+datamodule_GrandPrix
This commit is contained in:
272
Grand_Prix/Training/openpifpaf_GrandPrix/constants.py
Normal file
272
Grand_Prix/Training/openpifpaf_GrandPrix/constants.py
Normal file
@@ -0,0 +1,272 @@
|
||||
import os
|
||||
|
||||
import numpy as np
|
||||
try:
|
||||
import matplotlib.cm as mplcm
|
||||
from matplotlib.animation import FuncAnimation
|
||||
from mpl_toolkits.mplot3d import Axes3D
|
||||
except ImportError:
|
||||
pass
|
||||
|
||||
import openpifpaf
|
||||
|
||||
CAR_KEYPOINTS_24 = list(range(1, 16))
|
||||
|
||||
CAR_SKELETON_24 = [[1, 2],
|
||||
[2, 14],
|
||||
[14, 9],
|
||||
[2, 3],
|
||||
[14, 5],
|
||||
[3, 5],
|
||||
[3, 4],
|
||||
[4, 6],
|
||||
[6, 7],
|
||||
[7, 8],
|
||||
[8, 9],
|
||||
[5, 8],
|
||||
[9, 10],
|
||||
[10, 11],
|
||||
[11, 12],
|
||||
[12, 13],
|
||||
[13, 11],
|
||||
[13, 1],
|
||||
[11, 1],
|
||||
[5, 7],
|
||||
[8, 15],
|
||||
[7, 15]]
|
||||
|
||||
CAR_CATEGORIES_24 = ['GrandPrix']
|
||||
|
||||
CAR_SCORE_WEIGHTS_24 = [1.0]*len(CAR_KEYPOINTS_24)
|
||||
|
||||
CAR_SIGMAS_24 = [0.05] * len(CAR_KEYPOINTS_24)
|
||||
|
||||
CAR_POSE_24 = np.array([[-7.49196479e+00, 2.52538184e-01, 0.00000000e+00],
|
||||
[ 7.49196479e+00, 8.41793948e-02, 0.00000000e+00],
|
||||
[ 2.53379934e+01, 1.33845214e+01, 0.00000000e+00],
|
||||
[ 3.16514470e+01, 2.54221725e+01, 0.00000000e+00],
|
||||
[ 2.48329184e+01, 1.40579572e+01, 1.25999990e+01],
|
||||
[ 3.14830882e+01, 2.55905313e+01, 2.65859990e+01],
|
||||
[ 2.51696353e+01, 1.33845214e+01, 3.07859970e+01],
|
||||
[ 2.45803806e+01, -4.78138895e+01, 1.39859990e+01],
|
||||
[ 1.17009335e+01, -4.89082199e+01, 9.78599900e+00],
|
||||
[-7.23942728e+00, -4.86556828e+01, 9.78599900e+00],
|
||||
[-3.21565248e+01, -4.86556834e+01, 9.78599900e+00],
|
||||
[-4.99183727e+01, 6.65016983e+00, 1.05000000e+01],
|
||||
[-3.94801318e+01, 1.17009349e+01, 1.05000000e+01],
|
||||
[ 9.25973199e+00, -7.57614426e+00, 5.04000000e+00],
|
||||
[ 3.40084714e+01, -1.02025414e+02, 6.29999970e+00]])
|
||||
|
||||
HFLIP_24 = {
|
||||
'1': '1',
|
||||
'2': '2',
|
||||
'3': '3',
|
||||
'4': '4',
|
||||
'5': '5',
|
||||
'6': '6',
|
||||
'7': '7',
|
||||
'8': '8',
|
||||
'9': '9',
|
||||
'10': '10',
|
||||
'11': '11',
|
||||
'12': '12',
|
||||
'13': '13',
|
||||
'14': '14',
|
||||
'15': '15',
|
||||
'16': '16',
|
||||
'17': '17',
|
||||
'18': '18',
|
||||
'19': '19',
|
||||
'20': '20',
|
||||
'21': '21',
|
||||
'22': '22'
|
||||
|
||||
}
|
||||
|
||||
training_weights_local_centrality = [
|
||||
0.890968488270775,
|
||||
0.716506138617812,
|
||||
1.05674590410869,
|
||||
0.764774195768455,
|
||||
0.637682585483328,
|
||||
0.686680807728366,
|
||||
0.955422595797394,
|
||||
0.936714585642375,
|
||||
1.34823795445326,
|
||||
1.38308992581967,
|
||||
1.32689945125819,
|
||||
1.38838655605483,
|
||||
1.18980184904613,
|
||||
1.02584355494795,
|
||||
0.90969156732068,
|
||||
1.24732068576104,
|
||||
1.11338768064342,
|
||||
0.933815217550391,
|
||||
0.852297518872114,
|
||||
1.04167641424727,
|
||||
1.01668968075247,
|
||||
