def visualize_crop(i):
example = dataset.get_example(i)
rgb_joint_zyx = example["rgb_joint"]
depth_joint_zyx = example["depth_joint"]
rgb = chainercv.utils.read_image(example["rgb_path"])
depth = dataset.read_depth(example["depth_path"])
depth_cropped, depth_vu_cropped, depth_camera_cropped, depth_crop_param = crop(
depth, depth_joint_zyx, dataset.depth_camera, return_param=True)
rgb_cropped, rgb_vu_cropped, rgb_camera_cropped, rgb_crop_param = crop(
rgb, rgb_joint_zyx, dataset.rgb_camera, return_param=True)
fig = plt.figure(figsize=(8, 8))
ax1 = fig.add_subplot(221)
ax2 = fig.add_subplot(222)
ax3 = fig.add_subplot(223, projection="3d")
ax4 = fig.add_subplot(224, projection="3d")
vis_image(depth_cropped, ax1)
vis_pose(depth_vu_cropped,
EDGES,
point_color=POINT_COLOR,
edge_color=EDGE_COLOR,
ax=ax1)
vis_image(rgb_cropped, ax2)
vis_pose(rgb_vu_cropped,
EDGES,
point_color=POINT_COLOR,
edge_color=EDGE_COLOR,
ax=ax2)
# plot 3D
# pull back depth map
uvd = convert_depth_to_uvd(depth_cropped)
u, v, d = uvd[:, ::10, ::10]
u = u.reshape(-1, 1)
v = v.reshape(-1, 1)
z = d.reshape(-1, 1)
vu = np.concatenate([v, u], axis=1)
zyx = depth_camera_cropped.vu2zyx(vu, z)
vis_point(zyx, ax=ax3)
zyx_com = depth_crop_param["zyx_com"]
vis_pose(depth_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax3)
vis_pose(rgb_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax4)
for ax in [ax3, ax4]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
def visualize_resize_contain(i):
example = dataset.get_example(i)
rgb_joint_zyx = example["rgb_joint"]
depth_joint_zyx = example["depth_joint"]
rgb = chainercv.utils.read_image(example["rgb_path"])
depth = dataset.read_depth(example["depth_path"])
depth_resized, depth_vu_resized, depth_camera_resized = resize_contain(
depth, depth_joint_zyx, dataset.depth_camera, size=(crop2dH, crop2dW))
rgb_resized, rgb_vu_resized, rgb_camera_resized = resize_contain(
rgb, rgb_joint_zyx, dataset.rgb_camera, size=(crop2dH, crop2dW))
fig = plt.figure(figsize=(8, 8))
ax1 = fig.add_subplot(221)
ax2 = fig.add_subplot(222)
ax3 = fig.add_subplot(223, projection="3d")
ax4 = fig.add_subplot(224, projection="3d")
vis_image(depth_resized, ax1)
vis_pose(depth_vu_resized,
EDGES,
point_color=POINT_COLOR,
edge_color=EDGE_COLOR,
ax=ax1)
vis_image(rgb_resized, ax2)
vis_pose(rgb_vu_resized,
EDGES,
point_color=POINT_COLOR,
edge_color=EDGE_COLOR,
ax=ax2)
# plot 3D
# pull back depth map
uvd = convert_depth_to_uvd(depth_resized)
u, v, d = uvd[:, ::10, ::10]
u = u.reshape(-1, 1)
v = v.reshape(-1, 1)
z = d.reshape(-1, 1)
uv = np.concatenate([u, v], axis=1)
xyz = depth_camera_resized.uv2xyz(uv, z)
ax3.scatter(*xyz.transpose(), alpha=0.4)
vis_pose(depth_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax3)
vis_pose(rgb_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax4)
for ax in [ax3, ax4]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
def visualize_flip(idx, y_flip=False, x_flip=False):
example = dataset.get_example(idx)
rgb_joint_zyx = example["rgb_joint"]
depth_joint_zyx = example["depth_joint"]
rgb = chainercv.utils.read_image(example["rgb_path"])
depth = dataset.read_depth(example["depth_path"])
rgb_vu = dataset.rgb_camera.zyx2vu(rgb_joint_zyx)
depth_vu = dataset.depth_camera.zyx2vu(depth_joint_zyx)
rgb_vu = np.expand_dims(rgb_vu, axis=0)
depth_vu = np.expand_dims(depth_vu, axis=0)
depth_flipped, depth_joint_zyx_flipped, depth_vu_flipped = flip(
depth,
depth_joint_zyx,
depth_vu,
dataset.depth_camera,
x_flip=x_flip,
y_flip=y_flip,
)
fig = plt.figure(figsize=(8, 8))
ax1 = fig.add_subplot(221)
ax2 = fig.add_subplot(222)
