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| import os | |
| import cv2 | |
| import numpy as np | |
| from mpl_toolkits.mplot3d import Axes3D | |
| import matplotlib.pyplot as plt | |
| import matplotlib as mpl | |
| import os | |
| os.environ["PYOPENGL_PLATFORM"] = "egl" | |
| import pyrender | |
| import trimesh | |
| from config import cfg | |
| def vis_keypoints_with_skeleton(img, kps, kps_lines, kp_thresh=0.4, alpha=1): | |
| # Convert from plt 0-1 RGBA colors to 0-255 BGR colors for opencv. | |
| cmap = plt.get_cmap('rainbow') | |
| colors = [cmap(i) for i in np.linspace(0, 1, len(kps_lines) + 2)] | |
| colors = [(c[2] * 255, c[1] * 255, c[0] * 255) for c in colors] | |
| # Perform the drawing on a copy of the image, to allow for blending. | |
| kp_mask = np.copy(img) | |
| # Draw the keypoints. | |
| for l in range(len(kps_lines)): | |
| i1 = kps_lines[l][0] | |
| i2 = kps_lines[l][1] | |
| p1 = kps[0, i1].astype(np.int32), kps[1, i1].astype(np.int32) | |
| p2 = kps[0, i2].astype(np.int32), kps[1, i2].astype(np.int32) | |
| if kps[2, i1] > kp_thresh and kps[2, i2] > kp_thresh: | |
| cv2.line( | |
| kp_mask, p1, p2, | |
| color=colors[l], thickness=2, lineType=cv2.LINE_AA) | |
| if kps[2, i1] > kp_thresh: | |
| cv2.circle( | |
| kp_mask, p1, | |
| radius=3, color=colors[l], thickness=-1, lineType=cv2.LINE_AA) | |
| if kps[2, i2] > kp_thresh: | |
| cv2.circle( | |
| kp_mask, p2, | |
| radius=3, color=colors[l], thickness=-1, lineType=cv2.LINE_AA) | |
| # Blend the keypoints. | |
| return cv2.addWeighted(img, 1.0 - alpha, kp_mask, alpha, 0) | |
| def vis_keypoints(img, kps, alpha=1, radius=3, color=None): | |
| # Convert from plt 0-1 RGBA colors to 0-255 BGR colors for opencv. | |
| cmap = plt.get_cmap('rainbow') | |
| if color is None: | |
| colors = [cmap(i) for i in np.linspace(0, 1, len(kps) + 2)] | |
| colors = [(c[2] * 255, c[1] * 255, c[0] * 255) for c in colors] | |
| # Perform the drawing on a copy of the image, to allow for blending. | |
| kp_mask = np.copy(img) | |
| # Draw the keypoints. | |
| for i in range(len(kps)): | |
| p = kps[i][0].astype(np.int32), kps[i][1].astype(np.int32) | |
| if color is None: | |
| cv2.circle(kp_mask, p, radius=radius, color=colors[i], thickness=-1, lineType=cv2.LINE_AA) | |
| else: | |
| cv2.circle(kp_mask, p, radius=radius, color=color, thickness=-1, lineType=cv2.LINE_AA) | |
| # Blend the keypoints. | |
| return cv2.addWeighted(img, 1.0 - alpha, kp_mask, alpha, 0) | |
| def vis_mesh(img, mesh_vertex, alpha=0.5): | |
| # Convert from plt 0-1 RGBA colors to 0-255 BGR colors for opencv. | |
| cmap = plt.get_cmap('rainbow') | |
| colors = [cmap(i) for i in np.linspace(0, 1, len(mesh_vertex))] | |
| colors = [(c[2] * 255, c[1] * 255, c[0] * 255) for c in colors] | |
| # Perform the drawing on a copy of the image, to allow for blending. | |
| mask = np.copy(img) | |
| # Draw the mesh | |
| for i in range(len(mesh_vertex)): | |
| p = mesh_vertex[i][0].astype(np.int32), mesh_vertex[i][1].astype(np.int32) | |
| cv2.circle(mask, p, radius=1, color=colors[i], thickness=-1, lineType=cv2.LINE_AA) | |
| # Blend the keypoints. | |
| return cv2.addWeighted(img, 1.0 - alpha, mask, alpha, 0) | |
| def vis_3d_skeleton(kpt_3d, kpt_3d_vis, kps_lines, filename=None): | |
| fig = plt.figure() | |
| ax = fig.add_subplot(111, projection='3d') | |
| # Convert from plt 0-1 RGBA colors to 0-255 BGR colors for opencv. | |
| cmap = plt.get_cmap('rainbow') | |
| colors = [cmap(i) for i in np.linspace(0, 1, len(kps_lines) + 2)] | |
