def fit_single_frame(
img,
keypoints,
init_trans,
scan,
scene_name,
body_model,
camera,
joint_weights,
body_pose_prior,
jaw_prior,
left_hand_prior,
right_hand_prior,
shape_prior,
expr_prior,
angle_prior,
result_fn='out.pkl',
mesh_fn='out.obj',
body_scene_rendering_fn='body_scene.png',
out_img_fn='overlay.png',
loss_type='smplify',
use_cuda=True,
init_joints_idxs=(9, 12, 2, 5),
use_face=True,
use_hands=True,
data_weights=None,
body_pose_prior_weights=None,
hand_pose_prior_weights=None,
jaw_pose_prior_weights=None,
shape_weights=None,
expr_weights=None,
hand_joints_weights=None,
face_joints_weights=None,
depth_loss_weight=1e2,
interpenetration=True,
coll_loss_weights=None,
df_cone_height=0.5,
penalize_outside=True,
max_collisions=8,
point2plane=False,
part_segm_fn='',
focal_length_x=5000.,
focal_length_y=5000.,
side_view_thsh=25.,
rho=100,
vposer_latent_dim=32,
vposer_ckpt='',
use_joints_conf=False,
interactive=True,
visualize=False,
save_meshes=True,
degrees=None,
batch_size=1,
dtype=torch.float32,
ign_part_pairs=None,
left_shoulder_idx=2,
right_shoulder_idx=5,
####################
### PROX
render_results=True,
camera_mode='moving',
## Depth
s2m=False,
s2m_weights=None,
m2s=False,
m2s_weights=None,
rho_s2m=1,
rho_m2s=1,
init_mode=None,
trans_opt_stages=None,
viz_mode='mv',
#penetration
sdf_penetration=False,
sdf_penetration_weights=0.0,
sdf_dir=None,
cam2world_dir=None,
#contact
contact=False,
rho_contact=1.0,
contact_loss_weights=None,
contact_angle=15,
contact_body_parts=None,
body_segments_dir=None,
load_scene=False,
scene_dir=None,
**kwargs):
assert batch_size == 1, 'PyTorch L-BFGS only supports batch_size == 1'
body_model.reset_params()
body_model.transl.requires_grad = True
device = torch.device('cuda') if use_cuda else torch.device('cpu')
if visualize:
pil_img.fromarray((img * 255).astype(np.uint8)).show()
if degrees is None:
degrees = [0, 90, 180, 270]
if data_weights is None:
data_weights = [
1,
] * 5
if body_pose_prior_weights is None:
body_pose_prior_weights = [4.04 * 1e2, 4.04 * 1e2, 57.4, 4.78]
msg = ('Number of Body pose prior weights {}'.format(
len(body_pose_prior_weights)) +
' does not match the number of data term weights {}'.format(
len(data_weights)))
assert (len(data_weights) == len(body_pose_prior_weights)), msg
if use_hands:
if hand_pose_prior_weights is None:
hand_pose_prior_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand pose prior weights')
assert (
len(hand_pose_prior_weights) == len(body_pose_prior_weights)), msg
if hand_joints_weights is None:
hand_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand joint distance weights')
assert (
len(hand_joints_weights) == len(body_pose_prior_weights)), msg
if shape_weights is None:
shape_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Shape prior weights = {}')
assert (len(shape_weights) == len(body_pose_prior_weights)), msg.format(
len(shape_weights), len(body_pose_prior_weights))
if use_face:
if jaw_pose_prior_weights is None:
jaw_pose_prior_weights = [[x] * 3 for x in shape_weights]
else:
jaw_pose_prior_weights = map(lambda x: map(float, x.split(',')),
jaw_pose_prior_weights)
jaw_pose_prior_weights = [list(w) for w in jaw_pose_prior_weights]
msg = ('Number of Body pose prior weights does not match the' +
' number of jaw pose prior weights')
assert (
len(jaw_pose_prior_weights) == len(body_pose_prior_weights)), msg
if expr_weights is None:
expr_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Expression prior weights = {}')
assert (len(expr_weights) == len(body_pose_prior_weights)), msg.format(
len(body_pose_prior_weights), len(expr_weights))
if face_joints_weights is None:
face_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of face joint distance weights')
assert (len(face_joints_weights) == len(body_pose_prior_weights)), msg
if coll_loss_weights is None:
coll_loss_weights = [0.0] * len(body_pose_prior_weights)
msg = ('Number of Body pose prior weights does not match the' +
' number of collision loss weights')
assert (len(coll_loss_weights) == len(body_pose_prior_weights)), msg
use_vposer = kwargs.get('use_vposer', True)
vposer, pose_embedding = [
None,
] * 2
if use_vposer:
pose_embedding = torch.zeros([batch_size, 32],
dtype=dtype,
device=device,
requires_grad=True)
vposer_ckpt = osp.expandvars(vposer_ckpt)
vposer, _ = load_vposer(vposer_ckpt, vp_model='snapshot')
vposer = vposer.to(device=device)
vposer.eval()
if use_vposer:
body_mean_pose = torch.zeros([batch_size, vposer_latent_dim],
dtype=dtype)
else:
body_mean_pose = body_pose_prior.get_mean().detach().cpu()
keypoint_data = torch.tensor(keypoints, dtype=dtype)
gt_joints = keypoint_data[:, :, :2]
if use_joints_conf:
joints_conf = keypoint_data[:, :, 2].reshape(1, -1)
# Transfer the data to the correct device
gt_joints = gt_joints.to(device=device, dtype=dtype)
if use_joints_conf:
joints_conf = joints_conf.to(device=device, dtype=dtype)
scan_tensor = None
if scan is not None:
scan_tensor = torch.tensor(scan.get('points'),
device=device,
dtype=dtype).unsqueeze(0)
# load pre-computed signed distance field
sdf = None
sdf_normals = None
grid_min = None
grid_max = None
voxel_size = None
if sdf_penetration:
with open(osp.join(sdf_dir, scene_name + '.json'), 'r') as f:
sdf_data = json.load(f)
grid_min = torch.tensor(np.array(sdf_data['min']),
dtype=dtype,
device=device)
grid_max = torch.tensor(np.array(sdf_data['max']),
dtype=dtype,
device=device)
grid_dim = sdf_data['dim']
voxel_size = (grid_max - grid_min) / grid_dim
sdf = np.load(osp.join(sdf_dir, scene_name + '_sdf.npy')).reshape(
grid_dim, grid_dim, grid_dim)
sdf = torch.tensor(sdf, dtype=dtype, device=device)
if osp.exists(osp.join(sdf_dir, scene_name + '_normals.npy')):
sdf_normals = np.load(
osp.join(sdf_dir, scene_name + '_normals.npy')).reshape(
grid_dim, grid_dim, grid_dim, 3)
sdf_normals = torch.tensor(sdf_normals, dtype=dtype, device=device)
else:
print("Normals not found...")
