🚀 update 3d visualization code
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Readme.md
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Readme.md
@ -2,7 +2,7 @@
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* @Date: 2021-01-13 20:32:12
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* @Author: Qing Shuai
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* @LastEditors: Qing Shuai
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* @LastEditTime: 2021-01-24 22:11:37
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* @LastEditTime: 2021-01-25 19:35:14
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* @FilePath: /EasyMocapRelease/Readme.md
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-->
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# EasyMocap
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@ -74,10 +74,14 @@ out=path/to/output
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python3 scripts/preprocess/extract_video.py ${data}
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# 1. example for skeleton reconstruction
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python3 code/demo_mv1pmf_skel.py ${data} --out ${out} --vis_det --vis_repro --undis --sub_vis 1 7 13 19
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# 2. example for SMPL reconstruction
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# 2.1 example for SMPL reconstruction
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python3 code/demo_mv1pmf_smpl.py ${data} --out ${out} --end 300 --vis_smpl --undis --sub_vis 1 7 13 19 --gender male
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# 2. example for SMPL-X reconstruction
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# 2.2 example for SMPL-X reconstruction
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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
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# 3.1 example for rendering SMPLX to ${out}/smpl
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python3 code/vis_render.py ${data} --out ${out} --skel ${out}/smpl --model smplx --gender male --undis --start 400 --sub_vis 1
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# 3.2 example for rendering skeleton of SMPL to ${out}/smplskel
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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
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```
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## Not Quick Start
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@ -2,8 +2,8 @@
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@ Date: 2021-01-13 16:53:55
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-01-24 22:27:01
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@ FilePath: /EasyMocapRelease/code/dataset/base.py
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@ LastEditTime: 2021-01-25 19:12:34
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@ FilePath: /EasyMocap/code/dataset/base.py
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'''
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import os
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import json
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@ -351,6 +351,8 @@ class MVBase(Dataset):
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self.mode = mode
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self.undis = undis
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self.no_img = no_img
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# use when debug
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self.ret_crop = False
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self.config = config
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# results path
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# the results store keypoints3d
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@ -425,6 +427,18 @@ class MVBase(Dataset):
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images.append(img)
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# TODO:这里直接取了0
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annot = read_annot(annname, self.mode)
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if self.ret_crop:
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for det in annot:
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bbox = det['bbox']
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l, t, r, b = det['bbox'][:4]
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l = max(0, int(l+0.5))
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t = max(0, int(t+0.5))
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r = min(img.shape[1], int(r+0.5))
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b = min(img.shape[0], int(b+0.5))
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det['bbox'][:4] = [l, t, r, b]
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crop_img = img[t:b, l:r, :]
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crop_img = cv2.resize(crop_img, (128, 256))
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det['crop'] = crop_img
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annots.append(annot)
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if self.undis:
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images = self.undistort(images)
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@ -465,6 +479,29 @@ class MVBase(Dataset):
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results.append(result)
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self.writer.write_smpl(results, nf)
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def vis_smpl(self, peopleDict, faces, images, nf, sub_vis=[],
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mode='smpl', extra_data=[], add_back=True):
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# render the smpl to each view
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render_data = {}
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for pid, data in peopleDict.items():
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render_data[pid] = {
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'vertices': data.vertices, 'faces': faces,
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'vid': pid, 'name': 'human_{}_{}'.format(nf, pid)}
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for iid, extra in enumerate(extra_data):
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render_data[10000+iid] = {
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'vertices': extra['vertices'],
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'faces': extra['faces'],
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'colors': extra['colors'],
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'name': extra['name']
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}
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cameras = {'K': [], 'R':[], 'T':[]}
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if len(sub_vis) == 0:
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sub_vis = self.cams
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for key in cameras.keys():
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cameras[key] = [self.cameras[cam][key] for cam in sub_vis]
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images = [images[self.cams.index(cam)] for cam in sub_vis]
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self.writer.vis_smpl(render_data, nf, images, cameras, mode, add_back=add_back)
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def read_skel(self, nf, mode='none'):
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if mode == 'a4d':
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outname = join(self.skel_path, '{}.txt'.format(nf))
