -1:] > 0.01) # (nViews, nJoints): reprojection error for each joint in each view - repro_error_joint = np.sqrt(square_diff.sum(axis=2, keepdims=True))*conf + repro_error_joint = np.sqrt(square_diff.sum(axis=2, keepdims=True))*conf2d # remove the not valid joints # remove the bad views repro_error = repro_error_joint.sum()/conf.sum() diff --git a/code/vis_render.py b/code/vis_render.py new file mode 100644 index 0000000..cbf6029 --- /dev/null +++ b/code/vis_render.py @@ -0,0 +1,97 @@ +''' + @ Date: 2021-01-17 21:14:50 + @ Author: Qing Shuai + @ LastEditors: Qing Shuai + @ LastEditTime: 2021-01-25 19:34:46 + @ FilePath: /EasyMocapRelease/code/vis_render.py +''' +# visualize the results by pyrender +import pyrender # first import the pyrender +from collections import namedtuple +from dataset.base import MVBase +from dataset.config import CONFIG +import numpy as np +from tqdm import tqdm +from visualize.geometry import create_ground + +Person = namedtuple('Person', ['vertices', 'keypoints3d']) + +def inBound(keypoints3d, bound): + if bound is None: + return True + valid = np.where(keypoints3d[:, -1] > 0.01)[0] + kpts = keypoints3d[valid] + crit = (kpts[:, 0] > bound[0][0]) & (kpts[:, 0] < bound[1][0]) &\ + (kpts[:, 1] > bound[0][1]) & (kpts[:, 1] < bound[1][1]) &\ + (kpts[:, 2] > bound[0][2]) & (kpts[:, 2] < bound[1][2]) + if crit.sum()/crit.shape[0] < 0.8: + return False + else: + return True + +def visualize(path, sub, out, mode, rend_type, args): + config = CONFIG[mode] + no_img = False + dataset = MVBase(path, cams=sub, config=config, + undis=args.undis, no_img=no_img, out=out) + dataset.skel_path = args.skel + if rend_type in ['skel']: + from visualize.skelmodel import SkelModel + body_model = SkelModel(config['nJoints'], config['kintree']) + elif rend_type in ['mesh']: + from smplmodel import load_model + body_model = load_model(args.gender, model_type=args.model) + smpl_model = body_model + elif rend_type == 'smplskel': + from smplmodel import load_model + smpl_model = load_model(args.gender, model_type=args.model) + from visualize.skelmodel import SkelModel + body_model = SkelModel(config['nJoints'], config['kintree']) + + dataset.writer.save_origin = args.save_origin + start, end = args.start, min(args.end, len(dataset)) + bound = None + if args.scene == 'none': + ground = create_ground(step=0.5) + elif args.scene == 'hw': + ground = create_ground(step=1, xrange=14, yrange=10, two_sides=False) + bound = [[0, 0, 0], [14, 10, 2.5]] + else: + ground = create_ground(step=1, xrange=28, yrange=15, two_sides=False) + for nf in tqdm(range(start, end), desc='rendering'): + images, annots = dataset[nf] + if rend_type == 'skel': + infos = dataset.read_skel(nf) + else: + infos = dataset.read_smpl(nf) + # body_model: input: keypoints3d/smpl params, output: vertices, (colors) + # The element of peopleDict must have `id`, `vertices` + peopleDict = {} + for info in infos: + if rend_type == 'skel': + joints = info['keypoints3d'] + else: + joints = smpl_model(return_verts=False, return_tensor=False, **info)[0] + if not inBound(joints, bound): + continue + if rend_type == 'smplskel': + joints = smpl_model(return_verts=False, return_tensor=False, **info)[0] + joints = np.hstack([joints, np.ones((joints.shape[0], 1))]) + info_new = {'id': info['id'], 'keypoints3d': joints} + vertices = body_model(return_verts=True, return_tensor=False, **info_new)[0] + else: + vertices = body_model(return_verts=True, return_tensor=False, **info)[0] + peopleDict[info['id']] = Person(vertices=vertices, keypoints3d=None) + dataset.vis_smpl(peopleDict, faces=body_model.faces, images=images, nf=nf, + sub_vis=args.sub_vis, mode=rend_type, extra_data=[ground], add_back=args.add_back) + +if __name__ == "__main__": + from mytools.cmd_loader import load_parser + parser = load_parser() + parser.add_argument('--type', type=str, default='mesh', choices=['skel', 'mesh', 'smplskel']) + parser.add_argument('--scene', type=str, default='none', choices=['none', 'zjub', 