1.34625964088011,
|
||||
0.911796331039028,
|
||||
0.866206536337413,
|
||||
1.55957820407853,
|
||||
0.730844382675724,
|
||||
0.651138644197359,
|
||||
0.758018559633786,
|
||||
1.31842501396691,
|
||||
1.32186116654782,
|
||||
0.744347016851606,
|
||||
0.636390683664723,
|
||||
0.715244950821949,
|
||||
1.63122349407032,
|
||||
0.849835699185461,
|
||||
0.910488007220499,
|
||||
1.44244151650561,
|
||||
1.14150437331681,
|
||||
1.19808610191343,
|
||||
0.960186788642886,
|
||||
1.05023623286937,
|
||||
1.19761709710598,
|
||||
1.3872216313401,
|
||||
1.01256700741214,
|
||||
1.1167909667759,
|
||||
1.27893496336199,
|
||||
1.54475684725655,
|
||||
1.40343733870633,
|
||||
1.45552060866114,
|
||||
1.47264222155031,
|
||||
0.970060423999993,
|
||||
0.944450314768933,
|
||||
0.623987071240172,
|
||||
0.5745237907704,
|
||||
0.66890646050993,
|
||||
0.978411632994504,
|
||||
0.587396395188292,
|
||||
0.76307999741129,
|
||||
0.609793563449648,
|
||||
0.67983566494545,
|
||||
0.685883538168462,
|
||||
0.753587600664775,
|
||||
0.770335133588157,
|
||||
0.764713638033368,
|
||||
0.792364155965385,
|
||||
0.796435233566833
|
||||
]
|
||||
|
||||
|
||||
def get_constants(num_kps):
|
||||
if num_kps == 24:
|
||||
CAR_POSE_24[:, 2] = 2.0
|
||||
return [CAR_KEYPOINTS_24, CAR_SKELETON_24, HFLIP_24, CAR_SIGMAS_24,
|
||||
CAR_POSE_24, CAR_CATEGORIES_24, CAR_SCORE_WEIGHTS_24]
|
||||
if num_kps == 66:
|
||||
CAR_POSE_66[:, 2] = 2.0
|
||||
return [CAR_KEYPOINTS_66, CAR_SKELETON_66, HFLIP_66, CAR_SIGMAS_66,
|
||||
CAR_POSE_66, CAR_CATEGORIES_66, CAR_SCORE_WEIGHTS_66]
|
||||
# using no if-elif-else construction due to pylint no-else-return error
|
||||
raise Exception("Only poses with 24 or 66 keypoints are available.")
|
||||
|
||||
|
||||
def draw_ann(ann, *, keypoint_painter, filename=None, margin=0.5, aspect=None, **kwargs):
|
||||
from openpifpaf import show # pylint: disable=import-outside-toplevel
|
||||
|
||||
bbox = ann.bbox()
|
||||
xlim = bbox[0] - margin, bbox[0] + bbox[2] + margin
|
||||
ylim = bbox[1] - margin, bbox[1] + bbox[3] + margin
|
||||
if aspect == 'equal':
|
||||
fig_w = 5.0
|
||||
else:
|
||||
fig_w = 5.0 / (ylim[1] - ylim[0]) * (xlim[1] - xlim[0])
|
||||
|
||||
with show.canvas(filename, figsize=(fig_w, 5), nomargin=True, **kwargs) as ax:
|
||||
ax.set_axis_off()
|
||||
ax.set_xlim(*xlim)
|
||||
ax.set_ylim(*ylim)
|
||||
|
||||
if aspect is not None:
|
||||
ax.set_aspect(aspect)
|
||||
|
||||
keypoint_painter.annotation(ax, ann)
|
||||
|
||||
|
||||
def draw_skeletons(pose, sigmas, skel, kps, scr_weights):
|
||||
from openpifpaf.annotation import Annotation # pylint: disable=import-outside-toplevel
|
||||
from openpifpaf import show # pylint: disable=import-outside-toplevel
|
||||
|
||||
scale = np.sqrt(
|
||||
(np.max(pose[:, 0]) - np.min(pose[:, 0]))
|
||||
* (np.max(pose[:, 1]) - np.min(pose[:, 1]))
|
||||
)
|
||||
|
||||
show.KeypointPainter.show_joint_scales = True
|
||||
keypoint_painter = show.KeypointPainter()
|
||||
ann = Annotation(keypoints=kps, skeleton=skel, score_weights=scr_weights)
