469 lines
14 KiB
Python
469 lines
14 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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###########################################################################
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## SKELETONS DEFINITIONS ##
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###########################################################################
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The definition and hierarchy of the following skeletons are available:
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- CUSTOM (e.g.., from DeepLabCut),
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- OpenPose BODY_25B, BODY_25, BODY_135, COCO, MPII
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- Mediapipe BLAZEPOSE
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- AlphaPose HALPE_26, HALPE_68, HALPE_136, COCO_133, COCO, MPII
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(for COCO and MPII, AlphaPose must be run with the flag "--format cmu")
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N.B.: Not all face and hand keypoints are reported in the skeleton architecture,
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since some are redundant for the orientation of some bodies.
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N.B.: The corresponding OpenSim model files are provided in the "Pose2Sim\Empty project" folder.
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If you wish to use any other, you will need to adjust the markerset in the .osim model file,
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as well as in the scaling and IK setup files.
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N.B.: In case you built a custom skeleton, you can check its structure by typing:
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from anytree import Node, RenderTree
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for pre, _, node in RenderTree(CUSTOM):
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print(f'{pre}{node.name} id={node.id}')
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If you build it from a DeepLabCut model, make sure the node ids
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correspond to the column numbers, starting from zero.
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'''
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## INIT
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from anytree import Node, RenderTree
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## AUTHORSHIP INFORMATION
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__author__ = "David Pagnon"
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__copyright__ = "Copyright 2021, Pose2Sim"
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__credits__ = ["David Pagnon"]
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__license__ = "BSD 3-Clause License"
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__version__ = '0.4'
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__maintainer__ = "David Pagnon"
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__email__ = "contact@david-pagnon.com"
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__status__ = "Development"
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'''CUSTOM SKELETON (e.g., from DeepLabCut detection)'''
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CUSTOM = Node("Root", id=0, children=[
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Node("Child1", id=1),
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Node("Child2", id=2),
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])
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'''BODY_25B (full-body without hands, experimental, from OpenPose)
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https://github.com/CMU-Perceptual-Computing-Lab/openpose_train/blob/master/experimental_models/README.md'''
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BODY_25B = Node("CHip", id=None, children=[
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Node("RHip", id=12, children=[
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Node("RKnee", id=14, children=[
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Node("RAnkle", id=16, children=[
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Node("RBigToe", id=22, children=[
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Node("RSmallToe", id=23),
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]),
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Node("RHeel", id=24),
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]),
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]),
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]),
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Node("LHip", id=11, children=[
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Node("LKnee", id=13, children=[
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Node("LAnkle", id=15, children=[
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Node("LBigToe", id=19, children=[
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Node("LSmallToe", id=20),
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]),
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Node("LHeel", id=21),
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]),
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]),
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]),
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Node("Neck", id=17, children=[
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Node("Head", id=18, children=[
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Node("Nose", id=0),
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]),
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Node("RShoulder", id=6, children=[
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Node("RElbow", id=8, children=[
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Node("RWrist", id=10),
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]),
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]),
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Node("LShoulder", id=5, children=[
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Node("LElbow", id=7, children=[
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Node("LWrist", id=9),
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]),
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]),
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]),
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])
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'''BODY_25 (full-body without hands, standard, from OpenPose)
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https://github.com/CMU-Perceptual-Computing-Lab/openpose/tree/master/models'''
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BODY_25 = Node("CHip", id=8, children=[
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Node("RHip", id=9, children=[
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Node("RKnee", id=10, children=[
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Node("RAnkle", id=11, children=[
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Node("RBigToe", id=22, children=[
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Node("RSmallToe", id=23),
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]),
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Node("RHeel", id=24),
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]),
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]),
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]),
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Node("LHip", id=12, children=[
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Node("LKnee", id=13, children=[
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Node("LAnkle", id=14, children=[
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Node("LBigToe", id=19, children=[
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Node("LSmallToe", id=20),
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]),
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Node("LHeel", id=21),
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]),
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]),
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]),
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Node("Neck", id=17, children=[
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Node("Nose", id=0),
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Node("RShoulder", id=2, children=[
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Node("RElbow", id=3, children=[
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Node("RWrist", id=4),
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]),
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]),
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Node("LShoulder", id=5, children=[
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Node("LElbow", id=6, children=[
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Node("LWrist", id=7),
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]),
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]),
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]),
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])
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'''BODY_135 (full-body with hands and face, experimental, from OpenPose)
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https://github.com/CMU-Perceptual-Computing-Lab/openpose_train/blob/master/experimental_models/README.md)'''
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BODY_135 = Node("CHip", id=None, children=[
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Node("RHip", id=12, children=[