with open(os.path.join(cam2world_dir, scene_name + '.json'), 'r') as f:
cam2world = np.array(json.load(f))
R = torch.tensor(cam2world[:3, :3].reshape(3, 3),
dtype=dtype,
device=device)
t = torch.tensor(cam2world[:3, 3].reshape(1, 3),
dtype=dtype,
device=device)
# Create the search tree
search_tree = None
pen_distance = None
filter_faces = None
if interpenetration:
from mesh_intersection.bvh_search_tree import BVH
import mesh_intersection.loss as collisions_loss
from mesh_intersection.filter_faces import FilterFaces
assert use_cuda, 'Interpenetration term can only be used with CUDA'
assert torch.cuda.is_available(), \
'No CUDA Device! Interpenetration term can only be used' + \
' with CUDA'
search_tree = BVH(max_collisions=max_collisions)
pen_distance = \
collisions_loss.DistanceFieldPenetrationLoss(
sigma=df_cone_height, point2plane=point2plane,
vectorized=True, penalize_outside=penalize_outside)
if part_segm_fn:
# Read the part segmentation
part_segm_fn = os.path.expandvars(part_segm_fn)
with open(part_segm_fn, 'rb') as faces_parents_file:
face_segm_data = pickle.load(faces_parents_file,
encoding='latin1')
faces_segm = face_segm_data['segm']
faces_parents = face_segm_data['parents']
# Create the module used to filter invalid collision pairs
filter_faces = FilterFaces(
faces_segm=faces_segm,
faces_parents=faces_parents,
ign_part_pairs=ign_part_pairs).to(device=device)
# load vertix ids of contact parts
contact_verts_ids = ftov = None
if contact:
contact_verts_ids = []
for part in contact_body_parts:
with open(os.path.join(body_segments_dir, part + '.json'),
'r') as f:
data = json.load(f)
contact_verts_ids.append(list(set(data["verts_ind"])))
contact_verts_ids = np.concatenate(contact_verts_ids)
vertices = body_model(return_verts=True,
body_pose=torch.zeros((batch_size, 63),
dtype=dtype,
device=device)).vertices
vertices_np = vertices.detach().cpu().numpy().squeeze()
body_faces_np = body_model.faces_tensor.detach().cpu().numpy().reshape(
-1, 3)
m = Mesh(v=vertices_np, f=body_faces_np)
ftov = m.faces_by_vertex(as_sparse_matrix=True)
ftov = sparse.coo_matrix(ftov)
indices = torch.LongTensor(np.vstack((ftov.row, ftov.col))).to(device)
values = torch.FloatTensor(ftov.data).to(device)
shape = ftov.shape
ftov = torch.sparse.FloatTensor(indices, values, torch.Size(shape))
# Read the scene scan if any
scene_v = scene_vn = scene_f = None
if scene_name is not None:
if load_scene:
scene = Mesh(filename=os.path.join(scene_dir, scene_name + '.ply'))
scene.vn = scene.estimate_vertex_normals()
scene_v = torch.tensor(scene.v[np.newaxis, :],
dtype=dtype,
device=device).contiguous()
scene_vn = torch.tensor(scene.vn[np.newaxis, :],
dtype=dtype,
device=device)
scene_f = torch.tensor(scene.f.astype(int)[np.newaxis, :],
dtype=torch.long,
device=device)
# Weights used for the pose prior and the shape prior
opt_weights_dict = {
'data_weight': data_weights,
'body_pose_weight': body_pose_prior_weights,
'shape_weight': shape_weights
}
if use_face:
opt_weights_dict['face_weight'] = face_joints_weights
opt_weights_dict['expr_prior_weight'] = expr_weights
opt_weights_dict['jaw_prior_weight'] = jaw_pose_prior_weights
if use_hands:
opt_weights_dict['hand_weight'] = hand_joints_weights
opt_weights_dict['hand_prior_weight'] = hand_pose_prior_weights
if interpenetration:
opt_weights_dict['coll_loss_weight'] = coll_loss_weights
if s2m:
opt_weights_dict['s2m_weight'] = s2m_weights
if m2s:
opt_weights_dict['m2s_weight'] = m2s_weights
if sdf_penetration:
opt_weights_dict['sdf_penetration_weight'] = sdf_penetration_weights
if contact:
opt_weights_dict['contact_loss_weight'] = contact_loss_weights
keys = opt_weights_dict.keys()
opt_weights = [
dict(zip(keys, vals))
for vals in zip(*(opt_weights_dict[k] for k in keys
if opt_weights_dict[k] is not None))
]
for weight_list in opt_weights:
for key in weight_list:
weight_list[key] = torch.tensor(weight_list[key],
device=device,
dtype=dtype)
# load indices of the head of smpl-x model
with open(osp.join(body_segments_dir, 'body_mask.json'), 'r') as fp:
head_indx = np.array(json.load(fp))
N = body_model.get_num_verts()
body_indx = np.setdiff1d(np.arange(N), head_indx)
head_mask = np.in1d(np.arange(N), head_indx)
body_mask = np.in1d(np.arange(N), body_indx)
# The indices of the joints used for the initialization of the camera
init_joints_idxs = torch.tensor(init_joints_idxs, device=device)
edge_indices = kwargs.get('body_tri_idxs')
# which initialization mode to choose: similar traingles, mean of the scan or the average of both
if init_mode == 'scan':
init_t = init_trans
elif init_mode == 'both':
init_t = (init_trans.to(device) + fitting.guess_init(
body_model,
gt_joints,
edge_indices,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
model_type=kwargs.get('model_type', 'smpl'),
focal_length=focal_length_x,
dtype=dtype)) / 2.0
else:
init_t = fitting.guess_init(body_model,
gt_joints,
edge_indices,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
model_type=kwargs.get(
'model_type', 'smpl'),
focal_length=focal_length_x,
dtype=dtype)
camera_loss = fitting.create_loss('camera_init',
trans_estimation=init_t,
init_joints_idxs=init_joints_idxs,
depth_loss_weight=depth_loss_weight,
camera_mode=camera_mode,
dtype=dtype).to(device=device)
camera_loss.trans_estimation[:] = init_t
loss = fitting.create_loss(loss_type=loss_type,
joint_weights=joint_weights,
rho=rho,
use_joints_conf=use_joints_conf,
use_face=use_face,
use_hands=use_hands,
vposer=vposer,
pose_embedding=pose_embedding,
body_pose_prior=body_pose_prior,
shape_prior=shape_prior,
angle_prior=angle_prior,
expr_prior=expr_prior,
left_hand_prior=left_hand_prior,
right_hand_prior=right_hand_prior,
jaw_prior=jaw_prior,
interpenetration=interpenetration,
pen_distance=pen_distance,
search_tree=search_tree,
tri_filtering_module=filter_faces,
s2m=s2m,
m2s=m2s,
rho_s2m=rho_s2m,
rho_m2s=rho_m2s,
head_mask=head_mask,
body_mask=body_mask,
sdf_penetration=sdf_penetration,
voxel_size=voxel_size,
grid_min=grid_min,
grid_max=grid_max,
sdf=sdf,
sdf_normals=sdf_normals,
R=R,
t=t,
contact=contact,
contact_verts_ids=contact_verts_ids,
rho_contact=rho_contact,
contact_angle=contact_angle,
dtype=dtype,
**kwargs)
loss = loss.to(device=device)
with fitting.FittingMonitor(batch_size=batch_size,
visualize=visualize,
viz_mode=viz_mode,
**kwargs) as monitor:
img = torch.tensor(img, dtype=dtype)
H, W, _ = img.shape
# Reset the parameters to estimate the initial translation of the
# body model
if camera_mode == 'moving':
body_model.reset_params(body_pose=body_mean_pose)
# Update the value of the translation of the camera as well as
# the image center.
with torch.no_grad():
camera.translation[:] = init_t.view_as(camera.translation)
camera.center[:] = torch.tensor([W, H], dtype=dtype) * 0.5
# Re-enable gradient calculation for the camera translation
camera.translation.requires_grad = True
camera_opt_params = [camera.translation, body_model.global_orient]
elif camera_mode == 'fixed':
body_model.reset_params(body_pose=body_mean_pose, transl=init_t)
camera_opt_params = [body_model.transl, body_model.global_orient]
# If the distance between the 2D shoulders is smaller than a
# predefined threshold then try 2 fits, the initial one and a 180
# degree rotation
shoulder_dist = torch.dist(gt_joints[:, left_shoulder_idx],
gt_joints[:, right_shoulder_idx])
try_both_orient = shoulder_dist.item() < side_view_thsh
camera_optimizer, camera_create_graph = optim_factory.create_optimizer(
camera_opt_params, **kwargs)
# The closure passed to the optimizer
fit_camera = monitor.create_fitting_closure(
camera_optimizer,
body_model,
camera,
gt_joints,
camera_loss,
create_graph=camera_create_graph,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
scan_tensor=scan_tensor,
return_full_pose=False,
return_verts=False)
# Step 1: Optimize over the torso joints the camera translation
# Initialize the computational graph by feeding the initial translation
# of the camera and the initial pose of the body model.
camera_init_start = time.time()
cam_init_loss_val = monitor.run_fitting(camera_optimizer,
fit_camera,
camera_opt_params,
body_model,
use_vposer=use_vposer,
pose_embedding=pose_embedding,
vposer=vposer)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
tqdm.write('Camera initialization done after {:.4f}'.format(
time.time() - camera_init_start))
tqdm.write('Camera initialization final loss {:.4f}'.format(
cam_init_loss_val))
# If the 2D detections/positions of the shoulder joints are too
# close the rotate the body by 180 degrees and also fit to that
# orientation
if try_both_orient:
body_orient = body_model.global_orient.detach().cpu().numpy()
flipped_orient = cv2.Rodrigues(body_orient)[0].dot(
cv2.Rodrigues(np.array([0., np.pi, 0]))[0])
flipped_orient = cv2.Rodrigues(flipped_orient)[0].ravel()
flipped_orient = torch.tensor(flipped_orient,
dtype=dtype,
device=device).unsqueeze(dim=0)
orientations = [body_orient, flipped_orient]
else:
orientations = [body_model.global_orient.detach().cpu().numpy()]
# store here the final error for both orientations,
# and pick the orientation resulting in the lowest error
results = []
body_transl = body_model.transl.clone().detach()
# Step 2: Optimize the full model
final_loss_val = 0
for or_idx, orient in enumerate(tqdm(orientations,
desc='Orientation')):
opt_start = time.time()
new_params = defaultdict(transl=body_transl,
global_orient=orient,
body_pose=body_mean_pose)
body_model.reset_params(**new_params)
if use_vposer:
with torch.no_grad():
pose_embedding.fill_(0)
for opt_idx, curr_weights in enumerate(
tqdm(opt_weights, desc='Stage')):
if opt_idx not in trans_opt_stages:
body_model.transl.requires_grad = False
else:
body_model.transl.requires_grad = True
body_params = list(body_model.parameters())
final_params = list(
filter(lambda x: x.requires_grad, body_params))
if use_vposer:
final_params.append(pose_embedding)
body_optimizer, body_create_graph = optim_factory.create_optimizer(
final_params, **kwargs)
body_optimizer.zero_grad()
curr_weights['bending_prior_weight'] = (
3.17 * curr_weights['body_pose_weight'])
if use_hands:
joint_weights[:, 25:76] = curr_weights['hand_weight']
if use_face:
joint_weights[:, 76:] = curr_weights['face_weight']
loss.reset_loss_weights(curr_weights)
closure = monitor.create_fitting_closure(
body_optimizer,
body_model,
camera=camera,
gt_joints=gt_joints,
joints_conf=joints_conf,
joint_weights=joint_weights,
loss=loss,
create_graph=body_create_graph,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
scan_tensor=scan_tensor,
scene_v=scene_v,
scene_vn=scene_vn,
scene_f=scene_f,
ftov=ftov,
return_verts=True,
return_full_pose=True)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
stage_start = time.time()
final_loss_val = monitor.run_fitting(
body_optimizer,
closure,
final_params,
body_model,
pose_embedding=pose_embedding,
vposer=vposer,
use_vposer=use_vposer)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - stage_start
if interactive:
tqdm.write(
'Stage {:03d} done after {:.4f} seconds'.format(
opt_idx, elapsed))
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - opt_start
tqdm.write(
'Body fitting Orientation {} done after {:.4f} seconds'.
