def opencv_vis(self, bgr, result_pose, hand, st):
viz = np.copy(bgr)
viz2d = np.zeros_like(bgr)
if self.started and result_pose is not None:
viz2d = mva19.visualize_2dhand_skeleton(viz2d,
hand,
thre=self.peaks_thre)
cv2.imshow("2D CNN estimation", viz2d)
header = "FPS OPT+VIZ %03d, OPT %03d (CNN %03d, 3D %03d)" % (
1 / (time.time() - st), 1 / (self.est_ms + self.ik_ms),
1.0 / self.est_ms, 1.0 / self.ik_ms)
if self.with_renderer:
self.hand_visualizer.render(self.pose_estimator.model,
Core.ParamVector(result_pose),
self.clb)
mbv_viz = self.hand_visualizer.getDepth()
cv2.imshow("MBV VIZ", mbv_viz)
mask = mbv_viz != [0, 0, 0]
viz[mask] = mbv_viz[mask]
else:
viz = mva19.visualize_3dhand_skeleton(viz, self.p2d)
pipeline.draw_rect(viz,
"Hand",
self.bbox,
box_color=(0, 255, 0),
text_color=(200, 200, 0))
else:
header = "Press 's' to start, 'r' to reset pose, 'p' to pause frame."
cv2.putText(viz, header, (20, 20), 0, 0.7, (50, 20, 20), 1,
cv2.LINE_AA)
cv2.imshow("3D Hand Model re-projection", viz)
key = cv2.waitKey(self.delay[self.paused])
if key & 255 == ord('p'):
self.paused = not self.paused
if key & 255 == ord('q'):
return False
if key & 255 == ord('r'):
print("\n===> Resetting init position for IK <===\n")
self.pose_estimator.model.reset_pose()
bbox = None
print("RESETTING BBOX", bbox)
if key & 255 == ord('s'):
self.started = not self.started
return True
def mono_hand_loop(acq, outSize, config, track=False, paused=False, with_renderer=False):
print("Initialize WACV18 3D Pose estimator (IK)...")
pose_estimator = factory.HandPoseEstimator(config)
if with_renderer:
print("Initialize Hand Visualizer...")
hand_visualizer = pipeline.HandVisualizer(factory.mmanager, outSize)
print("Initialize openpose. Net output size",outSize,"...")
op = OP.OpenPose((160, 160), config["handnet_dims"], tuple(outSize), "COCO", config["OPENPOSE_ROOT"] + os.sep + "models" + os.sep, 0,
False, OP.OpenPose.ScaleMode.ZeroToOne, False, True)
left_hand_model = config["model_left"]
started = False
delay = {True: 0, False: 1}
ik_ms = est_ms = 0
p2d = bbox = None
count = 0
mbv_viz = opviz = None
smoothing = config.get("smoothing", 0)
boxsize = config["handnet_dims"][0]
stride = 8
peaks_thre = config["peaks_thre"]
print("Entering main Loop.")
while True:
try:
imgs, clbs = acq.grab()
if imgs is None or len(imgs)==0:
break
except Exception as e:
print("Failed to grab", e)
break
st = time.time()
bgr = imgs[0]
clb = clbs[0]
# compute kp using model initial pose
points2d = pose_estimator.ba.decodeAndProject(pose_estimator.model.init_pose, clb)
oldKp = np.array(points2d).reshape(-1, 2)
if bbox is None:
bbox = config["default_bbox"]