ax3 = fig.add_subplot(223, projection="3d")
ax4 = fig.add_subplot(224, projection="3d")
vis_pose(depth_vu,
EDGES,
img=depth,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax1)
debug_vu = np.expand_dims(
dataset.depth_camera.zyx2vu(depth_joint_zyx_flipped), axis=0)
vis_pose(debug_vu,
EDGES,
img=depth_flipped,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax2)
# plot 3D
vis_pose(depth_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax3)
vis_pose(depth_joint_zyx_flipped,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax4)
for ax in [ax3, ax4]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
def predict_ppn(model, dataset, hand_param):
fig = plt.figure(figsize=(10, 5))
ax = fig.add_subplot(121)
ax3 = fig.add_subplot(122, projection="3d")
logger.info("> use ppn")
idx = np.random.randint(0, len(dataset))
example = dataset.get_example(idx)
image = example["rgb"]
gt_kp_zyx = example["rgb_joint"]
gt_kp_vu = example["rgb_camera"].zyx2vu(example["rgb_joint"])
gt_kp_zyx = gt_kp_zyx - gt_kp_zyx[ROOT_IDX]
scaleH = hand_param["inH"] / model.outsize[0]
scaleW = hand_param["inW"] / model.outsize[1]
kp_vu, kp_zyx = get_result_ppn(model, dataset, hand_param, idx)
color_map = hand_param["color_map"]
keypoint_names = hand_param["keypoint_names"]
edges = hand_param["edges"]
point_color = [color_map[k] for k in keypoint_names]
edge_color = [color_map[s, t] for s, t in edges]
kp_zyx = kp_zyx
vis_pose(kp_vu, edges, image, point_color, edge_color, ax=ax)
vis_pose(
kp_zyx,
edges,
point_color=point_color,
edge_color=edge_color,
ax=ax3,
)
vis_pose(gt_kp_vu,
edges,
image,
point_color,
edge_color=[(0, 0, 0) for e in edges],
ax=ax)
vis_pose(
gt_kp_zyx,
edges,
point_color=point_color,
edge_color=[(0, 0, 0) for _ in edges],
ax=ax3,
)
for i in range(model.outsize[0]):
ax.plot([0, hand_param["inH"]], [i * scaleW, i * scaleW], color='w')
for i in range(model.outsize[1]):
ax.plot([i * scaleH, i * scaleH], [0, hand_param["inW"]], color='w')
ax3.set_xlabel("x")
ax3.set_ylabel("y")
ax3.set_zlabel("z")
ax3.view_init(-80, -90)
plt.show()
def predict_heatmap(model, dataset, hand_param):
from model_rhd import variable_rodrigues
fig = plt.figure(figsize=(10, 5))
ax = fig.add_subplot(121)
ax3 = fig.add_subplot(122, projection="3d")
keypoint_names = hand_param["keypoint_names"]
edges = hand_param["edges"]
color_map = hand_param["color_map"]
idx = np.random.randint(0, len(dataset))
example = dataset.get_example(idx)
inp = example["rgb"] / 255
with chainer.using_config('train', False):
heatmaps = model.pose.forward(np.expand_dims(inp, axis=0))
# pred_canonical_joint = model.prior(heatmaps).reshape(-1, 3)
# pred_R = variable_rodrigues(model.rot(heatmaps))
heatmaps = heatmaps[-1].array.squeeze()
# pred_canonical_joint = pred_canonical_joint.array
# pred_R = pred_R.array
pts2d = []
for i in range(len(heatmaps)):
hm = heatmaps[i]
y, x = np.unravel_index(np.argmax(hm), hm.shape)
pts2d.append([
hand_param["inH"] / hm.shape[0] * y,
hand_param["inW"] / hm.shape[1] * x
])
pts2d = np.array(pts2d)
point_color = [color_map[k] for k in keypoint_names]
edge_color = [color_map[(s, t)] for (s, t) in edges]
vis_pose(pts2d,
edges,
img=example["rgb"],
point_color=point_color,
edge_color=edge_color,
ax=ax)
# vis_pose(
# pred_canonical_joint, edges,
# point_color=point_color,
# edge_color=edge_color,
# ax=ax3
# )
plt.show()
def predict_ganerated(model, dataset, hand_param):
fig = plt.figure(figsize=(10, 5))
ax = fig.add_subplot(121)
ax3 = fig.add_subplot(122, projection="3d")
keypoint_names = hand_param["keypoint_names"]
edges = hand_param["edges"]
color_map = hand_param["color_map"]
