tools/utils.py

import os

import cv2
import matplotlib.pyplot as plt
import numpy as np
import torch

from common.utils import evaluate

path = os.path.split(os.path.realpath(__file__))[0]
main_path = os.path.join(path, '..')


class common:
    keypoints_symmetry = [[1, 3, 5, 7, 9, 11, 13, 15], [2, 4, 6, 8, 10, 12, 14, 16]]
    rot = np.array([0.14070565, -0.15007018, -0.7552408, 0.62232804], dtype=np.float32)
    skeleton_parents = np.array([-1, 0, 1, 2, 0, 4, 5, 0, 7, 8, 9, 8, 11, 12, 8, 14, 15])
    pairs = [(1, 2), (5, 4), (6, 5), (8, 7), (8, 9), (10, 1), (11, 10), (12, 11), (13, 1), (14, 13), (15, 14), (16, 2), (16, 3), (16, 4), (16, 7)]

    kps_left, kps_right = list(keypoints_symmetry[0]), list(keypoints_symmetry[1])
    joints_left, joints_right = list([4, 5, 6, 11, 12, 13]), list([1, 2, 3, 14, 15, 16])
    pad = (243 - 1) // 2  # Padding on each side
    causal_shift = 0
    joint_pairs = [[0, 1], [1, 3], [0, 2], [2, 4],
                   [5, 6], [5, 7], [7, 9], [6, 8], [8, 10],
                   [5, 11], [6, 12], [11, 12],
                   [11, 13], [12, 14], [13, 15], [14, 16]]


def resize_img(frame, max_length=640):
    H, W = frame.shape[:2]
    if max(W, H) > max_length:
        if W > H:
            W_resize = max_length
            H_resize = int(H * max_length / W)
        else:
            H_resize = max_length
            W_resize = int(W * max_length / H)
        frame = cv2.resize(frame, (W_resize, H_resize), interpolation=cv2.INTER_AREA)
        return frame, W_resize, H_resize

    else:
        return frame, W, H


def rotate_bound(image, angle):
    (h, w) = image.shape[:2]
    (cX, cY) = (w // 2, h // 2)

    M = cv2.getRotationMatrix2D((cX, cY), -angle, 1.0)
    cos = np.abs(M[0, 0])
    sin = np.abs(M[0, 1])

    nW = int((h * sin) + (w * cos))
    nH = int((h * cos) + (w * sin))

    M[0, 2] += (nW / 2) - cX
    M[1, 2] += (nH / 2) - cY

    return cv2.warpAffine(image, M, (nW, nH))


def draw_2Dimg(img, kpt, display=None):
    # kpts : (17, 3)  3-->(x, y, score)
    im = img.copy()
    joint_pairs = common.joint_pairs
    for item in kpt:
        score = item[-1]
        if score > 0.1:
            x, y = int(item[0]), int(item[1])
            cv2.circle(im, (x, y), 1, (255, 5, 0), 5)
    for pair in joint_pairs:
        j, j_parent = pair
        pt1 = (int(kpt[j][0]), int(kpt[j][1]))
        pt2 = (int(kpt[j_parent][0]), int(kpt[j_parent][1]))
        cv2.line(im, pt1, pt2, (0, 255, 0), 2)

    if display:
        cv2.imshow('im', im)
        cv2.waitKey(3)
    return im


def draw_3Dimg(pos, image, display=None, kpt2D=None):
    from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
    fig = plt.figure(figsize=(12, 6))
    canvas = FigureCanvas(fig)

    # 2D
    fig.add_subplot(121)
    if kpt2D:
        plt.imshow(draw_2Dimg(image, kpt2D))
    else:
        plt.imshow(image)

    # 3D
    ax = fig.add_subplot(122, projection='3d')
    radius = 1.7
    ax.view_init(elev=15., azim=70.)
    ax.set_xlim3d([-radius / 2, radius / 2])
    ax.set_zlim3d([0, radius])
    ax.set_ylim3d([-radius / 2, radius / 2])
    ax.set_aspect('equal')
    # 坐标轴刻度
    ax.set_xticklabels([])
    ax.set_yticklabels([])
    ax.set_zticklabels([])
    ax.dist = 7.5
    parents = common.skeleton_parents
    joints_right = common.joints_right

    for j, j_parent in enumerate(parents):
        if j_parent == -1:
            continue

        col = 'red' if j in joints_right else 'black'
        # 画图3D
        ax.plot([pos[j, 0], pos[j_parent, 0]],
                [pos[j, 1], pos[j_parent, 1]],
                [pos[j, 2], pos[j_parent, 2]], zdir='z', c=col)
    width, height = fig.get_size_inches() * fig.get_dpi()
    canvas.draw()  # draw the canvas, cache the renderer
    image = np.fromstring(canvas.tostring_rgb(), dtype='uint8').reshape(int(height), int(width), 3)
    if display:
        cv2.imshow('im', image)
        cv2.waitKey(3)

    return image


def videoInfo(VideoName):
    cap = cv2.VideoCapture(VideoName)
    length = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
    return cap, length


def videopose_model_load():
    # load trained model
    from common.model import TemporalModel
    chk_filename = main_path + '/checkpoint/pretrained_h36m_detectron_coco.bin'
    checkpoint = torch.load(chk_filename, map_location=torch.device('cpu'))  # 把loc映射到storage
    model_pos = TemporalModel(17, 2, 17, filter_widths=[3, 3, 3, 3, 3], causal=False, dropout=False, channels=1024, dense=False)
    model_pos = model_pos
    model_pos.load_state_dict(checkpoint['model_pos'])
    receptive_field = model_pos.receptive_field()
    return model_pos


def interface(model_pos, keypoints, W, H):
    # input (N, 17, 2) return (N, 17, 3)
    if not isinstance(keypoints, np.ndarray):
        keypoints = np.array(keypoints)

    from common.camera import camera_to_world, normalize_screen_coordinates
    #  keypoints = normalize_screen_coordinates_new(keypoints[..., :2], w=W, h=H)
    keypoints = normalize_screen_coordinates(keypoints[..., :2], w=1000, h=1002)
    input_keypoints = keypoints.copy()
    # test_time_augmentation True
    from common.generators import UnchunkedGenerator
    gen = UnchunkedGenerator(None, None, [input_keypoints], pad=common.pad, causal_shift=common.causal_shift, augment=True, kps_left=common.kps_left,
                             kps_right=common.kps_right, joints_left=common.joints_left, joints_right=common.joints_right)
    prediction = evaluate(gen, model_pos, return_predictions=True)
    prediction = camera_to_world(prediction, R=common.rot, t=0)
    prediction[:, :, 2] -= np.min(prediction[:, :, 2])
    return prediction