score = -1
result_pose = None
crop_viz = None
# STEP2 detect 2D joints for the detected hand.
if started and bbox is not None:
x,y,w,h = bbox
# print("BBOX: ",bbox)
crop = bgr[y:y+h,x:x+w]
img, pad = mva19.preprocess(crop, boxsize, stride)
t = time.time()
op.detectHands(bgr, np.array([[0,0,0,0]+bbox],dtype=np.int32))
op_ms = (time.time() - t) * 1000.0
opviz = op.render(np.copy(bgr))
cv2.imshow("OPVIZ", opviz)
leftHands, rightHands = op.getKeypoints(op.KeypointType.HAND)
if rightHands is not None:
keypoints = rightHands[0][:,:3]
mask = keypoints[:, 2] < peaks_thre
keypoints[mask] = [0, 0, 1.0]
if track:
keypoints[mask, :2] = oldKp[mask]
keypoints[:, 2] = keypoints[:, 2]**3
rgbKp = IK.Observations(IK.ObservationType.COLOR, clb, keypoints)
obsVec = IK.ObservationsVector([rgbKp, ])
t = time.time()
score, res = pose_estimator.estimate(obsVec)
ik_ms = (time.time() - t)
# print(count,)
pose_estimator.print_report()
if track:
result_pose = list(smoothing * np.array(pose_estimator.model.init_pose) + (1.0 - smoothing) * np.array(res))
else:
result_pose = list(res)
# score is the residual, the lower the better, 0 is best
# -1 is failed optimization.
if track:
if -1 < score:# < 20000:
pose_estimator.model.init_pose = Core.ParamVector(result_pose)
else:
print("\n===>Reseting init position for IK<===\n")
pose_estimator.model.reset_pose()
if score > -1: # compute result points
p2d = np.array(pose_estimator.ba.decodeAndProject(Core.ParamVector(result_pose), clb)).reshape(-1, 2)
# scale = w/config.boxsize
bbox = mva19.update_bbox(p2d,bgr.shape[1::-1])
viz = np.copy(bgr)
viz2d = np.zeros_like(bgr)
if started and result_pose is not None:
viz2d = mva19.visualize_2dhand_skeleton(viz2d, keypoints, thre=peaks_thre)
cv2.imshow("2D CNN estimation",viz2d)
header = "FPS OPT+VIZ %03d, OPT %03fms (CNN %03fms, 3D %03fms)"%(1/(time.time()-st),(est_ms+ik_ms),est_ms, ik_ms)
if with_renderer:
hand_visualizer.render(pose_estimator.model, Core.ParamVector(result_pose), clb)
mbv_viz = hand_visualizer.getDepth()
cv2.imshow("MBV VIZ", mbv_viz)
mask = mbv_viz != [0, 0, 0]
viz[mask] = mbv_viz[mask]
else:
viz = mva19.visualize_3dhand_skeleton(viz, p2d)
pipeline.draw_rect(viz, "Hand", bbox, box_color=(0, 255, 0), text_color=(200, 200, 0))
else:
header = "Press 's' to start, 'r' to reset pose, 'p' to pause frame."
cv2.putText(viz, header, (20, 20), 0, 0.7, (50, 20, 20), 1, cv2.LINE_AA)
cv2.imshow("3D Hand Model reprojection", viz)
key = cv2.waitKey(delay[paused])
if key & 255 == ord('p'):
paused = not paused
if key & 255 == ord('q'):
break
if key & 255 == ord('r'):
print("\n===>Reseting init position for IK<===\n")
pose_estimator.model.reset_pose()
bbox = config['default_bbox']
print("RESETING BBOX",bbox)
if key & 255 == ord('s'):
started = not started
count += 1
def mono_hand_loop(acq, outSize, config, track=False, paused=False, with_renderer=False):
print("Initialize WACV18 3D Pose estimator (IK)...")
pose_estimator = factory.HandPoseEstimator(config)
if with_renderer:
print("Initialize Hand Visualizer...")
hand_visualizer = pipeline.HandVisualizer(factory.mmanager, outSize)
print("Initialize MVA19 CVRL Hand pose net...")
estimator = mva19.Estimator(config["model_file"], config["input_layer"], config["output_layer"])
left_hand_model = config["model_left"]
started = False
delay = {True: 0, False: 1}
ik_ms = est_ms = 0
p2d = bbox = None
count = 0
mbv_viz = opviz = None
smoothing = config.get("smoothing", 0)
boxsize = config["boxsize"]
stride = config["stride"]
peaks_thre = config["peaks_thre"]
print("Entering main Loop.")
