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