'hw']) + parser.add_argument('--skel', type=str, default=None) + parser.add_argument('--add_back', action='store_true') + parser.add_argument('--save_origin', action='store_true') + args = parser.parse_args() + visualize(args.path, args.sub, args.out, args.body, args.type, args) \ No newline at end of file diff --git a/code/visualize/geometry.py b/code/visualize/geometry.py new file mode 100644 index 0000000..8fd36ee --- /dev/null +++ b/code/visualize/geometry.py @@ -0,0 +1,82 @@ +''' + @ Date: 2021-01-17 22:44:34 + @ Author: Qing Shuai + @ LastEditors: Qing Shuai + @ LastEditTime: 2021-01-25 19:14:20 + @ FilePath: /EasyMocapRelease/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) + 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 + +def create_plane(normal, point, width=1, height=1, depth=0.005): + mesh_box = TriangleMesh.create_box(width=2*width, height=2*height, depth=2*depth) + mesh_box.paint_uniform_color([0.8, 0.8, 0.8]) + # 根据normal计算旋转 + rotmat = get_rotation_from_two_directions(np.array([0, 0, 1]), normal[0]) + transform0 = np.eye(4) + transform0[0, 3] = -width + transform0[1, 3] = -height + transform0[2, 3] = -depth + transform = np.eye(4) + transform[:3, :3] = rotmat + transform[0, 3] = point[0, 0] + transform[1, 3] = point[0, 1] + transform[2, 3] = point[0, 2] + mesh_box.transform(transform @ transform0) + return {'vertices': np.asarray(mesh_box.vertices), 'faces': np.asarray(mesh_box.triangles), 'colors': np.asarray(mesh_box.vertex_colors), 'name': 'ground'} + faces = np.loadtxt('./code/visualize/sphere_faces_20.txt', dtype=np.int) + vertices = np.loadtxt('./code/visualize/sphere_vertices_20.txt') + colors = np.ones((vertices.shape[0], 3)) + + return {'vertices': vertices, 'faces': faces, 'colors': colors, 'name': 'ground'} diff --git a/code/visualize/skelmodel.py b/code/visualize/skelmodel.py new file mode 100644 index 0000000..58577c6 --- /dev/null +++ b/code/visualize/skelmodel.py @@ -0,0 +1,74 @@ +''' + @ 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 + +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 + faces = np.loadtxt('./code/visualize/sphere_faces_20.txt', dtype=np.int) + self.vertices = np.loadtxt('./code/visualize/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/code/visualize/sphere_faces_20.txt b/code/visualize/sphere_faces_20.txt new file mode 100644 index 0000000..8e5c762 --- /dev/null +++ b/code/visualize/sphere_faces_20.txt @@ -0,0 +1,1520 @@ +0 2 3 +1 723 722 +0 3 4 +1 724 723 +0 4 5 +1 725 724 +0 5 6 +1 726 725 +0 6 7 +1 727 726 +0 7 8 +1 728 727 +0 8 9 +1 729 728 +0 9 10 +1 730 729 +0 10 11 +1 731 730 +0 11 12 +1 732 731 +0 12 13 +1 733 732 +0 13 14 +1 734 733 +0 14 15 +1 735 734 +0 15 16 +1 736 735 +0 16 17 +1 737 736 +0 17 18 +1 738 737 +0 18 19 +1 739 738 +0 19 20 +1 740 739 +0 20 21 +1 741 740 +0 21 22 +1 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extract_video(videoname, path, start=0, end=10000, step=1): +def extract_video(videoname, path, start, end, step): base = os.path.basename(videoname).replace('.mp4', '') if not os.path.exists(videoname): return base @@ -193,6 +193,12 @@ if __name__ == "__main__": default='/media/qing/Project/openpose') parser.add_argument('--render', action='store_true', help='use to render the openpose 2d') parser.add_argument('--no2d', action='store_true') + parser.add_argument('--start', type=int, default=0, + help='frame start') + parser.add_argument('--end', type=int, default=10000, + help='frame end') + parser.add_argument('--step', type=int, default=1, + help='frame step') parser.add_argument('--debug', action='store_true') args = parser.parse_args() mode = args.mode @@ -201,7 +207,7 @@ if __name__ == "__main__": videos = sorted(glob(join(args.path, 'videos', '*.mp4'))) subs = [] for video in videos: - basename = extract_video(video, args.path) + basename = extract_video(video, args.path, start=args.start, end=args.end, step=args.step) subs.append(basename) print('cameras: ', ' '.join(subs)) if not args.no2d: