139 lines
5.0 KiB
Python
139 lines
5.0 KiB
Python
'''
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@ Date: 2021-01-21 19:34:48
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-03-06 18:57:47
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@ FilePath: /EasyMocap/code/dataset/mirror.py
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'''
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import numpy as np
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from os.path import join
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import os
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import cv2
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FLIP_BODY25 = [0,1,5,6,7,2,3,4,8,12,13,14,9,10,11,16,15,18,17,22,23,24,19,20,21]
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FLIP_BODYHAND = [
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0,1,5,6,7,2,3,4,8,12,13,14,9,10,11,16,15,18,17,22,23,24,19,20,21, # body 25
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22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, # right hand
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]
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FLIP_SMPL_VERTICES = np.loadtxt(join(os.path.dirname(__file__), 'smpl_vert_sym.txt'), dtype=np.int)
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def flipPoint2D(point):
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if point.shape[-2] == 25:
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return point[..., FLIP_BODY25, :]
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elif point.shape[-2] == 15:
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return point[..., FLIP_BODY25[:15], :]
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elif point.shape[-2] == 6890:
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return point[..., FLIP_SMPL_VERTICES, :]
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import ipdb; ipdb.set_trace()
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elif point.shape[-1] == 67:
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import ipdb; ipdb.set_trace()
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# Permutation of SMPL pose parameters when flipping the shape
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_PERMUTATION = {
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'smpl': [0, 2, 1, 3, 5, 4, 6, 8, 7, 9, 11, 10, 12, 14, 13, 15, 17, 16, 19, 18, 21, 20, 23, 22],
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'smplh': [0, 2, 1, 3, 5, 4, 6, 8, 7, 9, 11, 10, 12, 14, 13, 15, 17, 16, 19, 18, 21, 20, 24, 25, 23, 24],
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'smplx': [0, 2, 1, 3, 5, 4, 6, 8, 7, 9, 11, 10, 12, 14, 13, 15, 17, 16, 19, 18, 21, 20, 24, 25, 23, 24, 26, 28, 27],
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'smplhfull': [
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0, 2, 1, 3, 5, 4, 6, 8, 7, 9, 11, 10, 12, 14, 13, 15, 17, 16, 19, 18, 21, 20, # body
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37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51,
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22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36
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],
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'smplxfull': [
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0, 2, 1, 3, 5, 4, 6, 8, 7, 9, 11, 10, 12, 14, 13, 15, 17, 16, 19, 18, 21, 20, # body
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22, 24, 23, # jaw, left eye, right eye
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40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, # right hand
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25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, # left hand
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]
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}
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PERMUTATION = {}
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for key in _PERMUTATION.keys():
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res = []
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for i in _PERMUTATION[key]:
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res.extend([3*i + j for j in range(3)])
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PERMUTATION[max(res)+1] = res
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def flipSMPLPoses(pose):
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"""Flip pose.
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const input: (N, 72) -> (N, 72)
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The flipping is based on SMPL parameters.
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"""
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pose = pose[:, PERMUTATION[pose.shape[-1]]]
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if pose.shape[1] in [72, 156, 165]:
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pose[:, 1::3] = -pose[:, 1::3]
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pose[:, 2::3] = -pose[:, 2::3]
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elif pose.shape[1] in [78, 87]:
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pose[:, 1:66:3] = -pose[:, 1:66:3]
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pose[:, 2:66:3] = -pose[:, 2:66:3]
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else:
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import ipdb; ipdb.set_trace()
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# we also negate the second and the third dimension of the axis-angle
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return pose
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def mirrorPoint3D(point, M):
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point_homo = np.hstack([point, np.ones([point.shape[0], 1])])
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point_m = (M @ point_homo.T).T[..., :3]
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return flipPoint2D(point_m)
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def calc_mirror_transform(m):
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coeff_mat = np.eye(4)[None, :, :]
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coeff_mat = coeff_mat.repeat(m.shape[0], 0)
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norm = np.linalg.norm(m[:, :3], keepdims=True, axis=1)
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m[:, :3] /= norm
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coeff_mat[:, 0, 0] = 1 - 2*m[:, 0]**2
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coeff_mat[:, 0, 1] = -2*m[:, 0]*m[:, 1]
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coeff_mat[:, 0, 2] = -2*m[:, 0]*m[:, 2]
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coeff_mat[:, 0, 3] = -2*m[:, 0]*m[:, 3]
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coeff_mat[:, 1, 0] = -2*m[:, 1]*m[:, 0]
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coeff_mat[:, 1, 1] = 1-2*m[:, 1]**2
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coeff_mat[:, 1, 2] = -2*m[:, 1]*m[:, 2]
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coeff_mat[:, 1, 3] = -2*m[:, 1]*m[:, 3]
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coeff_mat[:, 2, 0] = -2*m[:, 2]*m[:, 0]
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coeff_mat[:, 2, 1] = -2*m[:, 2]*m[:, 1]
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coeff_mat[:, 2, 2] = 1-2*m[:, 2]**2
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coeff_mat[:, 2, 3] = -2*m[:, 2]*m[:, 3]
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return coeff_mat
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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 mirror_Rh(Rh, normals):
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rvecs = np.zeros_like(Rh)
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for nf in range(Rh.shape[0]):
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normal = normals[nf]
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rotmat = cv2.Rodrigues(Rh[nf])[0]
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rotmat_m = np.zeros((3, 3))
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for i in range(3):
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rot = rotmat[:, i] - 2*(rotmat[:, i] * normal).sum()*normal
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rotmat_m[:, i] = rot
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rotmat_m[:, 0] *= -1
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rvecs[nf] = cv2.Rodrigues(rotmat_m)[0].T
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return rvecs
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def flipSMPLParams(params, mirror):
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"""Flip pose.
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const input: (1, 72) -> (1, 72)
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The flipping is based on SMPL parameters.
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"""
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mirror[:, :3] /= np.linalg.norm(mirror[:, :3], keepdims=True, axis=1)
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if mirror.shape[0] == 1 and mirror.shape[0] != params['Rh'].shape[0]:
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mirror = mirror.repeat(params['Rh'].shape[0], 0)
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M = calc_mirror_transform(mirror)
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T = params['Th']
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rvecm = mirror_Rh(params['Rh'], mirror[:, :3])
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Tnew = np.einsum('bmn,bn->bm', M[:, :3, :3], params['Th']) + M[:, :3, 3]
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params = {
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'poses': flipSMPLPoses(params['poses']),
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'shapes': params['shapes'],
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'Rh': rvecm,
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'Th': Tnew
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}
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return params
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