while True:
try:
imgs, clbs = acq.grab()
if imgs is None or len(imgs)==0:
break
except Exception as e:
print("Failed to grab", e)
break
st = time.time()
bgr = imgs[0]
clb = clbs[0]
# compute kp using model initial pose
points2d = pose_estimator.ba.decodeAndProject(pose_estimator.model.init_pose, clb)
oldKp = np.array(points2d).reshape(-1, 2)
if bbox is None:
bbox = config["default_bbox"]
score = -1
result_pose = None
crop_viz = None
# STEP2 detect 2D joints for the detected hand.
if started and bbox is not None:
x,y,w,h = bbox
# print("BBOX: ",bbox)
crop = bgr[y:y+h,x:x+w]
img, pad = mva19.preprocess(crop, boxsize, stride)
t = time.time()
hm = estimator.predict(img)
est_ms = (time.time() - t)
# use joint tools to recover keypoints
scale = float(boxsize) / float(crop.shape[0])
scale = stride/scale
ocparts = np.zeros_like(hm[...,0])
peaks = jt.FindPeaks(hm[...,:-1], ocparts, peaks_thre, scale, scale)
# convert peaks to hand keypoints
hand = mva19.peaks_to_hand(peaks, x, y)
if hand is not None:
keypoints = hand
mask = keypoints[:, 2] < peaks_thre
keypoints[mask] = [0, 0, 1.0]
if track:
keypoints[mask, :2] = oldKp[mask]
keypoints[:, 2] = keypoints[:, 2]**3
rgbKp = IK.Observations(IK.ObservationType.COLOR, clb, keypoints)
obsVec = IK.ObservationsVector([rgbKp, ])
t = time.time()
score, res = pose_estimator.estimate(obsVec)
ik_ms = (time.time() - t)
# print(count,)
pose_estimator.print_report()
if track:
result_pose = list(smoothing * np.array(pose_estimator.model.init_pose) + (1.0 - smoothing) * np.array(res))
else:
result_pose = list(res)
# score is the residual, the lower the better, 0 is best
# -1 is failed optimization.
if track:
if -1 < score:# < 20000:
pose_estimator.model.init_pose = Core.ParamVector(result_pose)
else:
print("\n===>Reseting init position for IK<===\n")
pose_estimator.model.reset_pose()
if score > -1: # compute result points
p2d = np.array(pose_estimator.ba.decodeAndProject(Core.ParamVector(result_pose), clb)).reshape(-1, 2)
# scale = w/config.boxsize
bbox = mva19.update_bbox(p2d,bgr.shape[1::-1])
viz = np.copy(bgr)
viz2d = np.zeros_like(bgr)
if started and result_pose is not None:
viz2d = mva19.visualize_2dhand_skeleton(viz2d, hand, thre=peaks_thre)
cv2.imshow("2D CNN estimation",viz2d)
header = "FPS OPT+VIZ %03d, OPT %03d (CNN %03d, 3D %03d)"%(1/(time.time()-st),1/(est_ms+ik_ms),1.0/est_ms, 1.0/ik_ms)
if with_renderer:
hand_visualizer.render(pose_estimator.model, Core.ParamVector(result_pose), clb)
mbv_viz = hand_visualizer.getDepth()
cv2.imshow("MBV VIZ", mbv_viz)
mask = mbv_viz != [0, 0, 0]
viz[mask] = mbv_viz[mask]
else:
viz = mva19.visualize_3dhand_skeleton(viz, p2d)
pipeline.draw_rect(viz, "Hand", bbox, box_color=(0, 255, 0), text_color=(200, 200, 0))
else:
header = "Press 's' to start, 'r' to reset pose, 'p' to pause frame."
cv2.putText(viz, header, (20, 20), 0, 0.7, (50, 20, 20), 1, cv2.LINE_AA)
cv2.imshow("3D Hand Model reprojection", viz)
key = cv2.waitKey(delay[paused])
if key & 255 == ord('p'):
paused = not paused
if key & 255 == ord('q'):
break
if key & 255 == ord('r'):
print("\n===>Reseting init position for IK<===\n")
pose_estimator.model.reset_pose()
bbox = config['default_bbox']
print("RESETING BBOX",bbox)
if key & 255 == ord('s'):
started = not started
count += 1
def callback(self, img_msg):
try:
bgr = self.bridge.imgmsg_to_cv2(img_msg, "bgr8")
bgr = cv2.resize(bgr, (640, 480), interpolation=cv2.INTER_AREA)
except Exception as e:
print("Failed to grab", e)
return
clb = self.fake_clb
# compute kp using model initial pose
points2d = self.pose_estimator.ba.decodeAndProject(
self.pose_estimator.model.init_pose, clb)
oldKp = np.array(points2d).reshape(-1, 2)