| colors = [np.array((c[2], c[1], c[0])) for c in colors] | |
| for l in range(len(kps_lines)): | |
| i1 = kps_lines[l][0] | |
| i2 = kps_lines[l][1] | |
| x = np.array([kpt_3d[i1,0], kpt_3d[i2,0]]) | |
| y = np.array([kpt_3d[i1,1], kpt_3d[i2,1]]) | |
| z = np.array([kpt_3d[i1,2], kpt_3d[i2,2]]) | |
| if kpt_3d_vis[i1,0] > 0 and kpt_3d_vis[i2,0] > 0: | |
| ax.plot(x, z, -y, c=colors[l], linewidth=2) | |
| if kpt_3d_vis[i1,0] > 0: | |
| ax.scatter(kpt_3d[i1,0], kpt_3d[i1,2], -kpt_3d[i1,1], c=colors[l], marker='o') | |
| if kpt_3d_vis[i2,0] > 0: | |
| ax.scatter(kpt_3d[i2,0], kpt_3d[i2,2], -kpt_3d[i2,1], c=colors[l], marker='o') | |
| x_r = np.array([0, cfg.input_shape[1]], dtype=np.float32) | |
| y_r = np.array([0, cfg.input_shape[0]], dtype=np.float32) | |
| z_r = np.array([0, 1], dtype=np.float32) | |
| if filename is None: | |
| ax.set_title('3D vis') | |
| else: | |
| ax.set_title(filename) | |
| ax.set_xlabel('X Label') | |
| ax.set_ylabel('Z Label') | |
| ax.set_zlabel('Y Label') | |
| ax.legend() | |
| plt.show() | |
| cv2.waitKey(0) | |
| def save_obj(v, f, file_name='output.obj'): | |
| obj_file = open(file_name, 'w') | |
| for i in range(len(v)): | |
| obj_file.write('v ' + str(v[i][0]) + ' ' + str(v[i][1]) + ' ' + str(v[i][2]) + '\n') | |
| for i in range(len(f)): | |
| obj_file.write('f ' + str(f[i][0]+1) + '/' + str(f[i][0]+1) + ' ' + str(f[i][1]+1) + '/' + str(f[i][1]+1) + ' ' + str(f[i][2]+1) + '/' + str(f[i][2]+1) + '\n') | |
| obj_file.close() | |
| def perspective_projection(vertices, cam_param): | |
| # vertices: [N, 3] | |
| # cam_param: [3] | |
| fx, fy= cam_param['focal'] | |
| cx, cy = cam_param['princpt'] | |
| vertices[:, 0] = vertices[:, 0] * fx / vertices[:, 2] + cx | |
| vertices[:, 1] = vertices[:, 1] * fy / vertices[:, 2] + cy | |
| return vertices | |
| def render_mesh(img, mesh, face, cam_param, mesh_as_vertices=False): | |
| if mesh_as_vertices: | |
| # to run on cluster where headless pyrender is not supported for A100/V100 | |
| vertices_2d = perspective_projection(mesh, cam_param) | |
| img = vis_keypoints(img, vertices_2d, alpha=0.8, radius=2, color=(0, 0, 255)) | |
| else: | |
| # mesh | |
| mesh = trimesh.Trimesh(mesh, face) | |
| rot = trimesh.transformations.rotation_matrix( | |
| np.radians(180), [1, 0, 0]) | |
| mesh.apply_transform(rot) | |
| material = pyrender.MetallicRoughnessMaterial(metallicFactor=0.0, alphaMode='OPAQUE', baseColorFactor=(1.0, 1.0, 0.9, 1.0)) | |
| mesh = pyrender.Mesh.from_trimesh(mesh, material=material, smooth=False) | |
| scene = pyrender.Scene(ambient_light=(0.3, 0.3, 0.3)) | |
| scene.add(mesh, 'mesh') | |
| focal, princpt = cam_param['focal'], cam_param['princpt'] | |
| camera = pyrender.IntrinsicsCamera(fx=focal[0], fy=focal[1], cx=princpt[0], cy=princpt[1]) | |
| scene.add(camera) | |
| # renderer | |
| renderer = pyrender.OffscreenRenderer(viewport_width=img.shape[1], viewport_height=img.shape[0], point_size=1.0) | |
| # light | |
| light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=0.8) | |
| light_pose = np.eye(4) | |
| light_pose[:3, 3] = np.array([0, -1, 1]) | |
| scene.add(light, pose=light_pose) | |
| light_pose[:3, 3] = np.array([0, 1, 1]) | |
| scene.add(light, pose=light_pose) | |
| light_pose[:3, 3] = np.array([1, 1, 2]) | |
| scene.add(light, pose=light_pose) | |
| # render | |
| rgb, depth = renderer.render(scene, flags=pyrender.RenderFlags.RGBA) | |
| rgb = rgb[:,:,:3].astype(np.float32) | |
| valid_mask = (depth > 0)[:,:,None] | |
| # save to image | |
| img = rgb * valid_mask + img * (1-valid_mask) | |
| return img | |