267 lines
7.9 KiB
Python
267 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 = ['1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11', '12',
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'13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23', '24']
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CAR_SKELETON_24 = [
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[1, 2],[2, 3],[3, 4],[4, 5],[5, 6],[6, 7],[7, 8],[8, 9],[9, 10],[10, 11],
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[11, 12],[12, 13],[13, 14],[14, 15],[15, 16],[16, 17],[17, 18],[18, 19],[19, 20],
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[20, 21],[21, 22],[22, 23],[23, 24],[24, 1],[24, 3],[1, 5]
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]
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CAR_CATEGORIES_24 = ['karusel']
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CAR_SCORE_WEIGHTS_24 = [5,5,5,0.5,2,2,5,1,1,1,1,4,3,2,3,3,3,1,5,5,2,4,0.5,2]
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CAR_SIGMAS_24 = [0.05] * len(CAR_KEYPOINTS_24)
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CAR_POSE_24 = np.array([[ 129., -137., 0.],
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[ -41., 33., 0.],
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[ -65., 46., 0.],
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[ 22., -134., 0.],
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[ 70., -253., 0.],
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[ 69., -329., 0.],
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[ -37., -224., 0.],
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[ -88., -199., 0.],
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[-143., -171., 0.],
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[-173., -119., 0.],
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[-219., -30., 0.],
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[-307., -26., 0.],
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[-207., 123., 0.],
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[-138., 258., 0.],
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[ -43., 240., 0.],
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[ 10., 242., 0.],
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[ 62., 229., 0.],
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[ 146., 174., 0.],
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[ 213., 138., 0.],
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[ 230., 59., 0.],
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[ 302., -11., 0.],
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[ 288., -93., 0.],
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[ 172., -65., 0.],
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[ 103., -14., 0.]])
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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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'23': '23',
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'24': '24'
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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() |