score = -1
result_pose = None
# STEP2 detect 2D joints for the detected hand.
if self.started:
if self.bbox is None:
self.bbox = detector_utils.hand_bbox(bgr, self.detection_graph,
self.sess)
if self.bbox is None:
cv2.imshow("3D Hand Model reprojection", bgr)
cv2.waitKey(1)
return
else:
dbox = detector_utils.hand_bbox(bgr, self.detection_graph,
self.sess)
if dbox is not None:
x, y, w, h = self.bbox
x1, y1, w1, h1 = dbox
if (x1 > x + w
or x1 + w1 < x) or y1 + h1 < y or y1 > y + h:
self.bbox = dbox
print("updated")
else:
x, y, w, h = dbox
b = max((w, h, 224))
b = int(b + b * 0.3)
cx = x + w / 2
cy = y + h / 2
x = cx - b / 2
y = cy - b / 2
x = max(0, int(x))
y = max(0, int(y))
x = min(x, bgr.shape[1] - b)
y = min(y, bgr.shape[0] - b)
self.bbox = [x, y, b, b]
x, y, w, h = self.bbox
crop = bgr[y:y + h, x:x + w]
img, pad = mva19.preprocess(crop, self.boxsize, self.stride)
t = time.time()
hm = self.estimator.predict(img)
est_ms = (time.time() - t)
# use joint tools to recover keypoints
scale = float(self.boxsize) / float(crop.shape[0])
scale = self.stride / scale
ocparts = np.zeros_like(hm[..., 0])
peaks = jt.FindPeaks(hm[..., :-1], ocparts, self.peaks_thre, scale,
scale)
# convert peaks to hand keypoints
hand = mva19.peaks_to_hand(peaks, x, y)
if hand is not None:
keypoints = hand
mask = keypoints[:, 2] < self.peaks_thre
keypoints[mask] = [0, 0, 1.0]
if track:
keypoints[mask, :2] = oldKp[mask]
keypoints[:, 2] = keypoints[:, 2]**3
rgbKp = IK.Observations(IK.ObservationType.COLOR, clb,
keypoints)
obsVec = IK.ObservationsVector([
rgbKp,
])
score, res = self.pose_estimator.estimate(obsVec)
if track:
result_pose = list(
self.smoothing *
np.array(self.pose_estimator.model.init_pose) +
(1.0 - self.smoothing) * np.array(res))
else:
result_pose = list(res)
# score is the residual, the lower the better, 0 is best
# -1 is failed optimization.
if track:
if -1 < score: #< 150:
self.pose_estimator.model.init_pose = Core.ParamVector(
result_pose)
else:
print("\n===>Reseting init position for IK<===\n")
self.pose_estimator.model.reset_pose()
self.bbox = None
if score > -1: # compute result points
self.p2d = np.array(
self.pose_estimator.ba.decodeAndProject(
Core.ParamVector(result_pose),
clb)).reshape(-1, 2)
# scale = w/config.boxsize
self.bbox = mva19.update_bbox(self.p2d, bgr.shape[1::-1])
p3d = np.array(
self.pose_estimator.ba.decode(Core.ParamVector(result_pose),
clb))
joints_msg = Float32MultiArray()
joints_msg.data = p3d.tolist()
self.joints_publisher.publish(joints_msg)
viz = np.copy(bgr)
if self.started and result_pose is not None:
viz = mva19.visualize_3dhand_skeleton(viz, self.p2d)
pipeline.draw_rect(viz,
"Hand",
self.bbox,
box_color=(0, 255, 0),
text_color=(200, 200, 0))
cv2.putText(viz, 'Hand pose estimation', (20, 20), 0, 0.7,
(50, 20, 20), 1, cv2.LINE_AA)
cv2.imshow("3D Hand Model reprojection", viz)
key = cv2.waitKey(self.delay[self.paused])
if key & 255 == ord('p'):
self.paused = not self.paused
if key & 255 == ord('q'):
cv2.destroyAllWindows()
sys.exit(0)
if key & 255 == ord('r'):
print("\n===>Reseting init position for IK<===\n")
self.pose_estimator.model.reset_pose()
self.bbox = None
print("RESETING BBOX", self.bbox)
def mono_hand_loop(acq, outSize, config, track=False, paused=False):
print("Initialize WACV18 3D Pose estimator (IK)...")