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@ -2,7 +2,7 @@
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@ Date: 2021-01-12 17:08:25
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-01-24 22:26:09
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@ LastEditTime: 2021-01-25 19:32:44
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@ FilePath: /EasyMocapRelease/code/demo_mv1pmf_smpl.py
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'''
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# show skeleton and reprojection
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@ -23,10 +23,7 @@ def load_weight_shape():
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def load_weight_pose(model):
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if model == 'smpl':
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weight = {
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'k3d': 1., 'reg_poses_zero': 1e-2,
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'reg_expression': 1e-1,
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'smooth_joints': 1e-5
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# 'smooth_Rh': 1e-1, 'smooth_Th': 1e-1, 'smooth_poses': 1e-1, 'smooth_hands': 1e-2
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'k3d': 1., 'reg_poses_zero': 1e-2, 'smooth_body': 1e-2
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}
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elif model == 'smplh':
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weight = {
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@ -38,7 +35,6 @@ def load_weight_pose(model):
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'k3d': 1., 'reg_poses_zero': 1e-3,
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'reg_expression': 1e-2,
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'smooth_body': 1e-2, 'smooth_hand': 1e-2
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# 'smooth_Rh': 1e-1, 'smooth_Th': 1e-1, 'smooth_poses': 1e-1, 'smooth_hands': 1e-2
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}
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else:
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raise NotImplementedError
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@ -2,8 +2,8 @@
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* @ Date: 2020-09-14 11:01:52
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* @ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-01-24 22:28:09
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@ FilePath: /EasyMocapRelease/code/mytools/reconstruction.py
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@ LastEditTime: 2021-01-25 16:06:41
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@ FilePath: /EasyMocap/code/mytools/reconstruction.py
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'''
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import numpy as np
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@ -72,14 +72,14 @@ def simple_recon_person(keypoints_use, Puse, config=None, ret_repro=False):
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# 计算重投影误差
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kpts_repro = projectN3(out, Puse)
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square_diff = (keypoints_use[:, :, :2] - kpts_repro[:, :, :2])**2
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# conf = (out[None, :, -1] > 0.01) * (keypoints_use[:, :, 2] > 0.01)
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conf = np.repeat(out[None, :, -1:], len(Puse), 0)
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kpts_repro = np.concatenate((kpts_repro, conf), axis=2)
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if conf.sum() < 3: # 至少得有3个有效的关节
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repro_error = 1e3
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else:
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conf2d = conf *(keypoints_use[:, :, -1:] > 0.01)
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# (nViews, nJoints): reprojection error for each joint in each view
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repro_error_joint = np.sqrt(square_diff.sum(axis=2, keepdims=True))*conf
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repro_error_joint = np.sqrt(square_diff.sum(axis=2, keepdims=True))*conf2d
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# remove the not valid joints
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# remove the bad views
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repro_error = repro_error_joint.sum()/conf.sum()
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97
code/vis_render.py
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97
code/vis_render.py
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@ -0,0 +1,97 @@
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'''
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@ Date: 2021-01-17 21:14:50
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-01-25 19:34:46
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@ FilePath: /EasyMocapRelease/code/vis_render.py
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'''
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# visualize the results by pyrender
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import pyrender # first import the pyrender
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from collections import namedtuple
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from dataset.base import MVBase
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from dataset.config import CONFIG
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import numpy as np
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from tqdm import tqdm
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from visualize.geometry import create_ground
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Person = namedtuple('Person', ['vertices', 'keypoints3d'])
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def inBound(keypoints3d, bound):
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if bound is None:
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return True
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valid = np.where(keypoints3d[:, -1] > 0.01)[0]
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kpts = keypoints3d[valid]
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crit = (kpts[:, 0] > bound[0][0]) & (kpts[:, 0] < bound[1][0]) &\
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(kpts[:, 1] > bound[0][1]) & (kpts[:, 1] < bound[1][1]) &\
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(kpts[:, 2] > bound[0][2]) & (kpts[:, 2] < bound[1][2])
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if crit.sum()/crit.shape[0] < 0.8:
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return False
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else:
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return True
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def visualize(path, sub, out, mode, rend_type, args):
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config = CONFIG[mode]
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no_img = False
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dataset = MVBase(path, cams=sub, config=config,
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undis=args.undis, no_img=no_img, out=out)
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dataset.skel_path = args.skel
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if rend_type in ['skel']:
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from visualize.skelmodel import SkelModel
