def R(self, upright=False): '''Yields the orientation matrix for the view, R.''' return Calibrate.composeR([self.cameraPan,self.cameraTilt,0 if (self.lockedUpright and upright) else self.cameraRoll])
def generate_skeleton_lods(skelDict, Gs=None):
# TODO: First iteration: Improve code and optimise
# TODO: Contains hard coded values (generalise.. actually probably better to use a callback.. lodgenerator visitor)
from GCore import Calibrate
vs, tris, orientation, names = [], [], [], []
if 'jointWidth' not in skelDict: return
jointWidth = skelDict['jointWidth']
jointHeightMultiplier = 1.3
if Gs is None: Gs = skelDict['Gs']
Bs = skelDict['Bs']
lodVerts = skelDict['verts']
lodTris = skelDict['tris']
for jointIdx, jointName in enumerate(skelDict['jointNames']):
if 'Free' in jointName: continue
jointGs = Gs[jointIdx]
jointBs = Bs[jointIdx]
whichAxis = np.where(jointBs == 0)[0]
R, T, _ = Calibrate.decomposeRT(jointGs, 1, False)
jointMeshScale = jointBs.copy()
if jointName == 'root': jointMeshScale = jointMeshScale * 1.4
elif 'Spine' in jointName: jointMeshScale = jointMeshScale * 1.2
jointMeshScale[whichAxis] = jointWidth[jointName]
if jointName == 'VSS_Chest':
jointMeshScale[0] = jointWidth[jointName][0]
jointMeshScale[1] = 120.
jointMeshScale[2] = jointWidth[jointName][1]
axisToggle = np.array([1, 1, 1], dtype=np.float32)
axisToggle[whichAxis] = 0.0
translations = jointMeshScale / 2
if jointName == 'VSS_Chest': translations[0:1] = 0
offset = translations * axisToggle
boneVerts = lodVerts.copy()
for vi, v in enumerate(boneVerts):
v = v * jointMeshScale
if jointName in ['root']:
v = v - offset
v = np.dot(
Calibrate.composeR(
np.array([0, 0, 90], dtype=np.float32)), v.T)
else:
v = v + offset
v = np.dot(jointGs, np.hstack((v, 1)).T)
boneVerts[vi] = v[:3]
tris.append(lodTris + len(vs) * 8)
vs.append(boneVerts)
boneLength = jointBs[np.where(jointBs != 0)[0]]
orientation.append(
0 if boneLength.any() and boneLength[0] < 0 else 1)
names.append(jointName)
v = np.concatenate((vs))
t = np.concatenate((tris)).tolist()
lodAttrs = {
'triangles': v[t],
'verts': v,
'tris': t,
'faces': tris,
'names': names
}
skelDict['visibilityLod'] = lodAttrs
return v, t, vs, tris, orientation, names
def main():
global State, mats, movieFilenames, primitives
global movies, primitives2D, deinterlacing, detectingWands
import IO
import sys, os
deinterlacing = False
detectingWands = False
detectingTiara = False
dot_detections = None
detections_filename = None
frame_offsets = None
firstFrame, lastFrame = 0, 5000
drawDotSize = 4.0
fovX, (ox,
oy), pan_tilt_roll, tx_ty_tz, distortion = 50., (0,
0), (0, 0,
0), (0, 1250,
0), (0,
0)
mats = []
grip_directory = os.environ['GRIP_DATA']
if 0:
fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 37.9, (0, 0), (
-66.0, 3.5, -0.2), (4850, 1330, 3280), (0, 0) # roughed in
K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT(
Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0)
mat0 = [
K[:3, :3], RT[:3, :4],
np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]),
[1920, 1080]
]
fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 55.8, (0, 0), (
-103.6, 3.5, -0.3), (2980, 1380, -2180), (0, 0) # roughed in
K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT(
Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0)
mat1 = [
K[:3, :3], RT[:3, :4],
np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]),
[1920, 1080]
]
fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 49.3, (0, 0), (
27.9, 4.0, -0.2), (-5340, 1150, 5030), (0, 0) # roughed in
K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT(
Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0)