format(or_idx, elapsed))
tqdm.write(
'Body final loss val = {:.5f}'.format(final_loss_val))
# Get the result of the fitting process
# Store in it the errors list in order to compare multiple
# orientations, if they exist
result = {
'camera_' + str(key): val.detach().cpu().numpy()
for key, val in camera.named_parameters()
}
result.update({
key: val.detach().cpu().numpy()
for key, val in body_model.named_parameters()
})
if use_vposer:
result['pose_embedding'] = pose_embedding.detach().cpu().numpy(
)
body_pose = vposer.decode(pose_embedding,
output_type='aa').view(
1, -1) if use_vposer else None
result['body_pose'] = body_pose.detach().cpu().numpy()
results.append({'loss': final_loss_val, 'result': result})
with open(result_fn, 'wb') as result_file:
if len(results) > 1:
min_idx = (0 if results[0]['loss'] < results[1]['loss'] else 1)
else:
min_idx = 0
pickle.dump(results[min_idx]['result'], result_file, protocol=2)
if save_meshes or visualize:
body_pose = vposer.decode(pose_embedding, output_type='aa').view(
1, -1) if use_vposer else None
model_type = kwargs.get('model_type', 'smpl')
append_wrists = model_type == 'smpl' and use_vposer
if append_wrists:
wrist_pose = torch.zeros([body_pose.shape[0], 6],
dtype=body_pose.dtype,
device=body_pose.device)
body_pose = torch.cat([body_pose, wrist_pose], dim=1)
model_output = body_model(return_verts=True, body_pose=body_pose)
vertices = model_output.vertices.detach().cpu().numpy().squeeze()
import trimesh
out_mesh = trimesh.Trimesh(vertices, body_model.faces, process=False)
out_mesh.export(mesh_fn)
if render_results:
import pyrender
# common
H, W = 1080, 1920
camera_center = np.array([951.30, 536.77])
camera_pose = np.eye(4)
camera_pose = np.array([1.0, -1.0, -1.0, 1.0]).reshape(-1,
1) * camera_pose
camera = pyrender.camera.IntrinsicsCamera(fx=1060.53,
fy=1060.38,
cx=camera_center[0],
cy=camera_center[1])
light = pyrender.DirectionalLight(color=np.ones(3), intensity=2.0)
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.0,
alphaMode='OPAQUE',
baseColorFactor=(1.0, 1.0, 0.9, 1.0))
body_mesh = pyrender.Mesh.from_trimesh(out_mesh, material=material)
## rendering body
img = img.detach().cpu().numpy()
H, W, _ = img.shape
scene = pyrender.Scene(bg_color=[0.0, 0.0, 0.0, 0.0],
ambient_light=(0.3, 0.3, 0.3))
scene.add(camera, pose=camera_pose)
scene.add(light, pose=camera_pose)
# for node in light_nodes:
# scene.add_node(node)
scene.add(body_mesh, 'mesh')
r = pyrender.OffscreenRenderer(viewport_width=W,
viewport_height=H,
point_size=1.0)
color, _ = r.render(scene, flags=pyrender.RenderFlags.RGBA)
color = color.astype(np.float32) / 255.0
valid_mask = (color[:, :, -1] > 0)[:, :, np.newaxis]
input_img = img
output_img = (color[:, :, :-1] * valid_mask +
(1 - valid_mask) * input_img)
img = pil_img.fromarray((output_img * 255).astype(np.uint8))
img.save(out_img_fn)
##redering body+scene
body_mesh = pyrender.Mesh.from_trimesh(out_mesh, material=material)
static_scene = trimesh.load(osp.join(scene_dir, scene_name + '.ply'))
trans = np.linalg.inv(cam2world)
static_scene.apply_transform(trans)
static_scene_mesh = pyrender.Mesh.from_trimesh(static_scene)
scene = pyrender.Scene()
scene.add(camera, pose=camera_pose)
scene.add(light, pose=camera_pose)
scene.add(static_scene_mesh, 'mesh')
scene.add(body_mesh, 'mesh')
r = pyrender.OffscreenRenderer(viewport_width=W, viewport_height=H)
color, _ = r.render(scene)
color = color.astype(np.float32) / 255.0
img = pil_img.fromarray((color * 255).astype(np.uint8))
img.save(body_scene_rendering_fn)
def fit_single_frame(keypoints,
body_model,
joint_weights,
body_pose_prior,
jaw_prior,
left_hand_prior,
right_hand_prior,
shape_prior,
expr_prior,
angle_prior,
result_fn='out.pkl',
mesh_fn='out.obj',
out_img_fn='overlay.png',
loss_type='smplify',
use_cuda=True,
init_joints_idxs=(9, 12, 2, 5),
use_face=True,
use_hands=True,
data_weights=None,
body_pose_prior_weights=None,
hand_pose_prior_weights=None,
jaw_pose_prior_weights=None,
shape_weights=None,
expr_weights=None,
hand_joints_weights=None,
face_joints_weights=None,
depth_loss_weight=1e2,
interpenetration=True,
coll_loss_weights=None,
df_cone_height=0.5,
penalize_outside=True,
max_collisions=8,
point2plane=False,
part_segm_fn='',
focal_length=5000.,
side_view_thsh=25.,
rho=100,
vposer_latent_dim=32,
vposer_ckpt='',
use_joints_conf=False,
interactive=True,
visualize=False,
save_meshes=True,
degrees=None,
batch_size=1,
dtype=torch.float32,
ign_part_pairs=None,
left_shoulder_idx=2,
right_shoulder_idx=5,
**kwargs):
assert batch_size == 1, 'PyTorch L-BFGS only supports batch_size == 1'
device = torch.device('cuda') if use_cuda else torch.device('cpu')
if data_weights is None:
data_weights = [1, ] * 5
if body_pose_prior_weights is None:
body_pose_prior_weights = [4.04 * 1e2, 4.04 * 1e2, 57.4, 4.78]
msg = (
'Number of Body pose prior weights {}'.format(
len(body_pose_prior_weights)) +
' does not match the number of data term weights {}'.format(
len(data_weights)))
assert (len(data_weights) ==
len(body_pose_prior_weights)), msg
if use_hands:
if hand_pose_prior_weights is None:
hand_pose_prior_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand pose prior weights')
assert (len(hand_pose_prior_weights) ==
len(body_pose_prior_weights)), msg
if hand_joints_weights is None:
hand_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand joint distance weights')
assert (len(hand_joints_weights) ==
len(body_pose_prior_weights)), msg
if shape_weights is None:
shape_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Shape prior weights = {}')
assert (len(shape_weights) ==
len(body_pose_prior_weights)), msg.format(
len(shape_weights),
len(body_pose_prior_weights))
if use_face:
if jaw_pose_prior_weights is None:
jaw_pose_prior_weights = [[x] * 3 for x in shape_weights]
else:
jaw_pose_prior_weights = map(lambda x: map(float, x.split(',')),
jaw_pose_prior_weights)
jaw_pose_prior_weights = [list(w) for w in jaw_pose_prior_weights]
msg = ('Number of Body pose prior weights does not match the' +
' number of jaw pose prior weights')
assert (len(jaw_pose_prior_weights) ==
len(body_pose_prior_weights)), msg
if expr_weights is None:
expr_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Expression prior weights = {}')
assert (len(expr_weights) ==
len(body_pose_prior_weights)), msg.format(
len(body_pose_prior_weights),
len(expr_weights))
if face_joints_weights is None:
face_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of face joint distance weights')
assert (len(face_joints_weights) ==
len(body_pose_prior_weights)), msg
if coll_loss_weights is None:
coll_loss_weights = [0.0] * len(body_pose_prior_weights)
msg = ('Number of Body pose prior weights does not match the' +
' number of collision loss weights')
assert (len(coll_loss_weights) ==
len(body_pose_prior_weights)), msg
use_vposer = kwargs.get('use_vposer', True)
vposer, pose_embedding = [None, ] * 2
if use_vposer:
pose_embedding = torch.zeros([batch_size, 32],
dtype=dtype, device=device,
requires_grad=True)
vposer_ckpt = osp.expandvars(vposer_ckpt)
vposer, _ = load_vposer(vposer_ckpt, vp_model='snapshot')
vposer = vposer.to(device=device)
vposer.eval()
if use_vposer:
body_mean_pose = torch.zeros([batch_size, vposer_latent_dim],
dtype=dtype)
else:
body_mean_pose = body_pose_prior.get_mean().detach().cpu()
keypoint_data = torch.tensor(keypoints, dtype=dtype)
gt_joints = keypoint_data[:, :, :-1]
if use_joints_conf:
joints_conf = keypoint_data[:, :, -1].reshape(1, -1)
# Transfer the data to the correct device
gt_joints = gt_joints.to(device=device, dtype=dtype)
if use_joints_conf:
joints_conf = joints_conf.to(device=device, dtype=dtype)
# Create the search tree
search_tree = None
pen_distance = None
filter_faces = None
if interpenetration:
from mesh_intersection.bvh_search_tree import BVH
import mesh_intersection.loss as collisions_loss
from mesh_intersection.filter_faces import FilterFaces
assert use_cuda, 'Interpenetration term can only be used with CUDA'
assert torch.cuda.is_available(), \
'No CUDA Device! Interpenetration term can only be used' + \
' with CUDA'
search_tree = BVH(max_collisions=max_collisions)
pen_distance = \
collisions_loss.DistanceFieldPenetrationLoss(
sigma=df_cone_height, point2plane=point2plane,
vectorized=True, penalize_outside=penalize_outside)
if part_segm_fn:
# Read the part segmentation
part_segm_fn = os.path.expandvars(part_segm_fn)
with open(part_segm_fn, 'rb') as faces_parents_file:
face_segm_data = pickle.load(faces_parents_file,
encoding='latin1')
faces_segm = face_segm_data['segm']
faces_parents = face_segm_data['parents']
# Create the module used to filter invalid collision pairs
filter_faces = FilterFaces(
faces_segm=faces_segm, faces_parents=faces_parents,
ign_part_pairs=ign_part_pairs).to(device=device)
# Weights used for the pose prior and the shape prior
opt_weights_dict = {'data_weight': data_weights,
'body_pose_weight': body_pose_prior_weights,
'shape_weight': shape_weights}
if use_face:
opt_weights_dict['face_weight'] = face_joints_weights
opt_weights_dict['expr_prior_weight'] = expr_weights
opt_weights_dict['jaw_prior_weight'] = jaw_pose_prior_weights
if use_hands:
opt_weights_dict['hand_weight'] = hand_joints_weights
opt_weights_dict['hand_prior_weight'] = hand_pose_prior_weights
if interpenetration:
opt_weights_dict['coll_loss_weight'] = coll_loss_weights
keys = opt_weights_dict.keys()
opt_weights = [dict(zip(keys, vals)) for vals in
zip(*(opt_weights_dict[k] for k in keys
if opt_weights_dict[k] is not None))]
for weight_list in opt_weights:
for key in weight_list:
weight_list[key] = torch.tensor(weight_list[key],
device=device,
dtype=dtype)
loss = fitting.create_loss(loss_type=loss_type,
joint_weights=joint_weights,
rho=rho,
use_joints_conf=use_joints_conf,
use_face=use_face, use_hands=use_hands,
vposer=vposer,
pose_embedding=pose_embedding,
body_pose_prior=body_pose_prior,
shape_prior=shape_prior,
angle_prior=angle_prior,
expr_prior=expr_prior,
left_hand_prior=left_hand_prior,
right_hand_prior=right_hand_prior,
jaw_prior=jaw_prior,
interpenetration=interpenetration,
pen_distance=pen_distance,
search_tree=search_tree,
tri_filtering_module=filter_faces,
dtype=dtype,
**kwargs)
loss = loss.to(device=device)
with fitting.FittingMonitor(
batch_size=batch_size, visualize=visualize, **kwargs) as monitor:
data_weight = 0.7
# Reset the parameters to estimate the initial translation of the
# body model
body_model.reset_params(body_pose=body_mean_pose)
orientations = [body_model.global_orient.detach().cpu().numpy()]
# store here the final error for both orientations,
# and pick the orientation resulting in the lowest error
results = []
# Optimize the full model
final_loss_val = 0
opt_start = time.time()
new_params = defaultdict(body_pose=body_mean_pose)
body_model.reset_params(**new_params)
if use_vposer:
with torch.no_grad():
pose_embedding.fill_(0)
for opt_idx, curr_weights in enumerate(tqdm(opt_weights, desc='Stage')):
body_params = list(body_model.parameters())
final_params = list(
filter(lambda x: x.requires_grad, body_params))
if use_vposer:
final_params.append(pose_embedding)
body_optimizer, body_create_graph = optim_factory.create_optimizer(
final_params,
**kwargs)
body_optimizer.zero_grad()
curr_weights['data_weight'] = data_weight
curr_weights['bending_prior_weight'] = (
3.17 * curr_weights['body_pose_weight'])
if use_hands:
joint_weights[:, 25:67] = curr_weights['hand_weight']
if use_face:
joint_weights[:, 67:] = curr_weights['face_weight']
loss.reset_loss_weights(curr_weights)
closure = monitor.create_fitting_closure(
body_optimizer, body_model,
gt_joints=gt_joints,
joints_conf=joints_conf,
joint_weights=joint_weights,
loss=loss, create_graph=body_create_graph,
use_vposer=use_vposer, vposer=vposer,
pose_embedding=pose_embedding,
return_verts=True, return_full_pose=True)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
stage_start = time.time()
final_loss_val = monitor.run_fitting(
body_optimizer,
closure, final_params,
body_model,
pose_embedding=pose_embedding, vposer=vposer,
use_vposer=use_vposer)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - stage_start
if interactive:
tqdm.write('Stage {:03d} done after {:.4f} seconds'.format(
opt_idx, elapsed))
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - opt_start
tqdm.write(
'Body fitting Orientation done after {:.4f} seconds'.format(elapsed))
tqdm.write('Body final loss val = {:.5f}'.format(
final_loss_val))
# Get the result of the fitting process
# Store in it the errors list in order to compare multiple
# orientations, if they exist
result = {}
result.update({key: val.detach().cpu().numpy()
for key, val in body_model.named_parameters()})
if use_vposer:
result['body_pose'] = pose_embedding.detach().cpu().numpy()
results = {'loss': final_loss_val, 'result': result}
with open(result_fn, 'wb') as result_file:
pickle.dump(results['result'], result_file, protocol=2)
if save_meshes or visualize:
body_pose = vposer.decode(
pose_embedding,
output_type='aa').view(1, -1) if use_vposer else None
model_type = kwargs.get('model_type', 'smpl')
append_wrists = model_type == 'smpl' and use_vposer
if append_wrists:
wrist_pose = torch.zeros([body_pose.shape[0], 6],
dtype=body_pose.dtype,
device=body_pose.device)
body_pose = torch.cat([body_pose, wrist_pose], dim=1)
model_output = body_model(return_verts=True, body_pose=body_pose)
vertices = model_output.vertices.detach().cpu().numpy().squeeze()
import trimesh
out_mesh = trimesh.Trimesh(vertices, body_model.faces, process=False)
rot = trimesh.transformations.rotation_matrix(
np.radians(180), [1, 0, 0])
out_mesh.apply_transform(rot)
out_mesh.export(mesh_fn)
def fit_single_frame(img,
keypoints,
body_model,
camera,
joint_weights,
body_pose_prior,
jaw_prior,
left_hand_prior,
right_hand_prior,
shape_prior,
expr_prior,
angle_prior,
result_fn='out.pkl',
mesh_fn='out.obj',
out_img_fn='overlay.png',
loss_type='smplify',
use_cuda=True,
init_joints_idxs=(9, 12, 2, 5),
use_face=True,
use_hands=True,
data_weights=None,
body_pose_prior_weights=None,
hand_pose_prior_weights=None,
jaw_pose_prior_weights=None,
shape_weights=None,
expr_weights=None,
hand_joints_weights=None,
face_joints_weights=None,
depth_loss_weight=1e2,
interpenetration=True,
coll_loss_weights=None,
df_cone_height=0.5,
penalize_outside=True,
max_collisions=8,
point2plane=False,
part_segm_fn='',
focal_length=5000.,
side_view_thsh=25.,
rho=100,
vposer_latent_dim=32,
vposer_ckpt='',
use_joints_conf=False,
interactive=True,
visualize=False,
save_meshes=True,
degrees=None,
batch_size=1,
dtype=torch.float32,
ign_part_pairs=None,
left_shoulder_idx=2,
right_shoulder_idx=5,
**kwargs):
assert batch_size == 1, 'PyTorch L-BFGS only supports batch_size == 1'
device = torch.device('cuda') if use_cuda else torch.device('cpu')
if degrees is None:
degrees = [0, 90, 180, 270]
if data_weights is None:
data_weights = [
1,
] * 5
if body_pose_prior_weights is None:
body_pose_prior_weights = [4.04 * 1e2, 4.04 * 1e2, 57.4, 4.78]
msg = ('Number of Body pose prior weights {}'.format(
len(body_pose_prior_weights)) +
' does not match the number of data term weights {}'.format(
len(data_weights)))
assert (len(data_weights) == len(body_pose_prior_weights)), msg
if use_hands:
if hand_pose_prior_weights is None:
hand_pose_prior_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand pose prior weights')
assert (
len(hand_pose_prior_weights) == len(body_pose_prior_weights)), msg
if hand_joints_weights is None:
hand_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand joint distance weights')
assert (
len(hand_joints_weights) == len(body_pose_prior_weights)), msg
if shape_weights is None:
shape_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Shape prior weights = {}')
assert (len(shape_weights) == len(body_pose_prior_weights)), msg.format(
len(shape_weights), len(body_pose_prior_weights))
if use_face:
if jaw_pose_prior_weights is None:
jaw_pose_prior_weights = [[x] * 3 for x in shape_weights]
else:
jaw_pose_prior_weights = map(lambda x: map(float, x.split(',')),
jaw_pose_prior_weights)
jaw_pose_prior_weights = [list(w) for w in jaw_pose_prior_weights]
msg = ('Number of Body pose prior weights does not match the' +
' number of jaw pose prior weights')
assert (
len(jaw_pose_prior_weights) == len(body_pose_prior_weights)), msg
if expr_weights is None:
expr_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Expression prior weights = {}')
assert (len(expr_weights) == len(body_pose_prior_weights)), msg.format(
len(body_pose_prior_weights), len(expr_weights))
if face_joints_weights is None:
face_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of face joint distance weights')
assert (len(face_joints_weights) == len(body_pose_prior_weights)), msg
if coll_loss_weights is None:
coll_loss_weights = [0.0] * len(body_pose_prior_weights)
msg = ('Number of Body pose prior weights does not match the' +
' number of collision loss weights')
assert (len(coll_loss_weights) == len(body_pose_prior_weights)), msg
use_vposer = kwargs.get('use_vposer', True)
vposer, pose_embedding = [
None,
] * 2
if use_vposer:
pose_embedding = torch.zeros([batch_size, 32],
dtype=dtype,
device=device,
requires_grad=True)
vposer_ckpt = osp.expandvars(vposer_ckpt)
vposer, _ = load_vposer(vposer_ckpt, vp_model='snapshot')
vposer = vposer.to(device=device)
vposer.eval()
if use_vposer:
body_mean_pose = torch.zeros([batch_size, vposer_latent_dim],
dtype=dtype)
else:
body_mean_pose = body_pose_prior.get_mean().detach().cpu()
keypoint_data = torch.tensor(keypoints, dtype=dtype)
gt_joints = keypoint_data[:, :, :2]
if use_joints_conf:
joints_conf = keypoint_data[:, :, 2].reshape(1, -1)
# Transfer the data to the correct device
gt_joints = gt_joints.to(device=device, dtype=dtype)
if use_joints_conf:
joints_conf = joints_conf.to(device=device, dtype=dtype)
# Create the search tree
search_tree = None
pen_distance = None
filter_faces = None
if interpenetration:
from mesh_intersection.bvh_search_tree import BVH
import mesh_intersection.loss as collisions_loss
from mesh_intersection.filter_faces import FilterFaces
assert use_cuda, 'Interpenetration term can only be used with CUDA'
assert torch.cuda.is_available(), \
'No CUDA Device! Interpenetration term can only be used' + \
' with CUDA'
search_tree = BVH(max_collisions=max_collisions)
pen_distance = \
collisions_loss.DistanceFieldPenetrationLoss(
sigma=df_cone_height, point2plane=point2plane,
vectorized=True, penalize_outside=penalize_outside)
if part_segm_fn:
# Read the part segmentation
part_segm_fn = os.path.expandvars(part_segm_fn)
with open(part_segm_fn, 'rb') as faces_parents_file:
face_segm_data = pickle.load(faces_parents_file,
encoding='latin1')
faces_segm = face_segm_data['segm']
faces_parents = face_segm_data['parents']
# Create the module used to filter invalid collision pairs
filter_faces = FilterFaces(
faces_segm=faces_segm,
faces_parents=faces_parents,
ign_part_pairs=ign_part_pairs).to(device=device)
# Weights used for the pose prior and the shape prior
opt_weights_dict = {
'data_weight': data_weights,
'body_pose_weight': body_pose_prior_weights,
'shape_weight': shape_weights
}
if use_face:
opt_weights_dict['face_weight'] = face_joints_weights
opt_weights_dict['expr_prior_weight'] = expr_weights
opt_weights_dict['jaw_prior_weight'] = jaw_pose_prior_weights
if use_hands:
opt_weights_dict['hand_weight'] = hand_joints_weights
opt_weights_dict['hand_prior_weight'] = hand_pose_prior_weights
if interpenetration:
opt_weights_dict['coll_loss_weight'] = coll_loss_weights
keys = opt_weights_dict.keys()
opt_weights = [
dict(zip(keys, vals))
for vals in zip(*(opt_weights_dict[k] for k in keys
if opt_weights_dict[k] is not None))
]
for weight_list in opt_weights:
for key in weight_list:
weight_list[key] = torch.tensor(weight_list[key],
device=device,
dtype=dtype)
# The indices of the joints used for the initialization of the camera
init_joints_idxs = torch.tensor(init_joints_idxs, device=device)
edge_indices = kwargs.get('body_tri_idxs')
init_t = fitting.guess_init(body_model,
gt_joints,
edge_indices,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
model_type=kwargs.get('model_type', 'smpl'),
focal_length=focal_length,
dtype=dtype)
camera_loss = fitting.create_loss('camera_init',
trans_estimation=init_t,
init_joints_idxs=init_joints_idxs,
depth_loss_weight=depth_loss_weight,
dtype=dtype).to(device=device)
camera_loss.trans_estimation[:] = init_t
loss = fitting.create_loss(loss_type=loss_type,
joint_weights=joint_weights,
rho=rho,
use_joints_conf=use_joints_conf,
use_face=use_face,
use_hands=use_hands,
vposer=vposer,
pose_embedding=pose_embedding,
body_pose_prior=body_pose_prior,
shape_prior=shape_prior,
angle_prior=angle_prior,
expr_prior=expr_prior,
left_hand_prior=left_hand_prior,
right_hand_prior=right_hand_prior,
jaw_prior=jaw_prior,
interpenetration=interpenetration,
pen_distance=pen_distance,
search_tree=search_tree,
tri_filtering_module=filter_faces,
dtype=dtype,
**kwargs)
loss = loss.to(device=device)
with fitting.FittingMonitor(batch_size=batch_size,
visualize=visualize,
**kwargs) as monitor:
img = torch.tensor(img, dtype=dtype)
H, W, _ = img.shape
data_weight = 1000 / H
# The closure passed to the optimizer
camera_loss.reset_loss_weights({'data_weight': data_weight})
# Reset the parameters to estimate the initial translation of the
# body model
body_model.reset_params(body_pose=body_mean_pose)
# If the distance between the 2D shoulders is smaller than a
# predefined threshold then try 2 fits, the initial one and a 180
# degree rotation
shoulder_dist = torch.dist(gt_joints[:, left_shoulder_idx],
gt_joints[:, right_shoulder_idx])
try_both_orient = shoulder_dist.item() < side_view_thsh
# Update the value of the translation of the camera as well as
# the image center.
with torch.no_grad():
camera.translation[:] = init_t.view_as(camera.translation)
camera.center[:] = torch.tensor([W, H], dtype=dtype) * 0.5
# Re-enable gradient calculation for the camera translation
camera.translation.requires_grad = True
camera_opt_params = [camera.translation, body_model.global_orient]
camera_optimizer, camera_create_graph = optim_factory.create_optimizer(
camera_opt_params, **kwargs)
# The closure passed to the optimizer
fit_camera = monitor.create_fitting_closure(
camera_optimizer,
body_model,
camera,
gt_joints,
camera_loss,
create_graph=camera_create_graph,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
return_full_pose=False,
return_verts=False)
# Step 1: Optimize over the torso joints the camera translation
# Initialize the computational graph by feeding the initial translation
# of the camera and the initial pose of the body model.
camera_init_start = time.time()
cam_init_loss_val = monitor.run_fitting(camera_optimizer,
fit_camera,
camera_opt_params,
body_model,
use_vposer=use_vposer,
pose_embedding=pose_embedding,
vposer=vposer)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
tqdm.write('Camera initialization done after {:.4f}'.format(
time.time() - camera_init_start))
tqdm.write('Camera initialization final loss {:.4f}'.format(
cam_init_loss_val))
# If the 2D detections/positions of the shoulder joints are too
# close the rotate the body by 180 degrees and also fit to that
# orientation
if try_both_orient:
body_orient = body_model.global_orient.detach().cpu().numpy()
flipped_orient = cv2.Rodrigues(body_orient)[0].dot(
cv2.Rodrigues(np.array([0., np.pi, 0]))[0])
flipped_orient = cv2.Rodrigues(flipped_orient)[0].ravel()
flipped_orient = torch.tensor(flipped_orient,
dtype=dtype,
device=device).unsqueeze(dim=0)
orientations = [body_orient, flipped_orient]
else:
orientations = [body_model.global_orient.detach().cpu().numpy()]
# store here the final error for both orientations,
# and pick the orientation resulting in the lowest error
results = []
# Step 2: Optimize the full model
final_loss_val = 0
for or_idx, orient in enumerate(tqdm(orientations,
desc='Orientation')):
opt_start = time.time()
new_params = defaultdict(global_orient=orient,
body_pose=body_mean_pose)
body_model.reset_params(**new_params)
if use_vposer:
with torch.no_grad():
pose_embedding.fill_(0)
for opt_idx, curr_weights in enumerate(
tqdm(opt_weights, desc='Stage')):
body_params = list(body_model.parameters())
final_params = list(
filter(lambda x: x.requires_grad, body_params))
if use_vposer:
final_params.append(pose_embedding)
body_optimizer, body_create_graph = optim_factory.create_optimizer(
final_params, **kwargs)
body_optimizer.zero_grad()
curr_weights['data_weight'] = data_weight
curr_weights['bending_prior_weight'] = (
3.17 * curr_weights['body_pose_weight'])
if use_hands:
joint_weights[:, 25:76] = curr_weights['hand_weight']
if use_face:
joint_weights[:, 76:] = curr_weights['face_weight']
loss.reset_loss_weights(curr_weights)
closure = monitor.create_fitting_closure(
body_optimizer,
body_model,
camera=camera,
gt_joints=gt_joints,
joints_conf=joints_conf,
joint_weights=joint_weights,
loss=loss,
create_graph=body_create_graph,
use_vposer=use_vposer,
vposer=vposer,
pose_embedding=pose_embedding,
return_verts=True,
return_full_pose=True)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
stage_start = time.time()
final_loss_val = monitor.run_fitting(
body_optimizer,
closure,
final_params,
body_model,
pose_embedding=pose_embedding,
vposer=vposer,
use_vposer=use_vposer)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - stage_start
if interactive:
tqdm.write(
'Stage {:03d} done after {:.4f} seconds'.format(
opt_idx, elapsed))
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - opt_start
tqdm.write(
'Body fitting Orientation {} done after {:.4f} seconds'.