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body_model = SkelModel(config['nJoints'], config['kintree'])
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elif rend_type in ['mesh']:
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from smplmodel import load_model
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body_model = load_model(args.gender, model_type=args.model)
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smpl_model = body_model
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elif rend_type == 'smplskel':
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from smplmodel import load_model
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smpl_model = load_model(args.gender, model_type=args.model)
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from visualize.skelmodel import SkelModel
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body_model = SkelModel(config['nJoints'], config['kintree'])
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dataset.writer.save_origin = args.save_origin
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start, end = args.start, min(args.end, len(dataset))
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bound = None
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if args.scene == 'none':
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ground = create_ground(step=0.5)
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elif args.scene == 'hw':
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ground = create_ground(step=1, xrange=14, yrange=10, two_sides=False)
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bound = [[0, 0, 0], [14, 10, 2.5]]
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else:
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ground = create_ground(step=1, xrange=28, yrange=15, two_sides=False)
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for nf in tqdm(range(start, end), desc='rendering'):
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images, annots = dataset[nf]
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if rend_type == 'skel':
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infos = dataset.read_skel(nf)
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else:
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infos = dataset.read_smpl(nf)
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# body_model: input: keypoints3d/smpl params, output: vertices, (colors)
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# The element of peopleDict must have `id`, `vertices`
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peopleDict = {}
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for info in infos:
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if rend_type == 'skel':
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joints = info['keypoints3d']
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else:
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joints = smpl_model(return_verts=False, return_tensor=False, **info)[0]
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if not inBound(joints, bound):
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continue
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if rend_type == 'smplskel':
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joints = smpl_model(return_verts=False, return_tensor=False, **info)[0]
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joints = np.hstack([joints, np.ones((joints.shape[0], 1))])
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info_new = {'id': info['id'], 'keypoints3d': joints}
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vertices = body_model(return_verts=True, return_tensor=False, **info_new)[0]
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else:
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vertices = body_model(return_verts=True, return_tensor=False, **info)[0]
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peopleDict[info['id']] = Person(vertices=vertices, keypoints3d=None)
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dataset.vis_smpl(peopleDict, faces=body_model.faces, images=images, nf=nf,
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sub_vis=args.sub_vis, mode=rend_type, extra_data=[ground], add_back=args.add_back)
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if __name__ == "__main__":
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from mytools.cmd_loader import load_parser
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parser = load_parser()
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parser.add_argument('--type', type=str, default='mesh', choices=['skel', 'mesh', 'smplskel'])
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parser.add_argument('--scene', type=str, default='none', choices=['none', 'zjub', 'hw'])
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parser.add_argument('--skel', type=str, default=None)
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parser.add_argument('--add_back', action='store_true')
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parser.add_argument('--save_origin', action='store_true')
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args = parser.parse_args()
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visualize(args.path, args.sub, args.out, args.body, args.type, args)
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82
code/visualize/geometry.py
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82
code/visualize/geometry.py
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@ -0,0 +1,82 @@
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'''
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@ Date: 2021-01-17 22:44:34
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-01-25 19:14:20
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@ FilePath: /EasyMocapRelease/code/visualize/geometry.py
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'''
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import numpy as np
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import cv2
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import numpy as np
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def create_ground(
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center=[0, 0, 0], xdir=[1, 0, 0], ydir=[0, 1, 0], # 位置
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step=1, xrange=10, yrange=10, # 尺寸
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white=[1., 1., 1.], black=[0.,0.,0.], # 颜色
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two_sides=True
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):
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if isinstance(center, list):
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center = np.array(center)
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xdir = np.array(xdir)
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ydir = np.array(ydir)
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xdir = xdir * step
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ydir = ydir * step
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vertls, trils, colls = [],[],[]
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cnt = 0
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min_x = -xrange if two_sides else 0
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min_y = -yrange if two_sides else 0
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for i in range(min_x, xrange+1):
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for j in range(min_y, yrange+1):
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point0 = center + i*xdir + j*ydir
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point1 = center + (i+1)*xdir + j*ydir
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point2 = center + (i+1)*xdir + (j+1)*ydir