mat2 = [
K[:3, :3], RT[:3, :4],
np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]),
[1920, 1080]
]
fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 50.6, (0, 0), (
-156.6, 4.9, 0.2), (-105, 1400, -4430), (0, 0) # roughed in
K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT(
Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0)
mat3 = [
K[:3, :3], RT[:3, :4],
np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]),
[1920, 1080]
]
mats = [mat0, mat1, mat2, mat3]
xcp_filename = '154535_Cal168_Floor_Final.xcp'
directory = os.path.join(grip_directory, 'REFRAME')
movieFilenames = [
'001E0827_01.MP4', '001F0813_01.MP4', '001G0922_01.MP4',
'001H0191_01.MP4'
]
#mats,movieFilenames = mats[:1],movieFilenames[:1] # restrict to single-view
frame_offsets = [119 + 160, 260, 339, 161]
small_blur, large_blur = 1, 25
min_dot_size = 1.0
max_dot_size = 20.0
circularity_threshold = 3.0
threshold_bright, threshold_dark_inv = 250, 250 #135,135
elif 0:
xcp_filename = '201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_01.xcp'
detections_filename = 'detections.dat'
detectingTiara = True
pan_tilt_roll = (0, 0, 90)
distortion = (0.291979, 0.228389)
directory = os.path.join(os.environ['GRIP_DATA'], 'ted')
movieFilenames = [
'201401211653-4Pico-32_Quad_Dialogue_01_%d.mpg' % xi
for xi in range(1)
]
firstFrame = 511
small_blur, large_blur = 1, 20
min_dot_size = 1.0
max_dot_size = 16.0
circularity_threshold = 3.0
threshold_bright, threshold_dark_inv = 0, 170
elif 1:
xcp_filename = '50_Grip_RoomCont_AA_02.xcp'
detections_filename = 'detections.dat'
pan_tilt_roll = (0, 0, 0)
distortion = (0.291979, 0.228389)
directory = os.path.join(os.environ['GRIP_DATA'], '151110')
movieFilenames = ['50_Grip_RoomCont_AA_02.v2.mov']
firstFrame = 0
small_blur, large_blur = 1, 20
min_dot_size = 1.0
max_dot_size = 16.0
circularity_threshold = 3.0
threshold_bright, threshold_dark_inv = 170, 170
attrs = dict([(v, eval(v)) for v in [
'small_blur', 'large_blur', 'threshold_bright', 'threshold_dark_inv',
'circularity_threshold', 'min_dot_size', 'max_dot_size'
]])
primitives2D = QGLViewer.makePrimitives2D(([], []), ([], []))
primitives = []
if len(movieFilenames) is 1:
# TODO: time_base, timecode
K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT(
Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0)
mats = [[
K[:3, :3], RT[:3, :4],
np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]),
[1920, 1080]
]]
camera_ids = ['video']
movies = [
MovieReader.open_file(os.path.join(directory, movieFilenames[0]),
audio=False)
]
else: # hard coded cameras
if xcp_filename.endswith('.xcp'):
if detectingTiara: # gruffalo
c3d_filename = os.path.join(
directory,
'201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_02.c3d')
from IO import C3D
c3d_dict = C3D.read(c3d_filename)
global c3d_frames
c3d_frames, c3d_fps, c3d_labels = c3d_dict['frames'], c3d_dict[
'fps'], c3d_dict['labels']
c3d_subject = '' #'TedFace'
which = np.where(
[s.startswith(c3d_subject) for s in c3d_labels])[0]
c3d_frames = c3d_frames[:, which, :]
c3d_labels = [c3d_labels[i] for i in which]
print len(c3d_frames)
xcp, xcp_data = ViconReader.loadXCP(
os.path.join(directory, xcp_filename))
mats.extend(xcp)
elif xcp_filename.endswith('.cal'):
from IO import OptitrackReader
xcp, xcp_data = OptitrackReader.load_CAL(
os.path.join(directory, xcp_filename))
mats = xcp
print 'mats', len(mats), len(movieFilenames)
assert (len(mats) == len(movieFilenames))
camera_ids = []
movies = []
for ci, mf in enumerate(movieFilenames):
fo = 0 if frame_offsets is None else frame_offsets[ci]
movies.append(
