74 lines
2.6 KiB
Python
74 lines
2.6 KiB
Python
'''
|
|
@ 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, :, :] |