|
||||
ann.set(pose, np.array(sigmas) * scale)
|
||||
os.makedirs('docs', exist_ok=True)
|
||||
draw_ann(ann, filename='docs/skeleton_car.png', keypoint_painter=keypoint_painter)
|
||||
|
||||
|
||||
def plot3d_red(ax_2D, p3d, skeleton):
|
||||
skeleton = [(bone[0] - 1, bone[1] - 1) for bone in skeleton]
|
||||
|
||||
rot_p90_x = np.array([[1, 0, 0], [0, 0, 1], [0, 1, 0]])
|
||||
p3d = p3d @ rot_p90_x
|
||||
|
||||
fig = ax_2D.get_figure()
|
||||
ax = Axes3D(fig, auto_add_to_figure=False)
|
||||
fig.add_axes(ax)
|
||||
ax.set_axis_off()
|
||||
ax_2D.set_axis_off()
|
||||
|
||||
ax.view_init(azim=-90, elev=20)
|
||||
ax.set_xlabel('X')
|
||||
ax.set_ylabel('Y')
|
||||
ax.set_zlabel('Z')
|
||||
max_range = np.array([p3d[:, 0].max() - p3d[:, 0].min(),
|
||||
p3d[:, 1].max() - p3d[:, 1].min(),
|
||||
p3d[:, 2].max() - p3d[:, 2].min()]).max() / 2.0
|
||||
mid_x = (p3d[:, 0].max() + p3d[:, 0].min()) * 0.5
|
||||
mid_y = (p3d[:, 1].max() + p3d[:, 1].min()) * 0.5
|
||||
mid_z = (p3d[:, 2].max() + p3d[:, 2].min()) * 0.5
|
||||
|
||||
ax.set_xlim(mid_x - max_range, mid_x + max_range)
|
||||
ax.set_ylim(mid_y - max_range, mid_y + max_range)
|
||||
ax.set_zlim(mid_z - max_range, mid_z + max_range) # pylint: disable=no-member
|
||||
|
||||
for ci, bone in enumerate(skeleton):
|
||||
c = mplcm.get_cmap('tab20')((ci % 20 + 0.05) / 20) # Same coloring as Pifpaf preds
|
||||
ax.plot(p3d[bone, 0], p3d[bone, 1], p3d[bone, 2], color=c)
|
||||
|
||||
def animate(i):
|
||||
ax.view_init(elev=10., azim=i)
|
||||
return fig
|
||||
|
||||
return FuncAnimation(fig, animate, frames=360, interval=100)
|
||||
|
||||
|
||||
def print_associations():
|
||||
print("\nAssociations of the car skeleton with 24 keypoints")
|
||||
for j1, j2 in CAR_SKELETON_24:
|
||||
print(CAR_KEYPOINTS_24[j1 - 1], '-', CAR_KEYPOINTS_24[j2 - 1])
|
||||
print("\nAssociations of the car skeleton with 66 keypoints")
|
||||
for j1, j2 in CAR_SKELETON_66:
|
||||
print(CAR_KEYPOINTS_66[j1 - 1], '-', CAR_KEYPOINTS_66[j2 - 1])
|
||||
|
||||
|
||||
def main():
|
||||
# print_associations()
|
||||
# =============================================================================
|
||||
# draw_skeletons(CAR_POSE_24, sigmas = CAR_SIGMAS_24, skel = CAR_SKELETON_24,
|
||||
# kps = CAR_KEYPOINTS_24, scr_weights = CAR_SCORE_WEIGHTS_24)
|
||||
# draw_skeletons(CAR_POSE_66, sigmas = CAR_SIGMAS_66, skel = CAR_SKELETON_66,
|
||||
# kps = CAR_KEYPOINTS_66, scr_weights = CAR_SCORE_WEIGHTS_66)
|
||||
# =============================================================================
|
||||
# with openpifpaf.show.Canvas.blank(nomargin=True) as ax_2D:
|
||||
# anim_66 = plot3d_red(ax_2D, CAR_POSE_66, CAR_SKELETON_66)
|
||||
# anim_66.save('./CAR_66_Pose.gif', fps=30)
|
||||
with openpifpaf.show.Canvas.blank(nomargin=True) as ax_2D:
|
||||
anim_24 = plot3d_red(ax_2D, CAR_POSE_24, CAR_SKELETON_24)
|
||||
anim_24.save('./CAR_24_Pose.gif', fps=30)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Reference in New Issue
Block a user