lib/pymafx/utils/imutils.py

"""
This file contains functions that are used to perform data augmentation.
"""
import cv2
import numpy as np
import skimage.transform
import torch
from PIL import Image

from lib.pymafx.core import constants


def get_transform(center, scale, res, rot=0):
    """Generate transformation matrix."""
    h = 200 * scale
    t = np.zeros((3, 3))
    t[0, 0] = float(res[1]) / h
    t[1, 1] = float(res[0]) / h
    t[0, 2] = res[1] * (-float(center[0]) / h + .5)
    t[1, 2] = res[0] * (-float(center[1]) / h + .5)
    t[2, 2] = 1
    if not rot == 0:
        t = np.dot(get_rot_transf(res, rot), t)
    return t


def get_rot_transf(res, rot):
    """Generate rotation transformation matrix."""
    if rot == 0:
        return np.identity(3)
    rot = -rot    # To match direction of rotation from cropping
    rot_mat = np.zeros((3, 3))
    rot_rad = rot * np.pi / 180
    sn, cs = np.sin(rot_rad), np.cos(rot_rad)
    rot_mat[0, :2] = [cs, -sn]
    rot_mat[1, :2] = [sn, cs]
    rot_mat[2, 2] = 1
    # Need to rotate around center
    t_mat = np.eye(3)
    t_mat[0, 2] = -res[1] / 2
    t_mat[1, 2] = -res[0] / 2
    t_inv = t_mat.copy()
    t_inv[:2, 2] *= -1
    rot_transf = np.dot(t_inv, np.dot(rot_mat, t_mat))
    return rot_transf


def transform(pt, center, scale, res, invert=0, rot=0):
    """Transform pixel location to different reference."""
    t = get_transform(center, scale, res, rot=rot)
    if invert:
        t = np.linalg.inv(t)
    new_pt = np.array([pt[0] - 1, pt[1] - 1, 1.]).T
    new_pt = np.dot(t, new_pt)
    return new_pt[:2].astype(int) + 1


def transform_pts(coords, center, scale, res, invert=0, rot=0):
    """Transform coordinates (N x 2) to different reference."""
    new_coords = coords.copy()
    for p in range(coords.shape[0]):
        new_coords[p, 0:2] = transform(coords[p, 0:2], center, scale, res, invert, rot)
    return new_coords


def crop(img, center, scale, res, rot=0):
    """Crop image according to the supplied bounding box."""
    # Upper left point
    ul = np.array(transform([1, 1], center, scale, res, invert=1)) - 1
    # Bottom right point
    br = np.array(transform([res[0] + 1, res[1] + 1], center, scale, res, invert=1)) - 1

    # Padding so that when rotated proper amount of context is included
    pad = int(np.linalg.norm(br - ul) / 2 - float(br[1] - ul[1]) / 2)
    if not rot == 0:
        ul -= pad
        br += pad

    new_shape = [br[1] - ul[1], br[0] - ul[0]]
    if len(img.shape) > 2:
        new_shape += [img.shape[2]]
    new_img = np.zeros(new_shape)

    # Range to fill new array
    new_x = max(0, -ul[0]), min(br[0], len(img[0])) - ul[0]
    new_y = max(0, -ul[1]), min(br[1], len(img)) - ul[1]
    # Range to sample from original image
    old_x = max(0, ul[0]), min(len(img[0]), br[0])
    old_y = max(0, ul[1]), min(len(img), br[1])

    new_img[new_y[0]:new_y[1], new_x[0]:new_x[1]] = img[old_y[0]:old_y[1], old_x[0]:old_x[1]]

    if not rot == 0:
        # Remove padding
        new_img = skimage.transform.rotate(new_img, rot).astype(np.uint8)
        new_img = new_img[pad:-pad, pad:-pad]

    new_img_resized = np.array(Image.fromarray(new_img.astype(np.uint8)).resize(res))
    return new_img_resized, new_img, new_shape


