108 lines
3.5 KiB
Python
108 lines
3.5 KiB
Python
import os
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from os.path import join
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from glob import glob
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import numpy as np
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import cv2
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from easymocap.mytools.camera_utils import write_camera
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def rotation_matrix(args):
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(x, y, z) = args
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X = np.vstack([[1, 0, 0], [0, np.cos(x), -np.sin(x)],
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[0, np.sin(x), np.cos(x)]])
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Y = np.vstack([[np.cos(y), 0, np.sin(y)], [0, 1, 0],
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[-np.sin(y), 0, np.cos(y)]])
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Z = np.vstack([[np.cos(z), -np.sin(z), 0], [np.sin(z),
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np.cos(z), 0], [0, 0, 1]])
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return (X.dot(Y)).dot(Z)
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def read_cam_parameters(xml_path, sbj_id, cam_id):
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import xml.etree.ElementTree
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# use the notation from 0 -- more practical to access array
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sbj_id = sbj_id - 1
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cam_id = cam_id - 1
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n_sbjs = 11
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n_cams = 4
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root = xml.etree.ElementTree.parse(xml_path).getroot()
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for child in root:
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if child.tag == 'w0':
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all_cameras = child.text
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tokens = all_cameras.split(' ')
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tokens[0] = tokens[0].replace('[', '')
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tokens[-1] = tokens[-1].replace(']', '')
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start = (cam_id * n_sbjs) * 6 + sbj_id * 6
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extrs = tokens[start:start + 6]
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start = (n_cams * n_sbjs * 6) + cam_id * 9
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intrs = tokens[start:start + 9]
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rot = rotation_matrix(np.array(extrs[:3], dtype=float))
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rt = rot
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t = np.array(extrs[3:], dtype=float)
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f = np.array(intrs[:2], dtype=float)
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c = np.array(intrs[2:4], dtype=float)
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distortion = np.array(intrs[4:], dtype=float)
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k = np.hstack((distortion[:2], distortion[3:5], distortion[2:3]))
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return (rt, t, f, c, k)
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def process_camera(xml_path, seq, act, cams):
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cameras = {}
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for i, cam in enumerate(cams, 1):
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(rt, t, f, c, k) = read_cam_parameters(xml_path, int(seq.replace('S', '')), i)
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K = np.eye(3)
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K[0, 0] = f[0]
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K[1, 1] = f[1]
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K[0, 2] = c[0]
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K[1, 2] = c[1]
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# camera center
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T = t.reshape(3, 1) / 1000
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T = -np.dot(rt, T)
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cameras[cam] = {
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'K': K,
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'R': rt,
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'T': T,
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'dist': k.reshape(1, 5)
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}
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return cameras
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def convert_h36m_easymocap(H36M_ROOT, OUT_ROOT, seqs, cams):
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xml_path = join(H36M_ROOT, 'metadata.xml')
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for seq in seqs:
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print('convert {}'.format(seq))
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# path with GT 3D pose
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pose_path = join(H36M_ROOT, seq, 'MyPoseFeatures', 'D3_Positions_mono')
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action_list = glob(join(pose_path, '*.cdf'))
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action_list = list(set([os.path.basename(seq).split('.')[0] for seq in action_list]))
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action_list.sort()
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for action in action_list:
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print(' ', action)
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outdir = join(OUT_ROOT, seq, action)
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# conver cameras
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cameras = process_camera(xml_path, seq, action, cams)
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write_camera(cameras, outdir)
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if __name__ == '__main__':
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import argparse
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parser = argparse.ArgumentParser()
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parser.add_argument('path', type=str, help='path to h36m dataset')
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parser.add_argument('out', type=str, help='path to output')
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parser.add_argument('--num', type=int, default=1)
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parser.add_argument('--debug', action='store_true')
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args = parser.parse_args()
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seqs = ['S1', 'S5', 'S6', 'S7', 'S8', 'S9', 'S11']
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cams = ['54138969', '55011271', '58860488', '60457274']
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XML_PATH = join(args.path, 'metadata.xml')
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convert_h36m_easymocap(args.path, args.out, seqs, cams) |