MovieReader.open_file(os.path.join(directory, mf),
audio=False,
frame_offset=fo))
camera_ids = ['cam_%d' % ci for ci in xrange(len(mats))]
print len(mats), len(movies), len(camera_ids)
primitives.append(GLPoints3D([]))
primitives.append(GLPoints3D([]))
primitives.append(GLPoints3D([]))
primitives[0].colour = (0, 1, 1, 0.5) # back-projected "cyan" points
primitives[1].colour = (0, 0, 1, 0.5)
primitives[1].pointSize = 5
primitives[2].colour = (1, 0, 0, 0.99)
if len(movieFilenames) != 1 and detections_filename != None:
try:
dot_detections = IO.load(detections_filename)[1]
except:
numFrames = len(c3d_frames) # TODO HACK HACK
dot_detections = movies_to_detections(movies, range(numFrames),
deinterlacing, attrs)
IO.save(detections_filename, dot_detections)
if detectingTiara:
x3ds_seq = {}
for fi in dot_detections.keys():
frame = c3d_frames[(fi - 55) % len(c3d_frames)]
which = np.array(np.where(frame[:, 3] == 0)[0], dtype=np.int32)
x3ds_seq[fi] = np.concatenate((VICON_tiara_x3ds + np.array([150,-100,0],dtype=np.float32),frame[which,:3])), \
np.concatenate((np.arange(len(VICON_tiara_x3ds),dtype=np.int32),which+len(VICON_tiara_x3ds)))
dot_labels = get_labels(dot_detections.keys(),
x3ds_seq,
dot_detections,
mats,
x2d_threshold=0.05)
calibration_fi = 546 - 2 - 6
RT = tighten_calibration(x3ds_seq[calibration_fi],
dot_labels[calibration_fi], mats)
for v in c3d_frames:
v[:, :3] = np.dot(v[:, :3], RT[:3, :3].T) + RT[:, 3]
if True:
dot_detections = IO.load(detections_filename)[1]
x3ds_seq = {}
for fi in dot_detections.keys():
frame = c3d_frames[(fi - 55) % len(c3d_frames)]
which = np.array(np.where(frame[:, 3] == 0)[0],
dtype=np.int32)
x3ds_seq[fi] = np.concatenate((VICON_tiara_x3ds + np.array([0,1000,0],dtype=np.float32),frame[which,:3])), \
np.concatenate((np.arange(len(VICON_tiara_x3ds),dtype=np.int32),which+len(VICON_tiara_x3ds)))
#dot_labels = get_labels(dot_detections.keys(), x3ds_seq, dot_detections, mats, x2d_threshold = 0.05)
if detectingTiara:
primitives.append(GLPoints3D(VICON_tiara_x3ds + [0, 1000, 0]))
primitives[-1].pointSize = 5
global track3d, prev_frame, booting, trackGraph
track3d = Label.Track3D(mats[:len(movies)],
x2d_threshold=0.03,
x3d_threshold=5.0,
min_rays=3,
boot_interval=2) #tilt_threshold = 0.01, gruffalo
trackGraph = Label.TrackGraph()
prev_frame = 0
booting = 1
from UI import QApp
from PySide import QtGui
from GCore import State
# Modified the options parameter for fields to be the range of acceptable values for the box
# Previously would crash if small_blur got too low
QApp.fields = {
'image filter': [
('small_blur', 'Small blur radius',
'This is part of the image filter which controls the size of smallest detected features.',
'int', small_blur, {
"min": 0,
"max": None
}),
('large_blur', 'Large blur radius',
'This is part of the image filter which controls the size of largest detected features.',
'int', large_blur, {
"min": 0,
"max": None
}),
('threshold_bright', 'threshold_bright',
'This is part of the image filter which controls the size of smallest detected features.',
'int', threshold_bright, {
"min": 0,
"max": 255
}),
('threshold_dark_inv', 'threshold_dark_inv',
'This is part of the image filter which controls the size of largest detected features.',
'int', threshold_dark_inv, {
"min": 0,
"max": 255
}),
('circularity_threshold', 'circularity_threshold',
'How circular?.', 'float', circularity_threshold, {
"min": 0,
"max": 100
}),
('min_dot_size', 'min_dot_size',
'min_dot_size smallest detected features.', 'float', min_dot_size,
{
"min": 0,
"max": 100
}),
('max_dot_size', 'max_dot_size',
'max_dot_size largest detected features.', 'float', max_dot_size,