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point3 = center + (i)*xdir + (j+1)*ydir
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if (i%2==0 and j%2==0) or (i%2==1 and j%2==1):
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col = white
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else:
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col = black
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vert = np.stack([point0, point1, point2, point3])
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col = np.stack([col for _ in range(vert.shape[0])])
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tri = np.array([[2, 3, 0], [0, 1, 2]]) + vert.shape[0] * cnt
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cnt += 1
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vertls.append(vert)
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trils.append(tri)
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colls.append(col)
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vertls = np.vstack(vertls)
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trils = np.vstack(trils)
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colls = np.vstack(colls)
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return {'vertices': vertls, 'faces': trils, 'colors': colls, 'name': 'ground'}
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def get_rotation_from_two_directions(direc0, direc1):
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direc0 = direc0/np.linalg.norm(direc0)
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direc1 = direc1/np.linalg.norm(direc1)
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rotdir = np.cross(direc0, direc1)
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if np.linalg.norm(rotdir) < 1e-2:
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return np.eye(3)
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rotdir = rotdir/np.linalg.norm(rotdir)
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rotdir = rotdir * np.arccos(np.dot(direc0, direc1))
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rotmat, _ = cv2.Rodrigues(rotdir)
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return rotmat
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def create_plane(normal, point, width=1, height=1, depth=0.005):
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mesh_box = TriangleMesh.create_box(width=2*width, height=2*height, depth=2*depth)
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mesh_box.paint_uniform_color([0.8, 0.8, 0.8])
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# 根据normal计算旋转
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rotmat = get_rotation_from_two_directions(np.array([0, 0, 1]), normal[0])
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transform0 = np.eye(4)
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transform0[0, 3] = -width
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transform0[1, 3] = -height
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transform0[2, 3] = -depth
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transform = np.eye(4)
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transform[:3, :3] = rotmat
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transform[0, 3] = point[0, 0]
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transform[1, 3] = point[0, 1]
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transform[2, 3] = point[0, 2]
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mesh_box.transform(transform @ transform0)
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return {'vertices': np.asarray(mesh_box.vertices), 'faces': np.asarray(mesh_box.triangles), 'colors': np.asarray(mesh_box.vertex_colors), 'name': 'ground'}
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faces = np.loadtxt('./code/visualize/sphere_faces_20.txt', dtype=np.int)
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vertices = np.loadtxt('./code/visualize/sphere_vertices_20.txt')
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colors = np.ones((vertices.shape[0], 3))
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return {'vertices': vertices, 'faces': faces, 'colors': colors, 'name': 'ground'}
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74
code/visualize/skelmodel.py
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'''
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@ Date: 2021-01-17 21:38:19
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-01-22 23:08:18
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@ FilePath: /EasyMocap/code/visualize/skelmodel.py
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'''
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import numpy as np
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import cv2
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def calTransformation(v_i, v_j, r, adaptr=False, ratio=10):
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""" from to vertices to T
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Arguments:
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v_i {} -- [description]
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v_j {[type]} -- [description]
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"""
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xaxis = np.array([1, 0, 0])
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v = (v_i + v_j)/2
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direc = (v_i - v_j)
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length = np.linalg.norm(direc)
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direc = direc/length
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rotdir = np.cross(xaxis, direc)
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rotdir = rotdir/np.linalg.norm(rotdir)
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rotdir = rotdir * np.arccos(np.dot(direc, xaxis))
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rotmat, _ = cv2.Rodrigues(rotdir)
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# set the minimal radius for the finger and face
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shrink = max(length/ratio, 0.005)
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eigval = np.array([[length/2/r, 0, 0], [0, shrink, 0], [0, 0, shrink]])
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T = np.eye(4)
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T[:3,:3] = rotmat @ eigval @ rotmat.T
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T[:3, 3] = v
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||||
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, :, :]
|
||||
1520
code/visualize/sphere_faces_20.txt
Normal file
1520
code/visualize/sphere_faces_20.txt
Normal file
File diff suppressed because it is too large
Load Diff
762
code/visualize/sphere_vertices_20.txt
Normal file
762
code/visualize/sphere_vertices_20.txt
Normal file
@ -0,0 +1,762 @@
|
||||
0.000 0.000 1.000
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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||||
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|
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
@ -2,7 +2,7 @@
|
||||
@ Date: 2021-01-13 20:38:33
|
||||
@ Author: Qing Shuai
|
||||
@ LastEditors: Qing Shuai
|
||||
@ LastEditTime: 2021-01-22 20:45:37
|
||||
@ LastEditTime: 2021-01-25 14:41:56
|
||||
@ FilePath: /EasyMocap/scripts/preprocess/extract_video.py
|
||||
'''
|
||||
import os, sys
|
||||
@ -16,7 +16,7 @@ sys.path.append(code_path)
|
||||
|
||||
mkdir = lambda x: os.makedirs(x, exist_ok=True)
|
||||
|
||||
def 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:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user