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import math |
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import numpy as np |
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import matplotlib |
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import matplotlib.pyplot as plt |
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from mpl_toolkits.mplot3d import Axes3D |
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from matplotlib.animation import FuncAnimation, FFMpegFileWriter |
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection |
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import mpl_toolkits.mplot3d.axes3d as p3 |
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COLORS = [[255, 0, 0], [255, 85, 0], [255, 170, 0], [255, 255, 0], [170, 255, 0], [85, 255, 0], [0, 255, 0], |
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[0, 255, 85], [0, 255, 170], [0, 255, 255], [0, 170, 255], [0, 85, 255], [0, 0, 255], [85, 0, 255], |
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[170, 0, 255], [255, 0, 255], [255, 0, 170], [255, 0, 85]] |
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def plot_2d_pose(pose, pose_tree, class_type, save_path=None, excluded_joints=None): |
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def init(): |
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plt.xlabel('x') |
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plt.ylabel('y') |
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plt.title(class_type) |
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fig = plt.figure() |
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init() |
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data = np.array(pose, dtype=float) |
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if excluded_joints is None: |
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plt.scatter(data[:, 0], data[:, 1], color='b', marker='h', s=15) |
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else: |
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plot_joints = [i for i in range(data.shape[1]) if i not in excluded_joints] |
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plt.scatter(data[plot_joints, 0], data[plot_joints, 1], color='b', marker='h', s=15) |
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for idx1, idx2 in pose_tree: |
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plt.plot([data[idx1, 0], data[idx2, 0]], |
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[data[idx1, 1], data[idx2, 1]], color='r', linewidth=2.0) |
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if save_path is not None: |
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plt.savefig(save_path) |
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plt.show() |
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plt.close() |
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def list_cut_average(ll, intervals): |
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if intervals == 1: |
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return ll |
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bins = math.ceil(len(ll) * 1.0 / intervals) |
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ll_new = [] |
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for i in range(bins): |
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l_low = intervals * i |
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l_high = l_low + intervals |
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l_high = l_high if l_high < len(ll) else len(ll) |
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ll_new.append(np.mean(ll[l_low:l_high])) |
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return ll_new |
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def plot_3d_pose_v2(savePath, kinematic_tree, joints, title=None): |
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figure = plt.figure() |
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ax = Axes3D(figure) |
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if title is not None: |
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ax.set_title(title) |
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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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ax.view_init(elev=110, azim=90) |
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ax.scatter(joints[:, 0], joints[:, 1], joints[:, 2], color='black') |
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colors = ['red', 'magenta', 'black', 'magenta', 'black', 'green', 'blue'] |
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for chain, color in zip(kinematic_tree, colors): |
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ax.plot3D(joints[chain, 0], joints[chain, 1], joints[chain, 2], linewidth=2.0, color=color) |
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plt.show() |
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def plot_3d_motion_v2(motion, kinematic_tree, save_path, interval=50, dataset=None, title=None): |
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def init(): |
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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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ax.set_ylim(0, 800) |
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ax.set_xlim(0, 800) |
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ax.set_zlim(0, 5000) |
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if title is not None: |
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ax.set_title(title) |
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motion = motion.reshape(motion.shape[0], -1, 3) |
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fig = plt.figure() |
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ax = p3.Axes3D(fig) |
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init() |
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data = np.array(motion, dtype=float) |
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colors = ['red', 'magenta', 'black', 'green', 'blue','red', 'magenta', 'black', 'green', 'blue'] |
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frame_number = data.shape[0] |
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print(data.shape) |
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def update(index): |
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ax.lines = [] |
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ax.collections = [] |
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ax.view_init(elev=110, azim=-90) |
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ax.scatter(motion[index, :, 0], motion[index, :, 1], motion[index, :, 2], color='black') |
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for chain, color in zip(kinematic_tree, colors): |
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ax.plot3D(motion[index, chain, 0], motion[index, chain, 1], motion[index, chain, 2], linewidth=2.0, color=color) |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=interval, repeat=True, repeat_delay=50) |
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ani.save(save_path, writer='pillow') |
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plt.close() |
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def plot_3d_motion_kit(save_path, kinematic_tree, joints, title, figsize=(5, 5), interval=100, radius=246 * 12): |
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matplotlib.use('Agg') |
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title_sp = title.split(' ') |
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if len(title_sp) > 10: |
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title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:])]) |
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def init(): |