idx = np.random.randint(0, len(dataset))
example = dataset.get_example(idx)
inp = example["rgb"] / 255
with chainer.using_config('train', False):
heatmaps = model.predict(np.expand_dims(inp, axis=0))
heatmaps = heatmaps[-1].array.squeeze()
pts2d = []
for i in range(len(heatmaps)):
hm = heatmaps[i]
logger.info(hm.shape)
y, x = np.unravel_index(np.argmax(hm), hm.shape)
print(y, x)
y = hand_param["inH"] / hm.shape[0] * y
x = hand_param["inW"] / hm.shape[1] * x
pts2d.append([y, x])
pts2d = np.array(pts2d)
point_color = [color_map[k] for k in keypoint_names]
edge_color = [color_map[(s, t)] for (s, t) in edges]
vis_pose(pts2d,
edges,
img=example["rgb"],
point_color=point_color,
edge_color=edge_color,
ax=ax)
# vis_pose(
# pred_canonical_joint, edges,
# point_color=point_color,
# edge_color=edge_color,
# ax=ax3
# )
plt.show()
def visualize_dataset(idx):
example = dataset.get_example(idx)
print(example.keys())
rgb_joint_zyx = example["rgb_joint"]
depth_joint_zyx = example["depth_joint"]
rgb = chainercv.utils.read_image(example["rgb_path"])
depth = dataset.read_depth(example["depth_path"])
rgb_vu = dataset.rgb_camera.zyx2vu(rgb_joint_zyx)
depth_vu = dataset.depth_camera.zyx2vu(depth_joint_zyx)
fig = plt.figure(figsize=(8, 8))
ax1 = fig.add_subplot(221)
ax2 = fig.add_subplot(222)
ax3 = fig.add_subplot(223, projection="3d")
ax4 = fig.add_subplot(224, projection="3d")
vis_pose(depth_vu,
EDGES,
img=depth,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax1)
vis_pose(rgb_vu,
EDGES,
img=rgb,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax2)
vis_pose(depth_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax3)
vis_pose(rgb_joint_zyx,
indices=EDGES,
edge_color=EDGE_COLOR,
point_color=POINT_COLOR,
ax=ax4)
for ax in [ax3, ax4]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
def predict_sample(model, dataset, hand_param):
transformed_dataset = TransformDataset(dataset, model.encode)
idx = np.random.randint(0, len(transformed_dataset))
image, gt_2dj, gt_3dj = transformed_dataset.get_example(idx)
example = dataset.get_example(idx)
vis_vu = gt_2dj * np.array([[hand_param["inH"], hand_param["inW"]]])
pred_j = model.predict(np.array([image], dtype=np.float32))
with chainer.using_config('train', False):
loss = model.forward(
np.expand_dims(image, axis=0),
np.expand_dims(gt_3dj, axis=0),
np.expand_dims(gt_2dj, axis=0),
)
pred_j = pred_j.array.reshape(hand_param["n_joints"], -1)
dim = pred_j.shape[-1]
if dim == 5:
pred_3d = pred_j[:, :3]
pred_2d = pred_j[:, 3:]
pred_2d = pred_2d * np.array([[hand_param["inH"], hand_param["inW"]]])
else:
pred_3d = pred_j
logger.info("> {}".format(pred_j))
logger.info("> loss {}".format(loss))
logger.info("> visualize pred_joint")
plot_direction = "horizontal"
if plot_direction == "horizontal":
space = (1, 2)
figsize = (10, 5)
else:
space = (2, 1)
figsize = (5, 10)
z_half = hand_param["cube"][0] / 2
pred_3d = z_half * pred_3d
gt_3dj = example["rgb_joint"] if hand_param["use_rgb"] else example[
"depth_joint"]
gt_3dj = gt_3dj - calc_com(gt_3dj)
distance = np.sqrt(np.sum(np.square(pred_3d - gt_3dj), axis=1)).mean()
logger.info("> mean distance {:0.2f}".format(distance))
fig = plt.figure(figsize=figsize)
fig.suptitle("mean distance = {:0.2f}".format(distance))
ax1 = fig.add_subplot(*space, 1)
ax1.set_title("result 2D")
ax2 = fig.add_subplot(*space, 2, projection="3d")
ax2.set_title("result 3D")
color_map = hand_param["color_map"]
keypoint_names = hand_param["keypoint_names"]
edges = hand_param["edges"]
color = [color_map[k] for k in keypoint_names]
pred_color = [color_map[s, t] for s, t in edges]