pose_estimator = factory.HandPoseEstimator(config)
print("Initialize MVA19 CVRL Hand pose net...")
estimator = mva19.Estimator(config["model_file"], config["input_layer"], config["output_layer"])
detection_graph, sess = detector_utils.load_inference_graph()
started = True
delay = {True: 0, False: 1}
p2d = bbox = None
smoothing = config.get("smoothing", 0)
boxsize = config["boxsize"]
stride = config["stride"]
peaks_thre = config["peaks_thre"]
print("Entering main Loop.")
for topic, img_msg, ros_time in tqdm(Bag(sys.argv[2]).read_messages()):
if topic != "camera/rgb/image_raw":
continue
try:
bgr = bridge.imgmsg_to_cv2(img_msg, "bgr8")
bgr = cv2.resize(bgr, (640,480), interpolation = cv2.INTER_AREA)
except Exception as e:
print("Failed to grab", e)
break
clb = fake_clb
# compute kp using model initial pose
points2d = pose_estimator.ba.decodeAndProject(pose_estimator.model.init_pose, clb)
oldKp = np.array(points2d).reshape(-1, 2)
score = -1
result_pose = None
# STEP2 detect 2D joints for the detected hand.
if started:
if bbox is None:
bbox = detector_utils.hand_bbox(bgr,detection_graph,sess)
if bbox is None:
if sys.argv[4]=='1':
cv2.imshow("3D Hand Model reprojection",bgr)
cv2.waitKey(1)
to_AC_format(np.zeros((21,3)),ros_time, 1)
continue
else:
dbox = detector_utils.hand_bbox(bgr,detection_graph,sess)
if dbox is not None:
x,y,w,h = bbox
x1,y1,w1,h1 = dbox
if (x1>x+w or x1+w1<x ) or y1+h1<y or y1>y+h:
bbox = dbox
print("updated")
else:
x,y,w,h = dbox
b = max((w,h,224))
b = int(b + b*0.3)
cx = x + w/2
cy = y + h/2
x = cx-b/2
y = cy-b/2
x = max(0,int(x))
y = max(0,int(y))
x = min(x, bgr.shape[1]-b)
y = min(y, bgr.shape[0]-b)
bbox = [x,y,b,b]
x,y,w,h = bbox
crop = bgr[y:y+h,x:x+w]
img, pad = mva19.preprocess(crop, boxsize, stride)
t = time.time()
hm = estimator.predict(img)
est_ms = (time.time() - t)
# use joint tools to recover keypoints
scale = float(boxsize) / float(crop.shape[0])
scale = stride/scale
ocparts = np.zeros_like(hm[...,0])
peaks = jt.FindPeaks(hm[...,:-1], ocparts, peaks_thre, scale, scale)
# convert peaks to hand keypoints
hand = mva19.peaks_to_hand(peaks, x, y)
if hand is not None:
keypoints = hand
mask = keypoints[:, 2] < peaks_thre
keypoints[mask] = [0, 0, 1.0]
if track:
keypoints[mask, :2] = oldKp[mask]
keypoints[:, 2] = keypoints[:, 2]**3
rgbKp = IK.Observations(IK.ObservationType.COLOR, clb, keypoints)
obsVec = IK.ObservationsVector([rgbKp, ])
score, res = pose_estimator.estimate(obsVec)
if track:
result_pose = list(smoothing * np.array(pose_estimator.model.init_pose) + (1.0 - smoothing) * np.array(res))
else:
result_pose = list(res)
