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| import torch | |
| from utils.quaternion import quaternion_to_cont6d, qrot, qinv | |
| def recover_root_rot_pos(data): | |
| rot_vel = data[..., 0] | |
| r_rot_ang = torch.zeros_like(rot_vel).to(data.device) | |
| '''Get Y-axis rotation from rotation velocity''' | |
| r_rot_ang[..., 1:] = rot_vel[..., :-1] | |
| r_rot_ang = torch.cumsum(r_rot_ang, dim=-1) | |
| r_rot_quat = torch.zeros(data.shape[:-1] + (4,)).to(data.device) | |
| r_rot_quat[..., 0] = torch.cos(r_rot_ang) | |
| r_rot_quat[..., 2] = torch.sin(r_rot_ang) | |
| r_pos = torch.zeros(data.shape[:-1] + (3,)).to(data.device) | |
| r_pos[..., 1:, [0, 2]] = data[..., :-1, 1:3] | |
| '''Add Y-axis rotation to root position''' | |
| r_pos = qrot(qinv(r_rot_quat), r_pos) | |
| r_pos = torch.cumsum(r_pos, dim=-2) | |
| r_pos[..., 1] = data[..., 3] | |
| return r_rot_quat, r_pos | |
| def recover_from_rot(data, joints_num, skeleton): | |
| r_rot_quat, r_pos = recover_root_rot_pos(data) | |
| r_rot_cont6d = quaternion_to_cont6d(r_rot_quat) | |
| start_indx = 1 + 2 + 1 + (joints_num - 1) * 3 | |
| end_indx = start_indx + (joints_num - 1) * 6 | |
| cont6d_params = data[..., start_indx:end_indx] | |
| # print(r_rot_cont6d.shape, cont6d_params.shape, r_pos.shape) | |
| cont6d_params = torch.cat([r_rot_cont6d, cont6d_params], dim=-1) | |
| cont6d_params = cont6d_params.view(-1, joints_num, 6) | |
| positions = skeleton.forward_kinematics_cont6d(cont6d_params, r_pos) | |
| return positions | |
| def recover_from_ric(data, joints_num): | |
| r_rot_quat, r_pos = recover_root_rot_pos(data) | |
| positions = data[..., 4:(joints_num - 1) * 3 + 4] | |
| positions = positions.view(positions.shape[:-1] + (-1, 3)) | |
| '''Add Y-axis rotation to local joints''' | |
| positions = qrot(qinv(r_rot_quat[..., None, :]).expand(positions.shape[:-1] + (4,)), positions) | |
| '''Add root XZ to joints''' | |
| positions[..., 0] += r_pos[..., 0:1] | |
| positions[..., 2] += r_pos[..., 2:3] | |
| '''Concate root and joints''' | |
| positions = torch.cat([r_pos.unsqueeze(-2), positions], dim=-2) | |
| return positions | |