{
"min": 0,
"max": 100
}),
]
}
State.addKey('dotParams', {'type': 'image filter', 'attrs': attrs})
State.setSel('dotParams')
appIn = QtGui.QApplication(sys.argv)
appIn.setStyle('plastique')
win = QApp.QApp()
win.setWindowTitle('Imaginarium Dots Viewer')
QGLViewer.makeViewer(primitives=primitives,
primitives2D=primitives2D,
timeRange=(firstFrame, lastFrame),
callback=setFrame,
mats=mats,
camera_ids=camera_ids,
movies=movies,
pickCallback=picked,
appIn=appIn,
win=win)
wavFilename = os.path.join(ted_dir, '32T01.WAV')
md = MovieReader.open_file(wavFilename)
c3d_filename = os.path.join(
ted_dir, '201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_02.c3d')
c3d_dict = C3D.read(c3d_filename)
c3d_frames, c3d_fps, c3d_labels = c3d_dict['frames'], c3d_dict[
'fps'], c3d_dict['labels']
if False: # only for cleaned-up data
c3d_subject = 'TedFace'
which = np.where([s.startswith(c3d_subject) for s in c3d_labels])[0]
c3d_frames = c3d_frames[:, which, :]
c3d_labels = [c3d_labels[i] for i in which]
print c3d_labels
if False: # this is for the cleaned-up data (don't apply the other offset...)
offset = Calibrate.composeRT(Calibrate.composeR((0.0, 0.0, 0)),
(0, 0, -8), 0) # 0.902
c3d_frames[:, :, :3] = np.dot(c3d_frames[:, :, :3] - offset[:3, 3],
offset[:3, :3])[:, :, :3]
offset = Calibrate.composeRT(Calibrate.composeR((3.9, -38.7, 0)),
(-159.6, 188.8, 123 - 12), 0) # 0.902
c3d_frames[:, :, :3] = np.dot(c3d_frames[:, :, :3] - offset[:3, 3],
offset[:3, :3])[:, :, :3]
geos = []
dat_directory = os.path.join(os.environ['GRIP_DATA'], 'dat')
if False: # experiments involving deformation transfer
geos_filename = 'geos'
if not os.path.exists(geos_filename):
ted_dir = os.environ['GRIP_DATA']
def setFrame_cb(fi):
attrs = State.getKey('/root/ui/attrs/')
global g_setting_frame
if g_setting_frame: return
g_setting_frame = True
try: # within this loop we handle the timeline, which could trigger calling this function recursively
global g_mode, g_frame, g_TIS_server, g_neutral_corrective_shape
global g_smooth_pose
view = QApp.view()
cid = view.cameraIndex()
if cid != g_mode: # deal with changing modes
g_mode = cid
if g_mode == 0:
if g_md is not None: QApp.app.qtimeline.setRange(0, g_md['vmaxframe'])
elif g_mode == 1:
pose_splits = rbfn_pose_splits()
QApp.app.qtimeline.setRange(0, pose_splits[-1]-1)
new_frame = g_frame.get(g_mode,fi)
if new_frame != fi:
QApp.app.qtimeline.frame = new_frame
fi = new_frame
except Exception as e:
print 'exc setFrame',e
g_setting_frame = False
g_frame[g_mode] = fi
if not attrs['setting_neutral']: g_neutral_corrective_shape = 0
new_pose,new_shape,norm_shape,img,slider_names,slider_values,A = [track_view_cb,rbfn_view_cb][g_mode](fi,attrs)
mirror_scale = -1 if attrs['mirroring'] else 1
h,wm = img.shape[0]*0.5,img.shape[1]*0.5*mirror_scale
geo_vs = np.zeros((new_shape.shape[0],3), dtype=np.float32)
if attrs['debugging']: # display the stabilised data
geo_vs[:,:2] = norm_shape
geo_vs *= 200
geo_vs[:,:2] += np.int32(np.mean(new_shape, axis=0)/200)*200
else: # display the tracking data
geo_vs[:,:2] = new_shape
geo_mesh,image_mesh,bs_mesh = QApp.app.getLayers(['geo_mesh', 'image_mesh', 'bs_mesh'])
bs_mesh.visible = attrs['show_harpy']
if bs_mesh.visible:
global g_bs_vs, g_bs_shape_mat_T
bs_mesh.setVs(g_bs_vs + np.dot(g_bs_shape_mat_T, np.clip(slider_values[:-3],0,1)))
# compute the Harpy position
R = Calibrate.composeR(new_pose*[1,-1,-1])
if g_mode == 1: R = np.eye(3) # TODO
bs_ts = Calibrate.composeRT(R,[0,1720,0],0) # compensate for the offset of the Harpy (temples ~1720mm above origin)
scale = 1.0/np.linalg.norm(160.*A) # IPD (64mm) / 0.4 (ref_shape) = 160.
