117 lines
4.6 KiB
Python
117 lines
4.6 KiB
Python
'''
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@ Date: 2021-06-04 21:58:37
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@ Author: Qing Shuai
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2021-06-25 11:50:10
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@ FilePath: /EasyMocapRelease/easymocap/assignment/associate.py
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'''
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import numpy as np
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from ..mytools.reconstruction import batch_triangulate, projectN3
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from ..config import load_object
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def views_from_dimGroups(dimGroups):
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views = np.zeros(dimGroups[-1], dtype=np.int)
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for nv in range(len(dimGroups) - 1):
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views[dimGroups[nv]:dimGroups[nv+1]] = nv
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return views
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def set_keypoints2d(indices, annots, Pall, dimGroups):
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Vused = np.where(indices!=-1)[0]
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if len(Vused) < 1:
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return [], [], []
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keypoints2d = np.stack([annots[nv][indices[nv]-dimGroups[nv]]['keypoints'].copy() for nv in Vused])
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bboxes = np.stack([annots[nv][indices[nv]-dimGroups[nv]]['bbox'].copy() for nv in Vused])
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Pused = Pall[Vused]
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return keypoints2d, bboxes, Pused, Vused
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def load_criterions(cfg):
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criterions = []
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for key, val in cfg.items():
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crit = load_object(key, val)
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criterions.append(crit)
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return criterions
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def simple_associate(annots, affinity, dimGroups, Pall, group, cfg):
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nViews = len(annots)
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criterions = load_criterions(cfg.criterions)
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n2D = dimGroups[-1]
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views = views_from_dimGroups(dimGroups)
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views_cnt = np.zeros((affinity.shape[0], nViews))
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for nv in range(nViews):
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views_cnt[:, nv] = affinity[:, dimGroups[nv]:dimGroups[nv+1]].sum(axis=1)
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views_cnt = (views_cnt>0.5).sum(axis=1)
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sortidx = np.argsort(-views_cnt)
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p2dAssigned = np.zeros(n2D, dtype=np.int) - 1
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indices_zero = np.zeros((nViews), dtype=np.int) - 1
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for idx in sortidx:
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if p2dAssigned[idx] != -1:
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continue
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proposals = [indices_zero.copy()]
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for nv in range(nViews):
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match = np.where(
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(affinity[idx, dimGroups[nv]:dimGroups[nv+1]] > 0.)
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& (p2dAssigned[dimGroups[nv]:dimGroups[nv+1]] == -1) )[0]
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if len(match) > 0:
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match = match + dimGroups[nv]
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for proposal in proposals:
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proposal[nv] = match[0]
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if len(match) > 1:
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proposals_new = []
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for proposal in proposals:
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for col in match[1:]:
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p = proposal.copy()
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p[nv] = col
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proposals_new.append(p)
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proposals = proposals_new
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results = []
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while len(proposals) > 0:
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proposal = proposals.pop()
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# less than two views
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if (proposal != -1).sum() < cfg.min_views:
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continue
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# print('[associate] pop proposal: {}'.format(proposal))
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keypoints2d, bboxes, Pused, Vused = set_keypoints2d(proposal, annots, Pall, dimGroups)
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keypoints3d = batch_triangulate(keypoints2d, Pused)
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kptsRepro = projectN3(keypoints3d, Pused)
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err = ((kptsRepro[:, :, 2]*keypoints2d[:, :, 2]) > 0.) * np.linalg.norm(kptsRepro[:, :, :2] - keypoints2d[:, :, :2], axis=2)
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size = (bboxes[:, [2, 3]] - bboxes[:, [0, 1]]).max(axis=1, keepdims=True)
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err = err / size
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err_view = err.sum(axis=1)/((err>0.).sum(axis=1))
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flag = (err_view < cfg.max_repro_error).all()
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err = err.sum()/(err>0).sum()
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# err_view = err.sum(axis=1)/((err>0.).sum(axis=1))
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# err = err.sum()/(err>0.).sum()
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# flag = err_view.max() < err_view.mean() * 2
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flag = True
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for crit in criterions:
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if not crit(keypoints3d):
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flag = False
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break
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if flag:
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# print('[associate]: view {}'.format(Vused))
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results.append({
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'indices': proposal,
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'keypoints2d': keypoints2d,
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'keypoints3d': keypoints3d,
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'Vused': Vused,
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'error': err
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})
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else:
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# make new proposals
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outlier_view = Vused[err_view.argmax()]
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proposal[outlier_view] = -1
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proposals.append(proposal)
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if len(results) == 0:
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continue
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if len(results) > 1:
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# print('[associate] More than one avalible results')
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results.sort(key=lambda x:x['error'])
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result = results[0]
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proposal = result['indices']
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Vused = result['Vused']
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# proposal中有-1的，所以需要使用Vused进行赋值
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p2dAssigned[proposal[Vused]] = 1
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group.add(result)
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group.dimGroups = dimGroups
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return group |