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import cv2
import math
import numpy as np
from PIL import Image
def intrinsic_matrix_from_field_of_view(imshape, fov_degrees:float =55 ): # nlf default fov_degrees 55
imshape = np.array(imshape)
fov_radians = fov_degrees * np.array(np.pi / 180)
larger_side = np.max(imshape)
focal_length = larger_side / (np.tan(fov_radians / 2) * 2)
# intrinsic_matrix 3*3
return np.array([
[focal_length, 0, imshape[1] / 2],
[0, focal_length, imshape[0] / 2],
[0, 0, 1],
])
def p3d_to_p2d(point_3d, height, width): # point3d n*1024*3
camera_matrix = intrinsic_matrix_from_field_of_view((height,width))
camera_matrix = np.expand_dims(camera_matrix, axis=0)
camera_matrix = np.expand_dims(camera_matrix, axis=0) # 1*1*3*3
point_3d = np.expand_dims(point_3d,axis=-1) # n*1024*3*1
point_2d = (camera_matrix@point_3d).squeeze(-1)
point_2d[:,:,:2] = point_2d[:,:,:2]/point_2d[:,:,2:3]
return point_2d[:,:,:] # n*1024*2
def get_pose_images(smpl_data, offset):
pose_images = []
for data in smpl_data:
if isinstance(data, np.ndarray):
joints3d = data
else:
joints3d = data.numpy()
canvas = np.zeros(shape=(offset[0], offset[1], 3), dtype=np.uint8)
joints3d = p3d_to_p2d(joints3d, offset[0], offset[1])
canvas = draw_3d_points(canvas, joints3d[0], stickwidth=int(offset[1]/350))
pose_images.append(Image.fromarray(canvas))
return pose_images
def draw_3d_points(canvas, points, stickwidth=2, r=2, draw_line=True):
colors = [
[255, 0, 0], # 0
[0, 255, 0], # 1
[0, 0, 255], # 2
[255, 0, 255], # 3
[255, 255, 0], # 4
[85, 255, 0], # 5
[0, 75, 255], # 6
[0, 255, 85], # 7
[0, 255, 170], # 8
[170, 0, 255], # 9
[85, 0, 255], # 10
[0, 85, 255], # 11
[0, 255, 255], # 12
[85, 0, 255], # 13
[170, 0, 255], # 14
[255, 0, 255], # 15
[255, 0, 170], # 16
[255, 0, 85], # 17
]
connetions = [
[15,12],[12, 16],[16, 18],[18, 20],[20, 22],
[12,17],[17,19],[19,21],
[21,23],[12,9],[9,6],
[6,3],[3,0],[0,1],
[1,4],[4,7],[7,10],[0,2],[2,5],[5,8],[8,11]
]
connection_colors = [
[255, 0, 0], # 0
[0, 255, 0], # 1
[0, 0, 255], # 2
[255, 255, 0], # 3
[255, 0, 255], # 4
[0, 255, 0], # 5
[0, 85, 255], # 6
[255, 175, 0], # 7
[0, 0, 255], # 8
[255, 85, 0], # 9
[0, 255, 85], # 10
[255, 0, 255], # 11
[255, 0, 0], # 12
[0, 175, 255], # 13
[255, 255, 0], # 14
[0, 0, 255], # 15
[0, 255, 0], # 16
]
# draw point
for i in range(len(points)):
x,y = points[i][0:2]
x,y = int(x),int(y)
if i==13 or i == 14:
continue
cv2.circle(canvas, (x, y), r, colors[i%17], thickness=-1)
# draw line
if draw_line:
for i in range(len(connetions)):
point1_idx,point2_idx = connetions[i][0:2]
point1 = points[point1_idx]
point2 = points[point2_idx]
Y = [point2[0],point1[0]]
X = [point2[1],point1[1]]
mX = int(np.mean(X))
mY = int(np.mean(Y))
length = ((X[0] - X[1]) ** 2 + (Y[0] - Y[1]) ** 2) ** 0.5
angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
polygon = cv2.ellipse2Poly((mY, mX), (int(length / 2), stickwidth), int(angle), 0, 360, 1)
cv2.fillConvexPoly(canvas, polygon, connection_colors[i%17])
return canvas
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