format(or_idx, elapsed))
tqdm.write(
'Body final loss val = {:.5f}'.format(final_loss_val))
# Get the result of the fitting process
# Store in it the errors list in order to compare multiple
# orientations, if they exist
result = {
'camera_' + str(key): val.detach().cpu().numpy()
for key, val in camera.named_parameters()
}
result.update({
key: val.detach().cpu().numpy()
for key, val in body_model.named_parameters()
})
if use_vposer:
result['body_pose'] = pose_embedding.detach().cpu().numpy()
results.append({'loss': final_loss_val, 'result': result})
with open(result_fn, 'wb') as result_file:
if len(results) > 1:
min_idx = (0 if results[0]['loss'] < results[1]['loss'] else 1)
else:
min_idx = 0
pickle.dump(results[min_idx]['result'], result_file, protocol=2)
if save_meshes or visualize:
body_pose = vposer.decode(pose_embedding, output_type='aa').view(
1, -1) if use_vposer else None
model_type = kwargs.get('model_type', 'smpl')
append_wrists = model_type == 'smpl' and use_vposer
if append_wrists:
wrist_pose = torch.zeros([body_pose.shape[0], 6],
dtype=body_pose.dtype,
device=body_pose.device)
body_pose = torch.cat([body_pose, wrist_pose], dim=1)
model_output = body_model(return_verts=True, body_pose=body_pose)
vertices = model_output.vertices.detach().cpu().numpy().squeeze()
import trimesh
out_mesh = trimesh.Trimesh(vertices, body_model.faces, process=False)
rot = trimesh.transformations.rotation_matrix(np.radians(180),
[1, 0, 0])
out_mesh.apply_transform(rot)
out_mesh.export(mesh_fn)
if visualize:
import pyrender
material = pyrender.MetallicRoughnessMaterial(
metallicFactor=0.0,
alphaMode='OPAQUE',
baseColorFactor=(1.0, 1.0, 0.9, 1.0))
mesh = pyrender.Mesh.from_trimesh(out_mesh, material=material)
scene = pyrender.Scene(bg_color=[0.0, 0.0, 0.0, 0.0],
ambient_light=(0.3, 0.3, 0.3))
scene.add(mesh, 'mesh')
camera_center = camera.center.detach().cpu().numpy().squeeze()
camera_transl = camera.translation.detach().cpu().numpy().squeeze()
# Equivalent to 180 degrees around the y-axis. Transforms the fit to
# OpenGL compatible coordinate system.
camera_transl[0] *= -1.0
camera_pose = np.eye(4)
camera_pose[:3, 3] = camera_transl
camera = pyrender.camera.IntrinsicsCamera(fx=focal_length,
fy=focal_length,
cx=camera_center[0],
cy=camera_center[1])
scene.add(camera, pose=camera_pose)
# Get the lights from the viewer
light_nodes = monitor.mv.viewer._create_raymond_lights()
for node in light_nodes:
scene.add_node(node)
r = pyrender.OffscreenRenderer(viewport_width=W,
viewport_height=H,
point_size=1.0)
color, _ = r.render(scene, flags=pyrender.RenderFlags.RGBA)
color = color.astype(np.float32) / 255.0
valid_mask = (color[:, :, -1] > 0)[:, :, np.newaxis]
input_img = img.detach().cpu().numpy()
output_img = (color[:, :, :-1] * valid_mask +
(1 - valid_mask) * input_img)
img = pil_img.fromarray((output_img * 255).astype(np.uint8))
img.save(out_img_fn)
def fit_single_frame(img,
keypoints,
init_trans,
scan,
scene_name,
body_model,
camera,
joint_weights,
body_pose_prior,
jaw_prior,
left_hand_prior,
right_hand_prior,
shape_prior,
expr_prior,
angle_prior,
result_fn='out.pkl',
mesh_fn='out.obj',
body_scene_rendering_fn='body_scene.png',
out_img_fn='overlay.png',
loss_type='smplify',
use_cuda=True,
init_joints_idxs=(9, 12, 2, 5),
use_face=True,
use_hands=True,
data_weights=None,
body_pose_prior_weights=None,
hand_pose_prior_weights=None,
jaw_pose_prior_weights=None,
shape_weights=None,
expr_weights=None,
hand_joints_weights=None,
face_joints_weights=None,
depth_loss_weight=1e2,
interpenetration=True,
coll_loss_weights=None,
df_cone_height=0.5,
penalize_outside=True,
max_collisions=8,
point2plane=False,
part_segm_fn='',
focal_length_x=5000.,
focal_length_y=5000.,
side_view_thsh=25.,
rho=100,
vposer_latent_dim=32,
vposer_ckpt='',
use_joints_conf=False,
interactive=True,
visualize=False,
save_meshes=True,
degrees=None,
batch_size=1,
dtype=torch.float32,
ign_part_pairs=None,
left_shoulder_idx=2,
right_shoulder_idx=5,
####################
### PROX
render_results=True,
camera_mode='moving',
## Depth
s2m=False,
s2m_weights=None,
m2s=False,
m2s_weights=None,
rho_s2m=1,
rho_m2s=1,
init_mode=None,
trans_opt_stages=None,
viz_mode='mv',
#penetration
sdf_penetration=False,
sdf_penetration_weights=0.0,
sdf_dir=None,
cam2world_dir=None,
#contact
contact=False,
rho_contact=1.0,
contact_loss_weights=None,
contact_angle=15,
contact_body_parts=None,
body_segments_dir=None,
load_scene=False,
scene_dir=None,
height=None,
weight=None,
gender='male',
weight_w=0,
height_w=0,
**kwargs):
if kwargs['optim_type'] == 'lbfgsls':
assert batch_size == 1, 'PyTorch L-BFGS only supports batch_size == 1'
batch_size = keypoints.shape[0]
body_model.reset_params()
body_model.transl.requires_grad = True
device = torch.device('cuda') if use_cuda else torch.device('cpu')
# if visualize:
# pil_img.fromarray((img * 255).astype(np.uint8)).show()
if degrees is None:
degrees = [0, 90, 180, 270]
if data_weights is None:
data_weights = [1, ] * 5
if body_pose_prior_weights is None:
body_pose_prior_weights = [4.04 * 1e2, 4.04 * 1e2, 57.4, 4.78]
msg = (
'Number of Body pose prior weights {}'.format(
len(body_pose_prior_weights)) +
' does not match the number of data term weights {}'.format(
len(data_weights)))
assert (len(data_weights) ==
len(body_pose_prior_weights)), msg
if use_hands:
if hand_pose_prior_weights is None:
hand_pose_prior_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand pose prior weights')
assert (len(hand_pose_prior_weights) ==
len(body_pose_prior_weights)), msg
if hand_joints_weights is None:
hand_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of hand joint distance weights')
assert (len(hand_joints_weights) ==
len(body_pose_prior_weights)), msg
if shape_weights is None:
shape_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Shape prior weights = {}')
assert (len(shape_weights) ==
len(body_pose_prior_weights)), msg.format(
len(shape_weights),
len(body_pose_prior_weights))
if use_face:
if jaw_pose_prior_weights is None:
jaw_pose_prior_weights = [[x] * 3 for x in shape_weights]
else:
jaw_pose_prior_weights = map(lambda x: map(float, x.split(',')),
jaw_pose_prior_weights)
jaw_pose_prior_weights = [list(w) for w in jaw_pose_prior_weights]
msg = ('Number of Body pose prior weights does not match the' +
' number of jaw pose prior weights')
assert (len(jaw_pose_prior_weights) ==
len(body_pose_prior_weights)), msg
if expr_weights is None:
expr_weights = [1e2, 5 * 1e1, 1e1, .5 * 1e1]
msg = ('Number of Body pose prior weights = {} does not match the' +
' number of Expression prior weights = {}')
assert (len(expr_weights) ==
len(body_pose_prior_weights)), msg.format(
len(body_pose_prior_weights),
len(expr_weights))
if face_joints_weights is None:
face_joints_weights = [0.0, 0.0, 0.0, 1.0]
msg = ('Number of Body pose prior weights does not match the' +
' number of face joint distance weights')
assert (len(face_joints_weights) ==
len(body_pose_prior_weights)), msg
if coll_loss_weights is None:
coll_loss_weights = [0.0] * len(body_pose_prior_weights)
msg = ('Number of Body pose prior weights does not match the' +
' number of collision loss weights')
assert (len(coll_loss_weights) ==
len(body_pose_prior_weights)), msg
use_vposer = kwargs.get('use_vposer', True)
vposer, pose_embedding = [None, ] * 2
if use_vposer:
# pose_embedding = torch.zeros([batch_size, 32],
# dtype=dtype, device=device,
# requires_grad=True)
# Patrick: hack to set default body pose to something more sleep-y
mean_body = np.array([[ 0.19463745, 1.6240447, 0.6890624, 0.19186097, 0.08003145, -0.04189298,
3.450903, -0.29570094, 0.25072002, -1.1879578, 0.33350763, 0.23568614,
0.38122794, -2.1258948, 0.2910664, 2.2407222, -0.5400814, -0.95984083,
-1.2880017, 1.1122228, 0.7411389, -0.2265636, -4.8202057, -1.950323,
-0.28771818, -1.9282387, 0.9928907, -0.27183488, -0.55805033, 0.04047768,
-0.537362, 0.65770334]])
pose_embedding = torch.tensor(mean_body, dtype=dtype, device=device, requires_grad=True)
vposer_ckpt = osp.expandvars(vposer_ckpt)
vposer, _ = load_vposer(vposer_ckpt, vp_model='snapshot')
vposer = vposer.to(device=device)
vposer.eval()
if use_vposer:
body_mean_pose = torch.zeros([batch_size, vposer_latent_dim], dtype=dtype)
else:
# body_mean_pose = body_pose_prior.get_mean().detach().cpu()
# body_mean_pose = torch.zeros([batch_size, 69], dtype=dtype)
# mean_body = np.array([[-2.33263850e-01, 1.35460928e-01, 2.94471830e-01, -3.22930813e-01,
# -4.73931670e-01, -2.67531037e-01, 7.12558180e-02, 7.89440796e-03,
# 8.67700949e-03, 1.05982251e-01, 2.79584467e-01, -7.04243258e-02,
# 3.61106455e-01, -5.87305248e-01, 1.10897996e-01, -1.68918714e-01,
# -4.60174456e-02, 3.28684039e-02, 5.80525696e-01, -5.11317095e-03,
# -1.57546505e-01, 5.85777402e-01, -8.94948393e-02, 2.24680841e-01,
# 1.55473784e-01, 5.38146123e-04, 4.30279821e-02, -4.68525589e-02,
# 7.75185153e-02, 7.82282930e-03, 6.74356073e-02, 4.09710407e-02,
# -3.60425897e-02, -4.71813440e-01, 5.02379127e-02, 2.02309843e-02,
# 5.29680364e-02, 1.68510173e-02, 2.25090146e-01, -4.52307612e-02,
# 7.72185996e-02, -2.17333943e-01, 3.30020368e-01, 4.21866514e-02,
# 7.15153441e-02, 3.05950731e-01, -3.63454908e-01, -1.28235269e+00,
# 5.09610713e-01, 4.65482563e-01, 1.20263052e+00, 5.56594551e-01,
# -2.24000740e+00, 3.83565158e-01, 5.31355202e-01, 2.21637583e+00,
# -5.63146770e-01, -3.01193684e-01, -4.31942672e-01, 6.85038209e-01,
# 3.61178756e-01, 2.76136428e-01, -2.64388829e-01, 0.00000000e+00,
# 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
# 0.00000000e+00]])
mean_body = np.array(joint_limits.axang_limits_patrick / 180 * np.pi).mean(1)
body_mean_pose = torch.tensor(mean_body, dtype=dtype).unsqueeze(0)
betanet = None
if height is not None:
betanet = torch.load('models/betanet_old_pytorch.pt')
betanet = betanet.to(device=device)
betanet.eval()
keypoint_data = torch.tensor(keypoints, dtype=dtype)
gt_joints = keypoint_data[:, :, :2]
if use_joints_conf:
joints_conf = keypoint_data[:, :, 2]
# Transfer the data to the correct device
gt_joints = gt_joints.to(device=device, dtype=dtype)
if use_joints_conf:
joints_conf = joints_conf.to(device=device, dtype=dtype)
scan_tensor = None
if scan is not None:
scan_tensor = scan.to(device=device)
# load pre-computed signed distance field
sdf = None
sdf_normals = None
grid_min = None
grid_max = None
voxel_size = None
# if sdf_penetration:
# with open(osp.join(sdf_dir, scene_name + '.json'), 'r') as f:
# sdf_data = json.load(f)
# grid_min = torch.tensor(np.array(sdf_data['min']), dtype=dtype, device=device)
# grid_max = torch.tensor(np.array(sdf_data['max']), dtype=dtype, device=device)
# grid_dim = sdf_data['dim']
# voxel_size = (grid_max - grid_min) / grid_dim
# sdf = np.load(osp.join(sdf_dir, scene_name + '_sdf.npy')).reshape(grid_dim, grid_dim, grid_dim)
# sdf = torch.tensor(sdf, dtype=dtype, device=device)
# if osp.exists(osp.join(sdf_dir, scene_name + '_normals.npy')):
# sdf_normals = np.load(osp.join(sdf_dir, scene_name + '_normals.npy')).reshape(grid_dim, grid_dim, grid_dim, 3)
# sdf_normals = torch.tensor(sdf_normals, dtype=dtype, device=device)
# else:
# print("Normals not found...")
with open(os.path.join(cam2world_dir, scene_name + '.json'), 'r') as f:
cam2world = np.array(json.load(f))
R = torch.tensor(cam2world[:3, :3].reshape(3, 3), dtype=dtype, device=device)
t = torch.tensor(cam2world[:3, 3].reshape(1, 3), dtype=dtype, device=device)
# Create the search tree
search_tree = None
pen_distance = None
filter_faces = None
if interpenetration:
from mesh_intersection.bvh_search_tree import BVH
import mesh_intersection.loss as collisions_loss
from mesh_intersection.filter_faces import FilterFaces
assert use_cuda, 'Interpenetration term can only be used with CUDA'
assert torch.cuda.is_available(), \
'No CUDA Device! Interpenetration term can only be used' + \
' with CUDA'
search_tree = BVH(max_collisions=max_collisions)
pen_distance = \
collisions_loss.DistanceFieldPenetrationLoss(
sigma=df_cone_height, point2plane=point2plane,
vectorized=True, penalize_outside=penalize_outside)
if part_segm_fn:
# Read the part segmentation
part_segm_fn = os.path.expandvars(part_segm_fn)
with open(part_segm_fn, 'rb') as faces_parents_file:
face_segm_data = pickle.load(faces_parents_file,
encoding='latin1')
faces_segm = face_segm_data['segm']
faces_parents = face_segm_data['parents']
# Create the module used to filter invalid collision pairs
filter_faces = FilterFaces(
faces_segm=faces_segm, faces_parents=faces_parents,
ign_part_pairs=ign_part_pairs).to(device=device)
# load vertix ids of contact parts
contact_verts_ids = ftov = None
if contact:
contact_verts_ids = []
for part in contact_body_parts:
with open(os.path.join(body_segments_dir, part + '.json'), 'r') as f:
data = json.load(f)
contact_verts_ids.append(list(set(data["verts_ind"])))
contact_verts_ids = np.concatenate(contact_verts_ids)
vertices = body_model(return_verts=True, body_pose= torch.zeros((batch_size, 63), dtype=dtype, device=device)).vertices
vertices_np = vertices.detach().cpu().numpy().squeeze()
body_faces_np = body_model.faces_tensor.detach().cpu().numpy().reshape(-1, 3)
m = Mesh(v=vertices_np, f=body_faces_np)
ftov = m.faces_by_vertex(as_sparse_matrix=True)
ftov = sparse.coo_matrix(ftov)
indices = torch.LongTensor(np.vstack((ftov.row, ftov.col))).to(device)
values = torch.FloatTensor(ftov.data).to(device)
shape = ftov.shape
ftov = torch.sparse.FloatTensor(indices, values, torch.Size(shape))
# Read the scene scan if any
scene_v = scene_vn = scene_f = None
if scene_name is not None:
if load_scene:
scene = Mesh(filename=os.path.join(scene_dir, scene_name + '.ply'))
scene.vn = scene.estimate_vertex_normals()
scene_v = torch.tensor(scene.v[np.newaxis, :],
dtype=dtype,
device=device).contiguous()
scene_vn = torch.tensor(scene.vn[np.newaxis, :],
dtype=dtype,
device=device)
scene_f = torch.tensor(scene.f.astype(int)[np.newaxis, :],
dtype=torch.long,
device=device)
# Weights used for the pose prior and the shape prior
opt_weights_dict = {'data_weight': data_weights,
'body_pose_weight': body_pose_prior_weights,
'shape_weight': shape_weights}
if use_face:
opt_weights_dict['face_weight'] = face_joints_weights
opt_weights_dict['expr_prior_weight'] = expr_weights
opt_weights_dict['jaw_prior_weight'] = jaw_pose_prior_weights
if use_hands:
opt_weights_dict['hand_weight'] = hand_joints_weights
opt_weights_dict['hand_prior_weight'] = hand_pose_prior_weights
if interpenetration:
opt_weights_dict['coll_loss_weight'] = coll_loss_weights
if s2m:
opt_weights_dict['s2m_weight'] = s2m_weights
if m2s:
opt_weights_dict['m2s_weight'] = m2s_weights
if sdf_penetration:
opt_weights_dict['sdf_penetration_weight'] = sdf_penetration_weights
if contact:
opt_weights_dict['contact_loss_weight'] = contact_loss_weights
keys = opt_weights_dict.keys()
opt_weights = [dict(zip(keys, vals)) for vals in
zip(*(opt_weights_dict[k] for k in keys
if opt_weights_dict[k] is not None))]
for weight_list in opt_weights:
for key in weight_list:
weight_list[key] = torch.tensor(weight_list[key],
device=device,
dtype=dtype)
# load indices of the head of smpl-x model
with open( osp.join(body_segments_dir, 'body_mask.json'), 'r') as fp:
head_indx = np.array(json.load(fp))
N = body_model.get_num_verts()
body_indx = np.setdiff1d(np.arange(N), head_indx)
head_mask = np.in1d(np.arange(N), head_indx)
body_mask = np.in1d(np.arange(N), body_indx)
# The indices of the joints used for the initialization of the camera
init_joints_idxs = torch.tensor(init_joints_idxs, device=device)
edge_indices = kwargs.get('body_tri_idxs')
# which initialization mode to choose: similar traingles, mean of the scan or the average of both
if init_mode == 'scan':
init_t = init_trans
elif init_mode == 'both':
init_t = (init_trans.to(device) + fitting.guess_init(body_model, gt_joints, edge_indices,
use_vposer=use_vposer, vposer=vposer,
pose_embedding=pose_embedding,
model_type=kwargs.get('model_type', 'smpl'),
focal_length=focal_length_x, dtype=dtype) ) /2.0
else:
init_t = fitting.guess_init(body_model, gt_joints, edge_indices,
use_vposer=use_vposer, vposer=vposer,
pose_embedding=pose_embedding,
model_type=kwargs.get('model_type', 'smpl'),
focal_length=focal_length_x, dtype=dtype)
camera_loss = fitting.create_loss('camera_init',
trans_estimation=init_t,
init_joints_idxs=init_joints_idxs,
depth_loss_weight=depth_loss_weight,
camera_mode=camera_mode,
dtype=dtype).to(device=device)
camera_loss.trans_estimation[:] = init_t
loss = fitting.create_loss(loss_type=loss_type,
joint_weights=joint_weights,
rho=rho,
use_joints_conf=use_joints_conf,
use_face=use_face, use_hands=use_hands,
vposer=vposer,
pose_embedding=pose_embedding,
body_pose_prior=body_pose_prior,
shape_prior=shape_prior,
angle_prior=angle_prior,
expr_prior=expr_prior,
left_hand_prior=left_hand_prior,
right_hand_prior=right_hand_prior,
jaw_prior=jaw_prior,
interpenetration=interpenetration,
pen_distance=pen_distance,
search_tree=search_tree,
tri_filtering_module=filter_faces,
s2m=s2m,
m2s=m2s,
rho_s2m=rho_s2m,
rho_m2s=rho_m2s,
head_mask=head_mask,
body_mask=body_mask,
sdf_penetration=sdf_penetration,
voxel_size=voxel_size,
grid_min=grid_min,
grid_max=grid_max,
sdf=sdf,
sdf_normals=sdf_normals,
R=R,
t=t,
contact=contact,
contact_verts_ids=contact_verts_ids,
rho_contact=rho_contact,
contact_angle=contact_angle,
dtype=dtype,
betanet=betanet,
height=height,
weight=weight,
gender=gender,
weight_w=weight_w,
height_w=height_w,
**kwargs)
loss = loss.to(device=device)
with fitting.FittingMonitor(batch_size=batch_size, visualize=visualize, viz_mode=viz_mode, **kwargs) as monitor:
img = torch.tensor(img, dtype=dtype)
_, H, W, _ = img.shape
# Reset the parameters to estimate the initial translation of the
# body model
if camera_mode == 'moving':
body_model.reset_params(body_pose=body_mean_pose)
