Test angles before

ModelUE4.py

@@ -45,7 +45,7 @@ def getAngle(avec0, avec1, bvec0, bvec1):
     znam2 = float(np.sqrt(pow(bvec0, 2) + pow(bvec1, 2)))
     if (znam1*znam2) == 0:
         return None
-    return np.arccos(chis / (znam1 * znam2))
+    return np.arccos(chis / (znam1 * znam2)) * 180. / np.pi
 
 def checkRot(tvec0, tvec1, tvec0_apose, tvec1_apose, rvec_apose):
     # tvec0 - parent bone by root
@@ -490,7 +490,7 @@ def updateValueAPoseWorld(data, dataxyz, parent_name, current_name):
     data[current_name]["rotation"]["rotx"] = rvec[0]
     data[current_name]["rotation"]["roty"] = rvec[1]
     data[current_name]["rotation"]["rotz"] = rvec[2]
-    data[current_name]["visible"] = dataxyz[current_name]
+    data[current_name]["visible"] = dataxyz[current_name][3]
 
 def bodyconvertwithrot(poseslms, data, coef, maxy):
     dataxyz = {}
@@ -667,12 +667,12 @@ def bodyconvertwithrot(poseslms, data, coef, maxy):
     updateValueAPoseWorld(data, dataxyz, "clavicle_l", "shoulder_l")
     updateValueAPoseWorld(data, dataxyz, "spine_05", "clavicle_r")
     updateValueAPoseWorld(data, dataxyz, "spine_05", "clavicle_l")
-    updateValueAPoseWorld(data, dataxyz, "head", "clavicle_l")
+    updateValueAPoseWorld(data, dataxyz, "spine_05", "head")
     updateValueAPoseWorld(data, dataxyz, "spine_04", "spine_05")
     updateValueAPoseWorld(data, dataxyz, "spine_02", "spine_04")
     updateValueAPoseWorld(data, dataxyz, "pelvis", "spine_02")
     updateValueAPoseWorld(data, dataxyz, "ankle_l", "ball_l")
-    updateValueAPoseWorld(data, dataxyz, "ball_r", "ankle_r")
+    updateValueAPoseWorld(data, dataxyz, "ankle_r", "ball_r")
     updateValueAPoseWorld(data, dataxyz, "ankle_l", "heel_l")
     updateValueAPoseWorld(data, dataxyz, "ankle_r", "heel_r")
     updateValueAPoseWorld(data, dataxyz, "knee_l", "ankle_l")
@@ -877,6 +877,12 @@ def bonetranslation(data, bone_name, tvec):
 
 def rhandconverttranslation(data):
     tvec = [data["hand_r"]["translation"]["x"], data["hand_r"]["translation"]["y"], data["hand_r"]["translation"]["z"]]
+    data_apose = {}
+    bodyaposeworld(data_apose)
+    tvec_pose = [data_apose["hand_r"]["translation"]["x"], data_apose["hand_r"]["translation"]["y"], data_apose["hand_r"]["translation"]["z"]]
+    tvec[0] = tvec[0] - tvec_pose[0]
+    tvec[1] = tvec[1] - tvec_pose[1]
+    tvec[2] = tvec[2] - tvec_pose[2]
 
     bonetranslation(data, "pinky_4_r", tvec)
     bonetranslation(data, "pinky_3_r", tvec)
@@ -897,6 +903,12 @@ def rhandconverttranslation(data):
 
 def lhandconverttranslation(data):
     tvec = [data["hand_l"]["translation"]["x"], data["hand_l"]["translation"]["y"], data["hand_l"]["translation"]["z"]]
+    data_apose = {}
+    bodyaposeworld(data_apose)
+    tvec_pose = [data_apose["hand_l"]["translation"]["x"], data_apose["hand_l"]["translation"]["y"], data_apose["hand_l"]["translation"]["z"]]
+    tvec[0] = tvec[0] - tvec_pose[0]
+    tvec[1] = tvec[1] - tvec_pose[1]
+    tvec[2] = tvec[2] - tvec_pose[2]
 
     bonetranslation(data, "pinky_4_l", tvec)
     bonetranslation(data, "pinky_3_l", tvec)

config.yml

@@ -2,7 +2,7 @@
 address_input: "0"                # input video path or webcam index
 
 # Image processing
-scale_pose: 42.0                  # shoulder width
+scale_pose: 35.4                  # shoulder width
 crop_image: 1.0                   # coefficient of image cropping
 
 # OSC output
@@ -18,3 +18,4 @@ show_image: True                  # show image in opencv interface
 # Model UE4
 apose: False                      # APose coordinates
 world: True                       # True - world coordinates, False - local coordinates
+old_world: False                  # False - new method of world coordinates with rotations

hpe_mp_class.py

@@ -160,7 +160,7 @@ class hpe_mp_class():
         except Exception as err:
             logger.exception("Error scaling hpe class: " + str(err))
 
-    def getJSON(self, apose=False, world=True):
+    def getJSON(self, apose=False, world=True, old_world=False):
         data = {}
         try:
             if apose:
@@ -180,16 +180,20 @@ class hpe_mp_class():
                                 if lm.y > maxy:
                                     maxy = lm.y
 
-                            # bodyconvert(poseslms, data, self.coef, maxy)
+                            if old_world:
-                            bodyconvertwithrot(poseslms, data, self.coef, maxy)
+                                bodyconvert(poseslms, data, self.coef, maxy)
+                            else:
+                                bodyconvertwithrot(poseslms, data, self.coef, maxy)
 
                         rhandlms = {}
                         if self.results_hol.right_hand_landmarks:
                             for id, lm in enumerate(self.results_hol.right_hand_landmarks.landmark):
                                 rhandlms[id] = lm
 
-                            # rhandconvert(rhandlms, data, self.coef)
+                            if old_world:
-                            rhandconvertwithrot(rhandlms, data, self.coef)
+                                rhandconvert(rhandlms, data, self.coef)
+                            else:
+                                rhandconvertwithrot(rhandlms, data, self.coef)
                         else:
                             rhandconverttranslation(data)
 
@@ -198,8 +202,10 @@ class hpe_mp_class():
                             for id, lm in enumerate(self.results_hol.left_hand_landmarks.landmark):
                                 lhandlms[id] = lm
 
-                            lhandconvert(lhandlms, data, self.coef)
+                            if old_world:
-                            lhandconvertwithrot(lhandlms, data, self.coef)
+                                lhandconvert(lhandlms, data, self.coef)
+                            else:
+                                lhandconvertwithrot(lhandlms, data, self.coef)
                         else:
                             lhandconverttranslation(data)
                 else:

hpe_win.py

@@ -29,6 +29,7 @@ mirror_image = data_yaml["mirror_image"]
 show_image = data_yaml["show_image"]
 apose = data_yaml["apose"]
 world = data_yaml["world"]
+old_world = data_yaml["old_world"]
 
 # OSC client
 client = udp_client.SimpleUDPClient(osc_address, osc_port)
@@ -75,12 +76,12 @@ while True:
     # Output
     if output_method == 'file':
         # JSON
-        res = mp_cl.getJSON(apose=apose, world=world)
+        res = mp_cl.getJSON(apose=apose, world=world, old_world=old_world)
         with open('hierarchy_data.json', 'w', encoding='utf-8') as f:
             json.dump(res, f, ensure_ascii=False, indent=4)
     else:
         # OSC
-        res = mp_cl.getJSON(apose=apose, world=world)
+        res = mp_cl.getJSON(apose=apose, world=world, old_world=old_world)
         res_list = []
         for val in res.keys():
             stroka = str(val)