gt2_color = [[255, 255, 255] for k in keypoint_names]
gt3_color = [[50, 50, 50] for k in keypoint_names]
if hand_param["use_rgb"]:
image = denormalize_rgb(image)
chainercv.visualizations.vis_image(image, ax=ax1)
else:
image = image.squeeze()
ax1.imshow(image, cmap="gray")
vis_pose(vis_vu, edges, point_color=color, edge_color=gt2_color, ax=ax1)
vis_pose(pred_2d, edges, point_color=color, edge_color=pred_color, ax=ax1)
vis_pose(gt_3dj, edges, point_color=color, edge_color=gt3_color, ax=ax2)
if dim != 2:
vis_pose(pred_3d,
edges,
point_color=color,
edge_color=pred_color,
ax=ax2)
# set layout
for ax in [ax2]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
# show
plt.show()
def main():
args = parse_args()
logging.basicConfig(level=logging.INFO)
config = configparser.ConfigParser()
path = os.path.expanduser(
os.path.join(args.trained, "result", "config.ini"))
logger.info("read {}".format(path))
config.read(path, 'UTF-8')
logger.info("setup devices")
chainer.global_config.autotune = True
chainer.config.cudnn_fast_batch_normalization = True
dataset_type = config["dataset"]["type"]
use_rgb = config.getboolean("dataset", "use_rgb")
use_depth = config.getboolean("dataset", "use_depth")
assert use_rgb
assert use_rgb ^ use_depth, "XOR(use_rgb, use_depth) must be True"
hand_param = select_dataset(config, return_data=["hand_param"])
model_path = os.path.expanduser(
os.path.join(args.trained, "result", "bestmodel.npz"))
logger.info("> restore model")
model = select_model(config, hand_param)
logger.info("> model.device = {}".format(model.device))
logger.info("> restore models")
chainer.serializers.load_npz(model_path, model)
fig = plt.figure(figsize=(8, 8))
ax = fig.add_subplot(111)
color_map = hand_param["color_map"]
color = [color_map[k] for k in hand_param["keypoint_names"]]
edge_color = [color_map[s, t] for s, t in hand_param["edges"]]
pred_color = [[255, 255, 255] for k in hand_param["keypoint_names"]]
cap = cv2.VideoCapture(args.camera)
if cap.isOpened() is False:
print('Error opening video stream or file')
exit(1)
try:
while cap.isOpened():
# Wait for a coherent pair of frames: depth and color
ret_val, image = cap.read()
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
image = image.transpose(2, 0, 1).astype(np.float32)
_, cH, cW = image.shape
sz = min(cH, cW)
image = chainercv.transforms.center_crop(image, (sz, sz))
image = chainercv.transforms.resize(
image, (hand_param["inH"], hand_param["inW"]))
with chainer.using_config('train', False):
heatmaps = model.pose.forward(
np.expand_dims(normalize_rgb(image), axis=0))
heatmaps = heatmaps[-1].array.squeeze()
pts2d = []
for i in range(len(heatmaps)):
hm = heatmaps[i]
y, x = np.unravel_index(np.argmax(hm), hm.shape)
pts2d.append([8 * y, 8 * x])
joint2d = np.array(pts2d)
color_map = hand_param["color_map"]
keypoint_names = hand_param["keypoint_names"]
edges = hand_param["edges"]
color = [color_map[k] for k in keypoint_names]
edge_color = [color_map[s, t] for s, t in edges]
vis_pose(np.array(joint2d), edges, image, color, edge_color, ax=ax)
fig.canvas.draw()
buf = np.fromstring(fig.canvas.tostring_rgb(), dtype=np.uint8)
buf = buf.reshape(fig.canvas.get_width_height()[::-1] + (3, ))
buf = cv2.cvtColor(buf, cv2.COLOR_RGB2BGR)
# buf = cv2.resize(buf, (dW, dH))
ax.clear()
images = np.hstack((buf, ))
# Show images
cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
cv2.imshow('RealSense', images)
if cv2.waitKey(1) == 27:
break
cv2.waitKey(1)
finally:
print("Exit")
def main():
args = parse_args()
logging.basicConfig(level=logging.INFO)
config = configparser.ConfigParser()
path = os.path.expanduser(os.path.join(args.trained, "src", "config.ini"))