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Node("RKnee", id=14, children=[
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Node("RAnkle", id=16, children=[
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Node("RBigToe", id=22, children=[
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Node("RSmallToe", id=23),
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]),
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Node("RHeel", id=24),
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]),
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]),
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]),
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Node("LHip", id=11, children=[
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Node("LKnee", id=13, children=[
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Node("LAnkle", id=15, children=[
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Node("LBigToe", id=19, children=[
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Node("LSmallToe", id=20),
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]),
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Node("LHeel", id=21),
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]),
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]),
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]),
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Node("Neck", id=17, children=[
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Node("Head", id=18, children=[
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Node("Nose", id=0),
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]),
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Node("RShoulder", id=6, children=[
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Node("RElbow", id=8, children=[
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Node("RWrist", id=10, children=[
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Node("RThumb", id=48),
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Node("RIndex", id=51),
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Node("RPinky", id=63),
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]),
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]),
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]),
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Node("LShoulder", id=5, children=[
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Node("LElbow", id=7, children=[
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Node("LWrist", id=9, children=[
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Node("LThumb", id=27),
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Node("LIndex", id=30),
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Node("LPinky", id=42),
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]),
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]),
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]),
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]),
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])
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'''BLAZEPOSE (full-body with simplified hand and foot, from mediapipe)
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https://google.github.io/mediapipe/solutions/pose'''
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BLAZEPOSE = Node("root", id=None, children=[
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Node("right_hip", id=24, children=[
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Node("right_knee", id=26, children=[
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Node("right_ankle", id=28, children=[
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Node("right_heel", id=30),
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Node("right_foot_index", id=32),
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]),
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]),
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]),
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Node("left_hip", id=23, children=[
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Node("left_knee", id=25, children=[
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Node("left_ankle", id=27, children=[
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Node("left_heel", id=29),
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Node("left_foot_index", id=31),
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]),
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]),
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]),
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Node("nose", id=0, children=[
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Node("right_eye", id=5),
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Node("left_eye", id=2),
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]),
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Node("right_shoulder", id=12, children=[
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Node("right_elbow", id=14, children=[
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Node("right_wrist", id=16, children=[
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Node("right_pinky", id=18),
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Node("right_index", id=20),
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Node("right_thumb", id=22),
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]),
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]),
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]),
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Node("left_shoulder", id=11, children=[
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Node("left_elbow", id=13, children=[
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Node("left_wrist", id=15, children=[
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Node("left_pinky", id=17),
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Node("left_index", id=19),
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Node("left_thumb", id=21),
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]),
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]),
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]),
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])
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'''HALPE_26 (full-body without hands, from AlphaPose)
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https://github.com/MVIG-SJTU/AlphaPose/blob/master/docs/MODEL_ZOO.md'''
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HALPE_26 = Node("Hip", id=19, children=[
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Node("RHip", id=12, children=[
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Node("RKnee", id=14, children=[
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Node("RAnkle", id=16, children=[
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Node("RBigToe", id=21, children=[
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Node("RSmallToe", id=23),
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]),
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Node("RHeel", id=25),
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]),
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]),
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]),
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Node("LHip", id=11, children=[
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Node("LKnee", id=13, children=[
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Node("LAnkle", id=15, children=[
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Node("LBigToe", id=20, children=[
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Node("LSmallToe", id=22),
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]),
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Node("LHeel", id=24),
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]),
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]),
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]),
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Node("Neck", id=18, children=[
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Node("Head", id=17, children=[
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Node("Nose", id=0),
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]),
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Node("RShoulder", id=6, children=[
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Node("RElbow", id=8, children=[
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Node("RWrist", id=10),
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]),
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]),
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Node("LShoulder", id=5, children=[
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Node("LElbow", id=7, children=[
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Node("LWrist", id=9),
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]),
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]),
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]),
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])
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'''HALPE_68 (full-body with hands without face, from AlphaPose)
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https://github.com/MVIG-SJTU/AlphaPose/blob/master/docs/MODEL_ZOO.md'''
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HALPE_68 = Node("Hip", id=19, children=[
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Node("RHip", id=12, children=[
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Node("RKnee", id=14, children=[
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Node("RAnkle", id=16, children=[
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Node("RBigToe", id=21, children=[
