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| # -*- coding: utf-8 -*- | |
| # Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. (MPG) is | |
| # holder of all proprietary rights on this computer program. | |
| # You can only use this computer program if you have closed | |
| # a license agreement with MPG or you get the right to use the computer | |
| # program from someone who is authorized to grant you that right. | |
| # Any use of the computer program without a valid license is prohibited and | |
| # liable to prosecution. | |
| # | |
| # Copyright©2020 Max-Planck-Gesellschaft zur Förderung | |
| # der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute | |
| # for Intelligent Systems. All rights reserved. | |
| # | |
| # Contact: ps-license@tuebingen.mpg.de | |
| from typing import Optional | |
| import torch | |
| from einops import rearrange | |
| from torch import Tensor | |
| from .tools import get_forward_direction, get_floor, gaussian_filter1d # noqa | |
| from mGPT.utils.geometry_tools import matrix_of_angles | |
| from .base import Joints2Jfeats | |
| class Rifke(Joints2Jfeats): | |
| def __init__(self, | |
| jointstype: str = "mmm", | |
| path: Optional[str] = None, | |
| normalization: bool = False, | |
| forward_filter: bool = False, | |
| **kwargs) -> None: | |
| # | |
| # if jointstype != "mmm": | |
| # print("This function assume that the root is the first index") | |
| # raise NotImplementedError("This jointstype is not implemented.") | |
| super().__init__(path=path, normalization=normalization) | |
| self.jointstype = jointstype | |
| self.forward_filter = forward_filter | |
| def forward(self, joints: Tensor) -> Tensor: | |
| # Joints to rotation invariant poses (Holden et. al.) | |
| # Similar function than fke2rifke in Language2Pose repository | |
| # Adapted to pytorch | |
| # Put the origin center of the root joint instead of the ground projection | |
| poses = joints.clone() | |
| poses[..., 1] -= get_floor(poses, jointstype=self.jointstype) | |
| translation = poses[..., 0, :].clone() | |
| # Let the root have the Y translation --> gravity axis | |
| root_y = translation[..., 1] | |
| # Trajectory => Translation without gravity axis (Y) | |
| trajectory = translation[..., [0, 2]] | |
| # Delete the root joints of the poses | |
| poses = poses[..., 1:, :] | |
| # Remove the trajectory of the poses | |
| poses[..., [0, 2]] -= trajectory[..., None, :] | |
| # Compute the trajectory | |
| vel_trajectory = torch.diff(trajectory, dim=-2) | |
| # 0 for the first one => keep the dimentionality | |
| vel_trajectory = torch.cat( | |
| (0 * vel_trajectory[..., [0], :], vel_trajectory), dim=-2) | |
| # Compute the forward direction | |
| forward = get_forward_direction(poses, jointstype=self.jointstype) | |
| if self.forward_filter: | |
| # Smoothing to remove high frequencies | |
| forward = gaussian_filter1d(forward, 2) | |
| # normalize again to get real directions | |
| forward = torch.nn.functional.normalize(forward, dim=-1) | |
| # changed this also for New pytorch | |
| angles = torch.atan2(*(forward.transpose(0, -1))).transpose(0, -1) | |
| vel_angles = torch.diff(angles, dim=-1) | |
| # 0 for the first one => keep the dimentionality | |
| vel_angles = torch.cat((0 * vel_angles[..., [0]], vel_angles), dim=-1) | |
| # Construct the inverse rotation matrix | |
| sin, cos = forward[..., 0], forward[..., 1] | |
| rotations_inv = matrix_of_angles(cos, sin, inv=True) | |
| # Rotate the poses | |
| poses_local = torch.einsum("...lj,...jk->...lk", poses[..., [0, 2]], | |
| rotations_inv) | |
| poses_local = torch.stack( | |
| (poses_local[..., 0], poses[..., 1], poses_local[..., 1]), axis=-1) | |
| # stack the xyz joints into feature vectors | |
| poses_features = rearrange(poses_local, | |
| "... joints xyz -> ... (joints xyz)") | |
| # Rotate the vel_trajectory | |
| vel_trajectory_local = torch.einsum("...j,...jk->...k", vel_trajectory, | |
| rotations_inv) | |
| # Stack things together | |
| features = torch.cat((root_y[..., None], poses_features, | |
| vel_angles[..., None], vel_trajectory_local), -1) | |
| # Normalize if needed | |
| features = self.normalize(features) | |
| return features | |
| def inverse(self, features: Tensor) -> Tensor: | |
| features = self.unnormalize(features) | |
| root_y, poses_features, vel_angles, vel_trajectory_local = self.extract( | |
| features) | |
| # already have the good dimensionality | |
| angles = torch.cumsum(vel_angles, dim=-1) | |
| # First frame should be 0, but if infered it is better to ensure it | |
| angles = angles - angles[..., [0]] | |
| cos, sin = torch.cos(angles), torch.sin(angles) | |
| rotations = matrix_of_angles(cos, sin, inv=False) | |
| # Get back the poses | |
| poses_local = rearrange(poses_features, | |
| "... (joints xyz) -> ... joints xyz", | |
| xyz=3) | |
| # Rotate the poses | |
| poses = torch.einsum("...lj,...jk->...lk", poses_local[..., [0, 2]], | |
| rotations) | |
| poses = torch.stack( | |
| (poses[..., 0], poses_local[..., 1], poses[..., 1]), axis=-1) | |
| # Rotate the vel_trajectory | |
| vel_trajectory = torch.einsum("...j,...jk->...k", vel_trajectory_local, | |
| rotations) | |
| # Integrate the trajectory | |
| # Already have the good dimensionality | |
| trajectory = torch.cumsum(vel_trajectory, dim=-2) | |
| # First frame should be 0, but if infered it is better to ensure it | |
| trajectory = trajectory - trajectory[..., [0], :] | |
| # Add the root joints (which is still zero) | |
| poses = torch.cat((0 * poses[..., [0], :], poses), -2) | |
| # put back the root joint y | |
| poses[..., 0, 1] = root_y | |
| # Add the trajectory globally | |
| poses[..., [0, 2]] += trajectory[..., None, :] | |
| return poses | |
| def extract(self, features: Tensor): | |
| root_y = features[..., 0] | |
| poses_features = features[..., 1:-3] | |
| vel_angles = features[..., -3] | |
| vel_trajectory_local = features[..., -2:] | |
| return root_y, poses_features, vel_angles, vel_trajectory_local | |