off = np.mean(new_shape[[0,16]],axis=0) # get the position of the temples (pixels)
g_smooth_pose[g_mode] = filter_data(np.float32([scale,off[0],off[1]]), g_smooth_pose.setdefault(g_mode,None), 10.0)
pose = g_smooth_pose[g_mode]
bs_ts[:3] *= pose[0]
bs_ts[:3,3] += [pose[1]-abs(wm),1000+pose[2]-h,0]
# offset screen-right 300mm
bs_ts[:3,3] += (pose[0]*attrs['harpy_xoffset'])*np.float32([np.cos(np.radians(view.camera.cameraRoll)),-np.sin(np.radians(view.camera.cameraRoll)),0.0])
bs_mesh.transforms[0] = bs_ts.T
geo_mesh.setVs(geo_vs)
geo_mesh.colour=[0 if attrs['streaming_TIS'] else 1,1 if attrs['streaming_TIS'] else 0,0,1]
geo_mesh.transforms[0][:,:3] = [[mirror_scale,0,0],[0,1,0],[0,0,1],[-wm,1000-h,0.1]]
image_mesh.setVs(np.float32([[-wm,-h,0],[wm,-h,0],[wm,h,0],[-wm,h,0]]))
image_mesh.setImage(img)
if attrs['unreal']:
if not attrs['streaming_TIS']: toggle_unreal()
ret, activeConnections = g_TIS_server.WriteAll(PyTISStream.getBlendshapeData(slider_names, slider_values))
if not ret:
print "Server is not Initialised"
State._setKey('/root/ui/attrs/streaming_TIS', False)
else:
# Turn off streaming
if attrs['streaming_TIS']: toggle_unreal()
QApp.app.updateGL()
wavFilename = os.path.join(ted_dir, '32T01.WAV')
md = MovieReader.open_file(wavFilename)
c3d_filename = os.path.join(
ted_dir, '201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_02.c3d')
c3d_dict = C3D.read(c3d_filename)
c3d_frames, c3d_fps, c3d_labels = c3d_dict['frames'], c3d_dict[
'fps'], c3d_dict['labels']
if False: # only for cleaned-up data
c3d_subject = 'TedFace'
which = np.where([s.startswith(c3d_subject)
for s in c3d_labels])[0]
c3d_frames = c3d_frames[:, which, :]
c3d_labels = [c3d_labels[i] for i in which]
print c3d_labels
if False: # this is for the cleaned-up data (don't apply the other offset...)
offset = Calibrate.composeRT(Calibrate.composeR((0.0, 0.0, 0)),
(0, 0, -8), 0) # 0.902
c3d_frames[:, :, :3] = np.dot(c3d_frames[:, :, :3] - offset[:3, 3],
offset[:3, :3])[:, :, :3]
offset = Calibrate.composeRT(Calibrate.composeR((3.9, -38.7, 0)),
(-159.6, 188.8, 123 - 12), 0) # 0.902
c3d_frames[:, :, :3] = np.dot(c3d_frames[:, :, :3] - offset[:3, 3],
offset[:3, :3])[:, :, :3]
geos = []
dat_directory = os.path.join(os.environ['GRIP_DATA'], 'dat')
if False: # experiments involving deformation transfer
geos_filename = 'geos'
if not os.path.exists(geos_filename):
ted_dir = os.path.join(os.environ['GRIP_DATA'], 'ted')