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Node("RSmallToe", id=23),
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]),
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Node("RHeel", id=25),
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]),
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]),
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]),
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Node("LHip", id=11, children=[
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Node("LKnee", id=13, children=[
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Node("LAnkle", id=15, children=[
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Node("LBigToe", id=20, children=[
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Node("LSmallToe", id=22),
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]),
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Node("LHeel", id=24),
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]),
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]),
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]),
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Node("Neck", id=18, children=[
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Node("Nose", id=0),
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Node("RShoulder", id=6, children=[
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Node("RElbow", id=8, children=[
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Node("RWrist", id=10, children=[
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Node("RThumb", id=49),
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Node("RIndex", id=52),
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Node("RPinky", id=64),
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]),
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]),
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]),
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Node("LShoulder", id=5, children=[
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Node("LElbow", id=7, children=[
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Node("LWrist", id=9, children=[
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Node("LThumb", id=28),
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Node("LIndex", id=31),
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Node("LPinky", id=43),
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])
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]),
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]),
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]),
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])
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'''HALPE_136 (full-body with hands and face, from AlphaPose)
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https://github.com/MVIG-SJTU/AlphaPose/blob/master/docs/MODEL_ZOO.md'''
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HALPE_136 = Node("Hip", id=19, children=[
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Node("RHip", id=12, children=[
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Node("RKnee", id=14, children=[
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Node("RAnkle", id=16, children=[
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Node("RBigToe", id=21, children=[
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Node("RSmallToe", id=23),
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]),
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Node("RHeel", id=25),
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]),
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]),
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]),
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Node("LHip", id=11, children=[
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Node("LKnee", id=13, children=[
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Node("LAnkle", id=15, children=[
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Node("LBigToe", id=20, children=[
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Node("LSmallToe", id=22),
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]),
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Node("LHeel", id=24),
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]),
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]),
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]),
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Node("Neck", id=18, children=[
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Node("Nose", id=0),
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Node("RShoulder", id=6, children=[
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Node("RElbow", id=8, children=[
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Node("RWrist", id=10, children=[
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Node("RThumb", id=117),
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Node("RIndex", id=120),
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Node("RPinky", id=132),
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]),
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]),
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]),
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Node("LShoulder", id=5, children=[
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Node("LElbow", id=7, children=[
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Node("LWrist", id=9, children=[
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Node("LThumb", id=96),
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Node("LIndex", id=99),
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Node("LPinky", id=111),
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])
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]),
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]),
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]),
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])
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'''COCO_133 (full-body with hands and face, from AlphaPose)
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https://github.com/MVIG-SJTU/AlphaPose/blob/master/docs/MODEL_ZOO.md'''
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COCO_133 = Node("Hip", id=None, children=[
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Node("RHip", id=13, children=[
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Node("RKnee", id=15, children=[
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Node("RAnkle", id=17, children=[
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Node("RBigToe", id=21, children=[
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Node("RSmallToe", id=22),
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]),
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||
|
|
Node("RHeel", id=23),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("LHip", id=12, children=[
|
||
|
|
Node("LKnee", id=14, children=[
|
||
|
|
Node("LAnkle", id=16, children=[
|
||
|
|
Node("LBigToe", id=18, children=[
|
||
|
|
Node("LSmallToe", id=19),
|
||
|
|
]),
|
||
|
|
Node("LHeel", id=20),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("Neck", id=None, children=[
|
||
|
|
Node("Nose", id=1, children=[
|
||
|
|
Node("right_eye", id=3),
|
||
|
|
Node("left_eye", id=2),
|
||
|
|
]),
|
||
|
|
Node("RShoulder", id=7, children=[
|
||
|
|
Node("RElbow", id=9, children=[
|
||
|
|
Node("RWrist", id=11, children=[
|
||
|
|
Node("RThumb", id=115),
|
||
|
|
Node("RIndex", id=118),
|
||
|
|
Node("RPinky", id=130),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("LShoulder", id=6, children=[
|
||
|
|
Node("LElbow", id=8, children=[
|
||
|
|
Node("LWrist", id=10, children=[
|
||
|
|
Node("LThumb", id=94),
|
||
|
|
Node("LIndex", id=97),
|
||
|
|
Node("LPinky", id=109),
|
||
|
|
])
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
])
|
||
|
|
|
||
|
|
|
||
|
|
'''COCO (full-body without hands and feet, from OpenPose, AlphaPose, OpenPifPaf, YOLO-pose, etc)
|
||
|
|
https://github.com/CMU-Perceptual-Computing-Lab/openpose/tree/master/models'''
|
||
|
|
COCO = Node("CHip", id=None, children=[
|
||
|
|
Node("RHip", id=8, children=[
|
||
|
|
Node("RKnee", id=9, children=[
|
||
|
|
Node("RAnkle", id=10),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("LHip", id=11, children=[
|
||
|
|
Node("LKnee", id=12, children=[
|
||
|
|
Node("LAnkle", id=13),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("Neck", id=1, children=[
|
||
|
|
Node("Nose", id=0),
|
||
|
|
Node("RShoulder", id=2, children=[
|
||
|
|
Node("RElbow", id=3, children=[
|
||
|
|
Node("RWrist", id=4),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("LShoulder", id=5, children=[
|
||
|
|
Node("LElbow", id=6, children=[
|
||
|
|
Node("LWrist", id=7),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
])
|
||
|
|
|
||
|
|
|
||
|
|
'''MPII (full-body without hands and feet, from OpenPose, AlphaPose, OpenPifPaf, YOLO-pose, etc)
|
||
|
|
https://github.com/CMU-Perceptual-Computing-Lab/openpose/tree/master/models'''
|
||
|
|
MPII = Node("CHip", id=14, children=[
|
||
|
|
Node("RHip", id=8, children=[
|
||
|
|
Node("RKnee", id=9, children=[
|
||
|
|
Node("RAnkle", id=10),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("LHip", id=11, children=[
|
||
|
|
Node("LKnee", id=12, children=[
|
||
|
|
Node("LAnkle", id=13),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("Neck", id=1, children=[
|
||
|
|
Node("Nose", id=0),
|
||
|
|
Node("RShoulder", id=2, children=[
|
||
|
|
Node("RElbow", id=3, children=[
|
||
|
|
Node("RWrist", id=4),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
Node("LShoulder", id=5, children=[
|
||
|
|
Node("LElbow", id=6, children=[
|
||
|
|
Node("LWrist", id=7),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
]),
|
||
|
|
])
|
||
|
|
|