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ax.set_xlim3d([-radius / 2, radius / 2]) |
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ax.set_ylim3d([-radius / 2, radius / 2]) |
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ax.set_zlim3d([0, radius]) |
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fig.suptitle(title) |
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ax.grid(b=False) |
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def plot_xzPlane(minx, maxx, miny, minz, maxz): |
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verts = [ |
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[minx, miny, minz], |
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[minx, miny, maxz], |
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[maxx, miny, maxz], |
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[maxx, miny, minz] |
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] |
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xz_plane = Poly3DCollection([verts]) |
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xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5)) |
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ax.add_collection3d(xz_plane) |
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data = joints.reshape(len(joints), -1, 3) |
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fig = plt.figure(figsize=figsize) |
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ax = p3.Axes3D(fig) |
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init() |
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MINS = data.min(axis=0).min(axis=0) |
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MAXS = data.max(axis=0).max(axis=0) |
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colors = ['red', 'magenta', 'black', 'green', 'blue', 'red', 'magenta', 'black', 'green', 'blue'] |
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frame_number = data.shape[0] |
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height_offset = MINS[1] |
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data[:, :, 1] -= height_offset |
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trajec = data[:, 0, [0, 2]] |
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def update(index): |
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ax.lines = [] |
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ax.collections = [] |
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ax.view_init(elev=110, azim=-90) |
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ax.dist = 7.5 |
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plot_xzPlane(MINS[0], MAXS[0], 0, MINS[2], MAXS[2]) |
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ax.scatter(data[index, :, 0], data[index, :, 1], data[index, :, 2], color='black') |
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for chain, color in zip(kinematic_tree, colors): |
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ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=2.0, color=color) |
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if index > 1: |
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ax.plot3D(trajec[:index, 0], np.zeros_like(trajec[:index, 0]), trajec[:index, 1], linewidth=1.0, |
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color='blue') |
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plt.axis('off') |
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ax.set_xticklabels([]) |
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ax.set_yticklabels([]) |
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ax.set_zticklabels([]) |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=interval, repeat=True, repeat_delay=50) |
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ani.save(save_path, writer='pillow') |
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plt.close() |
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def plot_3d_motion_gt_pred(save_path, kinematic_tree, gt_joints, pred_joints, title, figsize=(10, 10), fps=120, radius=4): |
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matplotlib.use('Agg') |
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title_sp = title.split(' ') |
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if len(title_sp) > 20: |
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title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:20]), ' '.join(title_sp[20:])]) |
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elif len(title_sp) > 10: |
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title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:])]) |
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def init(): |
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for ax in axs: |
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ax.set_xlim3d([-radius / 2, radius / 2]) |
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ax.set_ylim3d([0, radius]) |
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ax.set_zlim3d([0, radius]) |
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fig.suptitle(title, fontsize=20) |
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ax.grid(b=False) |
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def plot_xzPlane(minx, maxx, miny, minz, maxz, ax): |
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verts = [ |
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[minx, miny, minz], |
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[minx, miny, maxz], |
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[maxx, miny, maxz], |
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[maxx, miny, minz] |
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] |
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xz_plane = Poly3DCollection([verts]) |
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xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5)) |
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ax.add_collection3d(xz_plane) |
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def update(index): |
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for i, ax in enumerate(axs): |
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ax.lines = [] |
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ax.collections = [] |
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ax.view_init(elev=120, azim=-90) |
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ax.dist = 7.5 |
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MINS = motions_min[i] |
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MAXS = motions_max[i] |
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trajec = motions_traj[i] |
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data = motions_data[i] |
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plot_xzPlane(MINS[0] - trajec[index, 0], MAXS[0] - trajec[index, 0], 0, MINS[2] - trajec[index, 1], |
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MAXS[2] - trajec[index, 1], ax) |
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if index > 1: |
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ax.plot3D(trajec[:index, 0] - trajec[index, 0], np.zeros_like(trajec[:index, 0]), |
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trajec[:index, 1] - trajec[index, 1], linewidth=1.0, |
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color='blue') |
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for i, (chain, color) in enumerate(zip(kinematic_tree, colors)): |
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if i < 5: |
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linewidth = 4.0 |
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else: |
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linewidth = 2.0 |
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ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=linewidth, |