# Update the value of the translation of the camera as well as
# the image center.
with torch.no_grad():
camera.translation[:] = init_t.view_as(camera.translation)
camera.center[:] = torch.tensor([W, H], dtype=dtype) * 0.5
# Re-enable gradient calculation for the camera translation
camera.translation.requires_grad = True
camera_opt_params = [camera.translation, body_model.global_orient]
elif camera_mode == 'fixed':
# body_model.reset_params()
# body_model.transl[:] = torch.tensor(init_t)
# body_model.body_pose[:] = torch.tensor(body_mean_pose)
body_model.reset_params(body_pose=body_mean_pose, transl=init_t)
camera_opt_params = [body_model.transl, body_model.global_orient]
# If the distance between the 2D shoulders is smaller than a
# predefined threshold then try 2 fits, the initial one and a 180
# degree rotation
shoulder_dist = torch.norm(gt_joints[:, left_shoulder_idx, :] - gt_joints[:, right_shoulder_idx, :], dim=1)
try_both_orient = shoulder_dist.min() < side_view_thsh
kwargs['lr'] *= 10
camera_optimizer, camera_create_graph = optim_factory.create_optimizer(camera_opt_params, **kwargs)
kwargs['lr'] /= 10
# The closure passed to the optimizer
fit_camera = monitor.create_fitting_closure(
camera_optimizer, body_model, camera, gt_joints,
camera_loss, create_graph=camera_create_graph,
use_vposer=use_vposer, vposer=vposer,
pose_embedding=pose_embedding,
scan_tensor=scan_tensor,
return_full_pose=False, return_verts=False)
# Step 1: Optimize over the torso joints the camera translation
# Initialize the computational graph by feeding the initial translation
# of the camera and the initial pose of the body model.
camera_init_start = time.time()
cam_init_loss_val = monitor.run_fitting(camera_optimizer,
fit_camera,
camera_opt_params, body_model,
use_vposer=use_vposer,
pose_embedding=pose_embedding,
vposer=vposer)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
tqdm.write('Camera initialization done after {:.4f}'.format(
time.time() - camera_init_start))
tqdm.write('Camera initialization final loss {:.4f}'.format(
cam_init_loss_val))
# If the 2D detections/positions of the shoulder joints are too
# close the rotate the body by 180 degrees and also fit to that
# orientation
if try_both_orient:
with torch.no_grad():
flipped_orient = torch.zeros_like(body_model.global_orient)
for i in range(batch_size):
body_orient = body_model.global_orient[i, :].detach().cpu().numpy()
local_flip = cv2.Rodrigues(body_orient)[0].dot(cv2.Rodrigues(np.array([0., np.pi, 0]))[0])
local_flip = cv2.Rodrigues(local_flip)[0].ravel()
flipped_orient[i, :] = torch.Tensor(local_flip).to(device)
orientations = [body_model.global_orient, flipped_orient]
else:
orientations = [body_model.global_orient.detach().cpu().numpy()]
# store here the final error for both orientations,
# and pick the orientation resulting in the lowest error
results = []
body_transl = body_model.transl.clone().detach()
# Step 2: Optimize the full model
final_loss_val = 0
# for or_idx, orient in enumerate(orientations):
or_idx = 0
while or_idx < len(orientations):
global_vars.cur_orientation = or_idx
orient = orientations[or_idx]
print('Trying orientation', or_idx, 'of', len(orientations))
opt_start = time.time()
or_idx += 1
new_params = defaultdict(transl=body_transl,
global_orient=orient,
body_pose=body_mean_pose)
body_model.reset_params(**new_params)
if use_vposer:
with torch.no_grad():
pose_embedding.fill_(0)
pose_embedding += torch.tensor(mean_body, dtype=dtype, device=device)
for opt_idx, curr_weights in enumerate(opt_weights):
global_vars.cur_opt_stage = opt_idx
if opt_idx not in trans_opt_stages:
body_model.transl.requires_grad = False
else:
body_model.transl.requires_grad = True
body_params = list(body_model.parameters())
final_params = list(
filter(lambda x: x.requires_grad, body_params))
if use_vposer:
final_params.append(pose_embedding)
body_optimizer, body_create_graph = optim_factory.create_optimizer(
final_params,
**kwargs)
body_optimizer.zero_grad()
curr_weights['bending_prior_weight'] = (
3.17 * curr_weights['body_pose_weight'])
if use_hands:
joint_weights[:, 25:76] = curr_weights['hand_weight']
if use_face:
joint_weights[:, 76:] = curr_weights['face_weight']
loss.reset_loss_weights(curr_weights)
closure = monitor.create_fitting_closure(
body_optimizer, body_model,
camera=camera, gt_joints=gt_joints,
joints_conf=joints_conf,
joint_weights=joint_weights,
loss=loss, create_graph=body_create_graph,
use_vposer=use_vposer, vposer=vposer,
pose_embedding=pose_embedding,
scan_tensor=scan_tensor,
scene_v=scene_v, scene_vn=scene_vn, scene_f=scene_f,ftov=ftov,
return_verts=True, return_full_pose=True)
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
stage_start = time.time()
final_loss_val = monitor.run_fitting(
body_optimizer,
closure, final_params,
body_model,
pose_embedding=pose_embedding, vposer=vposer,
use_vposer=use_vposer)
# print('Final loss val', final_loss_val)
# if final_loss_val is None or math.isnan(final_loss_val) or math.isnan(global_vars.cur_loss_dict['total']):
# break
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - stage_start
if interactive:
tqdm.write('Stage {:03d} done after {:.4f} seconds'.format(
opt_idx, elapsed))
# if final_loss_val is None or math.isnan(final_loss_val) or math.isnan(global_vars.cur_loss_dict['total']):
# print('Optimization FAILURE, retrying')
# orientations.append(orientations[or_idx-1] * 0.9)
# continue
if interactive:
if use_cuda and torch.cuda.is_available():
torch.cuda.synchronize()
elapsed = time.time() - opt_start
tqdm.write('Body fitting Orientation {} done after {:.4f} seconds'.format(or_idx, elapsed))
tqdm.write('Body final loss val = {:.5f}'.format(final_loss_val))
# Get the result of the fitting process
# Store in it the errors list in order to compare multiple
# orientations, if they exist
result = {'camera_' + str(key): val.detach().cpu().numpy()
for key, val in camera.named_parameters()}
result['camera_focal_length_x'] = camera.focal_length_x.detach().cpu().numpy()
result['camera_focal_length_y'] = camera.focal_length_y.detach().cpu().numpy()
result['camera_center'] = camera.center.detach().cpu().numpy()
result.update({key: val.detach().cpu().numpy()
for key, val in body_model.named_parameters()})
if use_vposer:
result['pose_embedding'] = pose_embedding.detach().cpu().numpy()
body_pose = vposer.decode(pose_embedding, output_type='aa').view(1, -1) if use_vposer else None
if "smplx.body_models.SMPL'" in str(type(body_model)):
wrist_pose = torch.zeros([body_pose.shape[0], 6], dtype=body_pose.dtype, device=body_pose.device)
body_pose = torch.cat([body_pose, wrist_pose], dim=1)
result['body_pose'] = body_pose.detach().cpu().numpy()
result['final_loss_val'] = final_loss_val
result['loss_dict'] = global_vars.cur_loss_dict
result['betanet_weight'] = global_vars.cur_weight
result['betanet_height'] = global_vars.cur_height
result['gt_joints'] = gt_joints.detach().cpu().numpy()
result['max_joint'] = global_vars.cur_max_joint
results.append(result)
for idx, res_folder in enumerate(result_fn): # Iterate over batch
pkl_data = {}
min_loss = np.inf
all_results = []
for result in results: # Iterate over orientations
sel_res = misc_utils.get_data_from_batched_dict(result, idx, len(result_fn))
all_results.append(sel_res)
cost = sel_res['loss_dict']['total'] + sel_res['loss_dict']['pprior'] * 60
if cost < min_loss:
min_loss = cost
pkl_data.update(sel_res)
pkl_data['all_results'] = all_results
with open(res_folder, 'wb') as result_file:
pickle.dump(pkl_data, result_file, protocol=2)
img_s = img[idx, :].detach().cpu().numpy()
img_s = pil_img.fromarray((img_s * 255).astype(np.uint8))
img_s.save(out_img_fn[idx])