logger.info("read {}".format(path))
config.read(path, 'UTF-8')
logger.info("setup devices")
chainer.global_config.autotune = True
chainer.config.cudnn_fast_batch_normalization = True
dataset_type = config["dataset"]["type"]
use_rgb = config.getboolean("dataset", "use_rgb")
use_depth = config.getboolean("dataset", "use_depth")
assert use_rgb
assert use_rgb ^ use_depth, "XOR(use_rgb, use_depth) must be True"
hand_param = select_dataset(config, return_data=["hand_param"])
model_path = os.path.expanduser(os.path.join(args.trained,
"bestmodel.npz"))
logger.info("> restore model")
model = create_model(config, hand_param)
logger.info("> model.device = {}".format(model.device))
chainer.serializers.load_npz(model_path, model)
plot_direction = "horizontal"
if plot_direction == "horizontal":
space = (1, 2)
figsize = (10, 5)
else:
space = (2, 1)
figsize = (5, 10)
fig = plt.figure(figsize=figsize)
ax1 = fig.add_subplot(*space, 1)
ax3 = fig.add_subplot(*space, 2, projection="3d")
color_map = hand_param["color_map"]
color = [color_map[k] for k in hand_param["keypoint_names"]]
edge_color = [color_map[s, t] for s, t in hand_param["edges"]]
pred_color = [[255, 255, 255] for k in hand_param["keypoint_names"]]
cap = cv2.VideoCapture(args.camera)
if cap.isOpened() is False:
print('Error opening video stream or file')
exit(1)
try:
while cap.isOpened():
# Wait for a coherent pair of frames: depth and color
ret_val, image = cap.read()
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
image = image.transpose(2, 0, 1).astype(np.float32)
_, cH, cW = image.shape
sz = min(cH, cW)
image = chainercv.transforms.center_crop(image, (sz, sz))
image = chainercv.transforms.resize(
image, (hand_param["inH"], hand_param["inW"]))
pred_j = model.predict(np.expand_dims(normalize_rgb(image),
axis=0))
pred_j = pred_j.array.reshape(hand_param["n_joints"], -1)
dim = pred_j.shape[-1]
if dim == 5:
pred_3d = pred_j[:, :3]
pred_2d = pred_j[:, 3:]
pred_2d = pred_2d * np.array(
[[hand_param["inH"], hand_param["inW"]]])
else:
pred_3d = pred_j
vis_pose(pred_2d,
hand_param["edges"],
img=image,
point_color=color,
edge_color=pred_color,
ax=ax1)
if dim != 2:
vis_pose(pred_3d,
hand_param["edges"],
point_color=color,
edge_color=edge_color,
ax=ax3)
# set layout
for ax in [ax3]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
fig.canvas.draw()
buf = np.fromstring(fig.canvas.tostring_rgb(), dtype=np.uint8)
buf = buf.reshape(fig.canvas.get_width_height()[::-1] + (3, ))
buf = cv2.cvtColor(buf, cv2.COLOR_RGB2BGR)
# buf = cv2.resize(buf, (dW, dH))
ax1.clear()
ax3.clear()
images = np.hstack((buf, ))
# Show images
cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
cv2.imshow('RealSense', images)
if cv2.waitKey(1) == 27:
break
cv2.waitKey(1)
finally:
print("Exit")
def main():
args = parse_args()
logging.basicConfig(level=logging.INFO)
config = configparser.ConfigParser()
path = os.path.expanduser(
os.path.join(args.trained, "result", "config.ini"))
logger.info("read {}".format(path))
config.read(path, 'UTF-8')
logger.info("setup devices")
chainer.global_config.autotune = True
chainer.config.cudnn_fast_batch_normalization = True
dataset_type = config.get("dataset", "type")
use_rgb = config.getboolean("dataset", "use_rgb")
use_depth = config.getboolean("dataset", "use_depth")
assert use_rgb ^ use_depth, "XOR(use_rgb, use_depth) must be True"
cube = parse_cube(config[dataset_type]["cube"], style="DHW")
hand_param = select_dataset(config, return_data=["hand_param"])
model_path = os.path.expanduser(
os.path.join(args.trained, "result", "bestmodel.npz"))