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color=color) |
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plt.axis('off') |
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ax.set_xticklabels([]) |
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ax.set_yticklabels([]) |
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ax.set_zticklabels([]) |
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motions_data = [] |
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motions_traj = [] |
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motions_min = [] |
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motions_max = [] |
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colors = ['red', 'blue', 'black', 'red', 'blue', |
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'darkblue', 'darkblue', 'darkblue', 'darkblue', 'darkblue', |
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'darkred', 'darkred', 'darkred', 'darkred', 'darkred'] |
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for i, joints in enumerate((gt_joints, pred_joints)): |
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data = joints.copy().reshape(len(joints), -1, 3) |
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frame_number = data.shape[0] |
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MINS = data.min(axis=0).min(axis=0) |
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motions_min.append(MINS) |
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MAXS = data.max(axis=0).max(axis=0) |
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motions_max.append(MAXS) |
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height_offset = MINS[1] |
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data[:, :, 1] -= height_offset |
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trajec = data[:, 0, [0, 2]] |
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motions_traj.append(trajec) |
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data[..., 0] -= data[:, 0:1, 0] |
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data[..., 2] -= data[:, 0:1, 2] |
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motions_data.append(data) |
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axs = [] |
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fig = plt.figure(figsize=(20,10)) |
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axs.append(fig.add_subplot(1, 2, 1, projection='3d')) |
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axs.append(fig.add_subplot(1, 2, 2, projection='3d')) |
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init() |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=1000 / fps, repeat=False) |
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ani.save(save_path, fps=fps) |
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plt.close() |
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def plot_3d_motion(save_path, kinematic_tree, joints, title, figsize=(10, 10), fps=120, radius=4): |
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matplotlib.use('Agg') |
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title_sp = title.split(' ') |
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if len(title_sp) > 20: |
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title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:20]), ' '.join(title_sp[20:])]) |
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elif len(title_sp) > 10: |
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title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:])]) |
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def init(): |
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ax.set_xlim3d([-radius / 2, radius / 2]) |
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ax.set_ylim3d([0, radius]) |
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ax.set_zlim3d([0, radius]) |
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fig.suptitle(title, fontsize=20) |
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ax.grid(b=False) |
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def plot_xzPlane(minx, maxx, miny, minz, maxz): |
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verts = [ |
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[minx, miny, minz], |
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[minx, miny, maxz], |
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[maxx, miny, maxz], |
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[maxx, miny, minz] |
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] |
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xz_plane = Poly3DCollection([verts]) |
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xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5)) |
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ax.add_collection3d(xz_plane) |
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data = joints.copy().reshape(len(joints), -1, 3) |
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fig = plt.figure(figsize=figsize) |
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ax = p3.Axes3D(fig) |
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init() |
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MINS = data.min(axis=0).min(axis=0) |
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MAXS = data.max(axis=0).max(axis=0) |
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colors = ['red', 'blue', 'black', 'red', 'blue', |
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'darkblue', 'darkblue', 'darkblue', 'darkblue', 'darkblue', |
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'darkred', 'darkred', 'darkred', 'darkred', 'darkred'] |
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frame_number = data.shape[0] |
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height_offset = MINS[1] |
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data[:, :, 1] -= height_offset |
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trajec = data[:, 0, [0, 2]] |
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data[..., 0] -= data[:, 0:1, 0] |
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data[..., 2] -= data[:, 0:1, 2] |
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def update(index): |
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ax.lines = [] |
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ax.collections = [] |
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ax.view_init(elev=120, azim=-90) |
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ax.dist = 7.5 |
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plot_xzPlane(MINS[0] - trajec[index, 0], MAXS[0] - trajec[index, 0], 0, MINS[2] - trajec[index, 1], |
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MAXS[2] - trajec[index, 1]) |
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if index > 1: |
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ax.plot3D(trajec[:index, 0] - trajec[index, 0], np.zeros_like(trajec[:index, 0]), |
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trajec[:index, 1] - trajec[index, 1], linewidth=1.0, |
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color='blue') |
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for i, (chain, color) in enumerate(zip(kinematic_tree, colors)): |
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if i < 5: |
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linewidth = 4.0 |
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else: |
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linewidth = 2.0 |
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ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=linewidth, |
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color=color) |
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plt.axis('off') |