def uncrop(img, center, scale, orig_shape, rot=0, is_rgb=True):
    """'Undo' the image cropping/resizing.
    This function is used when evaluating mask/part segmentation.
    """
    res = img.shape[:2]
    # Upper left point
    ul = np.array(transform([1, 1], center, scale, res, invert=1)) - 1
    # Bottom right point
    br = np.array(transform([res[0] + 1, res[1] + 1], center, scale, res, invert=1)) - 1
    # size of cropped image
    crop_shape = [br[1] - ul[1], br[0] - ul[0]]

    new_shape = [br[1] - ul[1], br[0] - ul[0]]
    if len(img.shape) > 2:
        new_shape += [img.shape[2]]
    new_img = np.zeros(orig_shape, dtype=np.uint8)
    # Range to fill new array
    new_x = max(0, -ul[0]), min(br[0], orig_shape[1]) - ul[0]
    new_y = max(0, -ul[1]), min(br[1], orig_shape[0]) - ul[1]
    # Range to sample from original image
    old_x = max(0, ul[0]), min(orig_shape[1], br[0])
    old_y = max(0, ul[1]), min(orig_shape[0], br[1])
    img = np.array(Image.fromarray(img.astype(np.uint8)).resize(crop_shape))
    new_img[old_y[0]:old_y[1], old_x[0]:old_x[1]] = img[new_y[0]:new_y[1], new_x[0]:new_x[1]]
    return new_img


def rot_aa(aa, rot):
    """Rotate axis angle parameters."""
    # pose parameters
    R = np.array([[np.cos(np.deg2rad(-rot)), -np.sin(np.deg2rad(-rot)), 0],
                  [np.sin(np.deg2rad(-rot)), np.cos(np.deg2rad(-rot)), 0], [0, 0, 1]])
    # find the rotation of the body in camera frame
    per_rdg, _ = cv2.Rodrigues(aa)
    # apply the global rotation to the global orientation
    resrot, _ = cv2.Rodrigues(np.dot(R, per_rdg))
    aa = (resrot.T)[0]
    return aa


def flip_img(img):
    """Flip rgb images or masks.
    channels come last, e.g. (256,256,3).
    """
    img = np.fliplr(img)
    return img


def flip_kp(kp, is_smpl=False, type='body'):
    """Flip keypoints."""
    assert type in ['body', 'hand', 'face', 'feet']
    if type == 'body':
        if len(kp) == 24:
            if is_smpl:
                flipped_parts = constants.SMPL_JOINTS_FLIP_PERM
            else:
                flipped_parts = constants.J24_FLIP_PERM
        elif len(kp) == 49:
            if is_smpl:
                flipped_parts = constants.SMPL_J49_FLIP_PERM
            else:
                flipped_parts = constants.J49_FLIP_PERM
    elif type == 'hand':
        if len(kp) == 21:
            flipped_parts = constants.SINGLE_HAND_FLIP_PERM
        elif len(kp) == 42:
            flipped_parts = constants.LRHAND_FLIP_PERM
    elif type == 'face':
        flipped_parts = constants.FACE_FLIP_PERM
    elif type == 'feet':
        flipped_parts = constants.FEEF_FLIP_PERM

    kp = kp[flipped_parts]
    kp[:, 0] = -kp[:, 0]
    return kp


def flip_pose(pose):
    """Flip pose.
    The flipping is based on SMPL parameters.
    """
    flipped_parts = constants.SMPL_POSE_FLIP_PERM
    pose = pose[flipped_parts]
    # we also negate the second and the third dimension of the axis-angle
    pose[1::3] = -pose[1::3]
    pose[2::3] = -pose[2::3]
    return pose


def flip_aa(pose):
    """Flip aa.
    """
    # we also negate the second and the third dimension of the axis-angle
    if len(pose.shape) == 1:
        pose[1::3] = -pose[1::3]
        pose[2::3] = -pose[2::3]
    elif len(pose.shape) == 2:
        pose[:, 1::3] = -pose[:, 1::3]
        pose[:, 2::3] = -pose[:, 2::3]
    else:
        raise NotImplementedError
    return pose