logger.info("> restore model")
model = select_model(config, hand_param)
print(model)
logger.info("> model.device = {}".format(model.device))
chainer.serializers.load_npz(model_path, model)
plot_direction = "horizontal"
if plot_direction == "horizontal":
space = (1, 3)
figsize = (15, 5)
else:
space = (3, 1)
figsize = (5, 15)
fig = plt.figure(figsize=figsize)
ax1 = fig.add_subplot(*space, 1)
ax2 = fig.add_subplot(*space, 2)
ax3 = fig.add_subplot(*space, 3, projection="3d")
color_map = hand_param["color_map"]
color = [color_map[k] for k in hand_param["keypoint_names"]]
edge_color = [color_map[s, t] for s, t in hand_param["edges"]]
pred_color = [[255, 255, 255] for k in hand_param["keypoint_names"]]
try:
while True:
# Wait for a coherent pair of frames: depth and color
frames = pipeline.wait_for_frames()
depth_frame = frames.get_depth_frame()
#color_frame = frames.get_color_frame()
if not depth_frame:
continue
# if not color_frame:
# continue
# Convert images to numpy arrays
depth_image = np.asanyarray(depth_frame.get_data())
#color_image = np.asanyarray(color_frame.get_data())
logger.info("> depth_image {} {} {}".format(
depth_image.min(), depth_image.max(), depth_image.dtype))
dH, dW = depth_image.shape
#cH, cW, _ = color_image.shape
size = 448 # hard coded
dhslice = slice(dH // 2 - size // 2, dH // 2 - size // 2 + size)
dwslice = slice(dW // 2 - size // 2, dW // 2 - size // 2 + size)
depth_image = depth_image[dhslice, dwslice]
inp = chainercv.transforms.center_crop(
np.expand_dims(depth_image, axis=0),
(224, 224),
copy=True,
).astype(np.float32)
#inp = chainercv.transforms.resize(inp, (224, 224))
_, inpH, inpW = inp.shape
z_com = inp[0, inpH // 2, inpW // 2]
logger.info("> com size {} {}".format(z_com,
hand_param["cube"][0]))
inp = normalize_depth(
inp,
z_com=z_com,
z_size=hand_param["cube"][0],
)
logger.info("> normalized depth {} {} {}".format(
inp.min(), inp[0, inpH // 2, inpW // 2], inp.max()))
inp = chainercv.transforms.resize(
inp, (hand_param["inH"], hand_param["inW"]))
ax2.imshow(inp.squeeze(), cmap="gray", vmin=-1, vmax=1)
pred_j = model.predict(
np.expand_dims(inp, axis=0).astype(np.float32))
pred_j = pred_j.array.reshape(hand_param["n_joints"], -1)
dim = pred_j.shape[-1]
if dim == 5:
pred_3d = pred_j[:, :3]
pred_2d = pred_j[:, 3:]
pred_2d = pred_2d * np.array(
[[hand_param["inH"], hand_param["inW"]]])
else:
pred_3d = pred_j
ax1.imshow(np.asarray(depth_image), cmap="gray")
vis_pose(pred_2d,
hand_param["edges"],
point_color=color,
edge_color=pred_color,
ax=ax2)
if dim != 2:
vis_pose(pred_3d,
hand_param["edges"],
point_color=color,
edge_color=edge_color,
ax=ax3)
# set layout
for ax in [ax3]:
ax.set_xlabel("x")
ax.set_ylabel("y")
ax.set_zlabel("z")
ax.view_init(-65, -90)
ax2.set_xlim(0, hand_param["inW"])
ax2.set_ylim(0, hand_param["inH"])
ax2.invert_yaxis()
fig.canvas.draw()
buf = np.fromstring(fig.canvas.tostring_rgb(), dtype=np.uint8)
buf = buf.reshape(fig.canvas.get_width_height()[::-1] + (3, ))
buf = cv2.cvtColor(buf, cv2.COLOR_RGB2BGR)
# buf = cv2.resize(buf, (dW, dH))
ax1.clear()
ax2.clear()
ax3.clear()
# Apply colormap on depth image (image must be converted to 8-bit per pixel first)
# depth_colormap = cv2.applyColorMap(
# cv2.convertScaleAbs(depth_image, alpha=0.03),
# cv2.COLORMAP_JET
# )
# Stack both images horizontally
# images = np.hstack((color_image, depth_colormap))
# images = np.hstack((buf, depth_colormap))
images = np.hstack((buf, ))
# Show images
cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
cv2.imshow('RealSense', images)
if cv2.waitKey(1) == 27:
break
cv2.waitKey(1)
finally:
# Stop streaming
pipeline.stop()