# score is the residual, the lower the better, 0 is best
# -1 is failed optimization.
if track:
if -1 < score: #< 150:
pose_estimator.model.init_pose = Core.ParamVector(result_pose)
else:
print("\n===>Reseting init position for IK<===\n")
pose_estimator.model.reset_pose()
bbox = None
if score > -1: # compute result points
p2d = np.array(pose_estimator.ba.decodeAndProject(Core.ParamVector(result_pose), clb)).reshape(-1, 2)
# scale = w/config.boxsize
bbox = mva19.update_bbox(p2d,bgr.shape[1::-1])
p3d = np.array(pose_estimator.ba.decode(Core.ParamVector(result_pose), clb)).reshape(-1,3)
to_AC_format(p3d,ros_time,1)
viz = np.copy(bgr)
if sys.argv[4] == '1' and started and result_pose is not None:
viz = mva19.visualize_3dhand_skeleton(viz, p2d)
pipeline.draw_rect(viz, "Hand", bbox, box_color=(0, 255, 0), text_color=(200, 200, 0))
cv2.putText(viz, 'Hand pose estimation', (20, 20), 0, 0.7, (50, 20, 20), 1, cv2.LINE_AA)
cv2.imshow("3D Hand Model reprojection", viz)
key = cv2.waitKey(delay[paused])
if key & 255 == ord('p'):
paused = not paused
if key & 255 == ord('q'):
break
if key & 255 == ord('r'):
print("\n===>Reseting init position for IK<===\n")
pose_estimator.model.reset_pose()
bbox = None
print("RESETING BBOX",bbox)
def mono_hand_loop(self,
out_size,
track=False,
paused=False,
with_renderer=False):
print("Initialize WACV18 3D Pose estimator (IK)...")
pose_estimator = factory.HandPoseEstimator(self.config)
hand_visualizer = None
if with_renderer:
print("Initialize Hand Visualizer...")
hand_visualizer = pipeline.HandVisualizer(factory.mmanager,
out_size)
print("Initialize MVA19 CVRL Hand pose net...")
estimator = mva19.Estimator(self.config["model_file"],
self.config["input_layer"],
self.config["output_layer"])
detection_graph, sess = detector_utils.load_inference_graph()
started = True
delay = {True: 0, False: 1}
ik_ms = est_ms = 0
p2d = bbox = None
smoothing = self.config.get("smoothing", 0)
boxsize = self.config["boxsize"]
stride = self.config["stride"]
peaks_thre = self.config["peaks_thre"]
print("Entering main Loop")
saved_hand_poses = []
saved_framed_ids = []
image_names = get_image_names(self.object_anno_path, self.object_name)
for i_name in image_names:
frame_path = join(self.frame_root_path, i_name)
bgr = cv2.imread(frame_path)
st = time.time()
# Compute kp using model initial pose
points2d = pose_estimator.ba.decodeAndProject(
pose_estimator.model.init_pose, self.clb)
oldKp = np.array(points2d).reshape(-1, 2)
result_pose = None
hand = None
# STEP2 detect 2D joints for the detected hand
if started:
if bbox is None:
bbox = detector_utils.hand_bbox(bgr, detection_graph, sess)
if bbox is None:
cv2.imshow("2D CNN estimation", bgr)
cv2.waitKey(1)
continue
else:
dbox = detector_utils.hand_bbox(bgr, detection_graph, sess)
if dbox is not None:
x, y, w, h = bbox
x1, y1, w1, h1 = dbox
if (x1 > x + w
or x1 + w1 < x) or y1 + h1 < y or y1 > y + h:
bbox = dbox
print("updated")
x, y, w, h = bbox
crop = bgr[y:y + h, x:x + w]
img, pad = mva19.preprocess(crop, boxsize, stride)
t = time.time()
hm = estimator.predict(img)
est_ms = (time.time() - t)
# Use joint tools to recover keypoints
scale = float(boxsize) / float(crop.shape[0])
scale = stride / scale
ocparts = np.zeros_like(hm[..., 0])
peaks = jt.FindPeaks(hm[..., :-1], ocparts, peaks_thre, scale,
scale)
# Convert peaks to hand keypoints
hand = mva19.peaks_to_hand(peaks, x, y)
if hand is not None:
keypoints = hand
mask = keypoints[:, 2] < peaks_thre
keypoints[mask] = [0, 0, 1.0]
if track:
keypoints[mask, :2] = oldKp[mask]
keypoints[:, 2] = keypoints[:, 2]**3
rgbKp = IK.Observations(IK.ObservationType.COLOR, self.clb,
keypoints)
obsVec = IK.ObservationsVector([
rgbKp,
])
t = time.time()
score, res = pose_estimator.estimate(obsVec)
ik_ms = (time.time() - t)
if track:
result_pose = list(
smoothing *
np.array(pose_estimator.model.init_pose) +
(1.0 - smoothing) * np.array(res))
else:
result_pose = list(res)