def normalize_2d_kp(kp_2d, crop_size=224, inv=False):
    # Normalize keypoints between -1, 1
    if not inv:
        ratio = 1.0 / crop_size
        kp_2d = 2.0 * kp_2d * ratio - 1.0
    else:
        ratio = 1.0 / crop_size
        kp_2d = (kp_2d + 1.0) / (2 * ratio)

    return kp_2d


def j2d_processing(kp, transf):
    """Process gt 2D keypoints and apply transforms."""
    # nparts = kp.shape[1]
    bs, npart = kp.shape[:2]
    kp_pad = torch.cat([kp, torch.ones((bs, npart, 1)).to(kp)], dim=-1)
    kp_new = torch.bmm(transf, kp_pad.transpose(1, 2))
    kp_new = kp_new.transpose(1, 2)
    kp_new[:, :, :-1] = 2. * kp_new[:, :, :-1] / constants.IMG_RES - 1.
    return kp_new[:, :, :2]


def generate_heatmap(joints, heatmap_size, sigma=1, joints_vis=None):
    '''
    param joints:  [num_joints, 3]
    param joints_vis: [num_joints, 3]
    return: target, target_weight(1: visible, 0: invisible)
    '''
    num_joints = joints.shape[0]
    device = joints.device
    cur_device = torch.device(device.type, device.index)
    if not hasattr(heatmap_size, '__len__'):
        # width  height
        heatmap_size = [heatmap_size, heatmap_size]
    assert len(heatmap_size) == 2
    target_weight = np.ones((num_joints, 1), dtype=np.float32)
    if joints_vis is not None:
        target_weight[:, 0] = joints_vis[:, 0]
    target = torch.zeros((num_joints, heatmap_size[1], heatmap_size[0]),
                         dtype=torch.float32,
                         device=cur_device)

    tmp_size = sigma * 3

    for joint_id in range(num_joints):
        mu_x = int(joints[joint_id][0] * heatmap_size[0] + 0.5)
        mu_y = int(joints[joint_id][1] * heatmap_size[1] + 0.5)
        # Check that any part of the gaussian is in-bounds
        ul = [int(mu_x - tmp_size), int(mu_y - tmp_size)]
        br = [int(mu_x + tmp_size + 1), int(mu_y + tmp_size + 1)]
        if ul[0] >= heatmap_size[0] or ul[1] >= heatmap_size[1] \
                or br[0] < 0 or br[1] < 0:
            # If not, just return the image as is
            target_weight[joint_id] = 0
            continue

        # # Generate gaussian
        size = 2 * tmp_size + 1
        # x = np.arange(0, size, 1, np.float32)
        # y = x[:, np.newaxis]
        # x0 = y0 = size // 2
        # # The gaussian is not normalized, we want the center value to equal 1
        # g = np.exp(- ((x - x0) ** 2 + (y - y0) ** 2) / (2 * sigma ** 2))
        # g = torch.from_numpy(g.astype(np.float32))

        x = torch.arange(0, size, dtype=torch.float32, device=cur_device)
        y = x.unsqueeze(-1)
        x0 = y0 = size // 2
        # The gaussian is not normalized, we want the center value to equal 1
        g = torch.exp(-((x - x0)**2 + (y - y0)**2) / (2 * sigma**2))

        # Usable gaussian range
        g_x = max(0, -ul[0]), min(br[0], heatmap_size[0]) - ul[0]
        g_y = max(0, -ul[1]), min(br[1], heatmap_size[1]) - ul[1]
        # Image range
        img_x = max(0, ul[0]), min(br[0], heatmap_size[0])
        img_y = max(0, ul[1]), min(br[1], heatmap_size[1])

        v = target_weight[joint_id]
        if v > 0.5:
            target[joint_id][img_y[0]:img_y[1], img_x[0]:img_x[1]] = \
                g[g_y[0]:g_y[1], g_x[0]:g_x[1]]

    return target, target_weight