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ax.set_xticklabels([]) |
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ax.set_yticklabels([]) |
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ax.set_zticklabels([]) |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=1000 / fps, repeat=False) |
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ani.save(save_path, fps=fps) |
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plt.close() |
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def plot_3d_motion_old(motion, pose_tree, class_type, save_path, interval=300, excluded_joints=None): |
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matplotlib.use('Agg') |
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def init(): |
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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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ax.set_ylim(-0.75, 0.75) |
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ax.set_xlim(-0.75, 0.75) |
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ax.set_zlim(-0.75, 0.75) |
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ax.set_title(class_type) |
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fig = plt.figure() |
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ax = p3.Axes3D(fig) |
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init() |
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data = np.array(motion, dtype=float) |
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frame_number = data.shape[0] |
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print(data.shape) |
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def update(index): |
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ax.lines = [] |
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ax.collections = [] |
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if excluded_joints is None: |
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ax.scatter(data[index, :, 0], data[index, :, 1], data[index, :, 2], color='b', marker='h', s=15) |
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else: |
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plot_joints = [i for i in range(data.shape[1]) if i not in excluded_joints] |
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ax.scatter(data[index, plot_joints, 0], data[index, plot_joints, 1], data[index, plot_joints, 2], color='b', marker='h', s=15) |
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for idx1, idx2 in pose_tree: |
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ax.plot([data[index, idx1, 0], data[index, idx2, 0]], |
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[data[index, idx1, 1], data[index, idx2, 1]], [data[index, idx1, 2], data[index, idx2, 2]], color='r', linewidth=2.0) |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=interval, repeat=False, repeat_delay=200) |
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ani.save(save_path, writer='pillow') |
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plt.close() |
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def plot_2d_motion(motion, pose_tree, axis_0, axis_1, class_type, save_path, interval=300): |
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matplotlib.use('Agg') |
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fig = plt.figure() |
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plt.title(class_type) |
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data = np.array(motion, dtype=float) |
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frame_number = data.shape[0] |
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print(data.shape) |
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def update(index): |
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plt.clf() |
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plt.xlim(-0.7, 0.7) |
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plt.ylim(-0.7, 0.7) |
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plt.scatter(data[index, :, axis_0], data[index, :, axis_1], color='b', marker='h', s=15) |
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for idx1, idx2 in pose_tree: |
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plt.plot([data[index, idx1, axis_0], data[index, idx2, axis_0]], |
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[data[index, idx1, axis_1], data[index, idx2, axis_1]], color='r', linewidth=2.0) |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=interval, repeat=False, repeat_delay=200) |
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ani.save(save_path, writer='pillow') |
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plt.close() |
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def plot_3d_multi_motion(motion_list, kinematic_tree, save_path, interval=50, dataset=None): |
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matplotlib.use('Agg') |
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def init(): |
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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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if dataset == "mocap": |
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ax.set_ylim(-1.5, 1.5) |
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ax.set_xlim(0, 3) |
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ax.set_zlim(-1.5, 1.5) |
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else: |
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ax.set_ylim(-1, 1) |
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ax.set_xlim(-1, 1) |
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ax.set_zlim(-1, 1) |
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fig = plt.figure() |
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ax = p3.Axes3D(fig) |
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init() |
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colors = ['red', 'magenta', 'black', 'magenta', 'black', 'green', 'blue'] |
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frame_number = motion_list[0].shape[0] |
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print("Number of motions %d" % (len(motion_list))) |
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def update(index): |
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ax.lines = [] |
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ax.collections = [] |
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if dataset == "mocap": |
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ax.view_init(elev=110, azim=-90) |
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else: |
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ax.view_init(elev=110, azim=90) |
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for motion in motion_list: |
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for chain, color in zip(kinematic_tree, colors): |
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ax.plot3D(motion[index, chain, 0], motion[index, chain, 1], motion[index, chain, 2], |
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linewidth=4.0, color=color) |
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plt.axis('off') |
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ax.set_xticklabels([]) |
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ax.set_yticklabels([]) |
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ax.set_zticklabels([]) |
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ani = FuncAnimation(fig, update, frames=frame_number, interval=interval, repeat=False, repeat_delay=200) |
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ani.save(save_path, writer='pillow') |
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plt.close() |
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