# score is the residual, the lower the better, 0 is best
# -1 is failed optimization.
if track:
if -1 < score: # < 150:
pose_estimator.model.init_pose = Core.ParamVector(
result_pose)
else:
print(
"\n===> Resetting init position for IK <===\n")
pose_estimator.model.reset_pose()
bbox = None
if score > -1: # compute result points
p2d = np.array(
pose_estimator.ba.decodeAndProject(
Core.ParamVector(result_pose),
self.clb)).reshape(-1, 2)
bbox = mva19.update_bbox(p2d, bgr.shape[1::-1])
viz = np.copy(bgr)
viz2d = np.zeros_like(bgr)
if started and result_pose is not None:
viz2d = mva19.visualize_2dhand_skeleton(viz2d,
hand,
thre=peaks_thre)
cv2.imshow("2D CNN estimation", viz2d)
header = "FPS OPT+VIZ %03d, OPT %03d (CNN %03d, 3D %03d)" % (
1 / (time.time() - st), 1 /
(est_ms + ik_ms), 1.0 / est_ms, 1.0 / ik_ms)
if with_renderer:
hand_visualizer.render(pose_estimator.model,
Core.ParamVector(result_pose),
self.clb)
mbv_viz = hand_visualizer.getDepth()
cv2.imshow("MBV VIZ", mbv_viz)
mask = mbv_viz != [0, 0, 0]
viz[mask] = mbv_viz[mask]
else:
viz = mva19.visualize_3dhand_skeleton(viz, p2d)
pipeline.draw_rect(viz,
"Hand",
bbox,
box_color=(0, 255, 0),
text_color=(200, 200, 0))
else:
header = "Press 's' to start, 'r' to reset pose, 'p' to pause frame."
cv2.putText(viz, header, (20, 20), 0, 0.7, (50, 20, 20), 1,
cv2.LINE_AA)
cv2.imshow("3D Hand Model re-projection", viz)
key = cv2.waitKey(delay[paused])
if key & 255 == ord('p'):
paused = not paused
if key & 255 == ord('q'):
break
if key & 255 == ord('r'):
print("\n===> Resetting init position for IK <===\n")
pose_estimator.model.reset_pose()
bbox = None
print("RESETTING BBOX", bbox)
if key & 255 == ord('s'):
started = not started
p3d = np.array(
pose_estimator.ba.decode(Core.ParamVector(result_pose),
self.clb)).reshape(-1, 3)
# Transform to OpenGL coordinates and ICCV format
coord_change_mat = np.array(
[[1., 0., 0.], [0, -1., 0.], [0., 0., -1.]], dtype=np.float32)
p3d = p3d.dot(coord_change_mat.T)
p3d = to_iccv_format(p3d)
# Save
# saved_hand_poses.append(p3d)
# saved_framed_ids.append(i_name)
# Save any frames where a good score is achieved
# score is the residual, the lower the better, 0 is best
if score < 10:
print('Saved good pose:', i_name)
img_save_filename = join(self.monohand_image_path, i_name)
cv2.imwrite(img_save_filename, viz)
saved_hand_poses.append(p3d)
saved_framed_ids.append(i_name)
# Save data
save_annotation_file(self.joint_anno_path, saved_framed_ids,
saved_hand_poses)
