79 lines
2.7 KiB
Python
79 lines
2.7 KiB
Python
'''
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@ Date: 2022-03-11 12:13:01
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@ Author: Qing Shuai
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@ Mail: s_q@zju.edu.cn
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2022-08-11 21:52:00
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@ FilePath: /EasyMocapPublic/easymocap/multistage/synchronization.py
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'''
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import numpy as np
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import torch
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class AddTime:
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def __init__(self, gt) -> None:
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self.gt = gt
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def __call__(self, body_model, body_params, infos):
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nViews = infos['keypoints2d'].shape[1]
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offset = np.zeros((nViews,), dtype=np.float32)
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body_params['sync_offset'] = offset
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return body_params
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class Interpolate:
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def __init__(self, actfn) -> None:
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# self.act_fn = lambda x: 2*torch.nn.functional.softsign(x)
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self.act_fn = lambda x: 2*torch.tanh(x)
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self.use0asref = False
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def get_offset(self, time_offset):
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if self.use0asref:
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off = self.act_fn(torch.cat([torch.zeros(1, device=time_offset.device), time_offset[1:]]))
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else:
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off = self.act_fn(time_offset)
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return off
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def start(self, body_params):
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return body_params
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def before(self, body_params):
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off = self.get_offset(body_params['sync_offset'])
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nViews = off.shape[0]
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if len(body_params['poses'].shape) == 2:
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off = off[None, :, None]
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else:
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off = off[None, :, None, None]
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for key in body_params.keys():
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if key in ['sync_offset', 'shapes']:
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continue
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# TODO: Rh有正周期旋转的时候会有问题
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val = body_params[key]
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if key == 'Rh':
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pass
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if key in ['Th', 'poses']:
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velocity = torch.cat([val[1:2] - val[0:1], val[1:] - val[:-1]], dim=0)
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valnew = val[:, None] + off * velocity[:, None]
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# vel = velocity.detach().cpu().numpy()
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# import matplotlib.pyplot as plt
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# plt.plot(vel)
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# plt.show()
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# import ipdb;ipdb.set_trace()
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else:
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if len(val.shape) == 2:
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valnew = val[:, None].repeat(1, nViews, 1)
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elif len(val.shape) == 3:
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valnew = val[:, None].repeat(1, nViews, 1, 1)
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else:
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print('[warn] Unknown {} shape {}'.format(key, valnew.shape))
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import ipdb; ipdb.set_trace()
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valnew = valnew.reshape(-1, *val.shape[1:])
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body_params[key] = valnew
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return body_params
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def after(self,):
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pass
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def final(self, body_params):
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off = self.get_offset(body_params['sync_offset'])
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body_params = self.before(body_params)
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body_params['sync_offset'] = off
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return body_params |