def _fit_rot_trans(
model, # pylint: disable=too-many-arguments, too-many-locals
j2d,
center,
init_t,
init_pose,
conf,
flength):
"""Find a rotation and translation to minimize the projection error of the pose."""
opt_pose = _ch.array(init_pose) # pylint: disable=no-member
opt_trans = _ch.array(init_t) # pylint: disable=no-member
(_, A_global) = _global_rigid_transformation(opt_pose,
model.J,
model.kintree_table,
xp=_ch)
Jtr = _ch.vstack([g[:3, 3] for g in A_global]) + opt_trans # pylint: disable=no-member
cam = _ProjectPoints(f=_np.array([flength, flength]),
rt=_np.zeros(3),
t=_np.zeros(3),
k=_np.zeros(5),
c=center)
cam_3d = _ProjectPoints3D(f=_np.array([flength, flength]),
rt=_np.zeros(3),
t=_np.zeros(3),
k=_np.zeros(5),
c=center)
cam.v = Jtr
cam_3d.v = Jtr
free_variables = [opt_pose[:3],
opt_trans] # Optimize global rotation and translation.
j2d_ids = range(12)
smpl_ids = [8, 5, 2, 1, 4, 7, 21, 19, 17, 16, 18, 20]
#_CID_TORSO = [2, 3, 8, 9]
#torso_smpl_ids = [2, 1, 17, 16]
_ch.minimize(
{
'j2d': (j2d.T[j2d_ids] - cam[smpl_ids]).T * conf[j2d_ids],
# 'dev^2': 1e2 * (opt_trans[2] - init_t[2])
},
x0=free_variables,
method='dogleg',
callback=None, #on_step_vis,
options={
'maxiter': 100,
'e_3': .0001,
'disp': 0
})
_LOGGER.debug("Global rotation: %s, global translation: %s.",
str(opt_pose[:3].r), str(opt_trans.r))
_LOGGER.debug("Points 3D: %s.", str(cam_3d.r[:10, :]))
_LOGGER.debug("Points 2D: %s.", str(cam.r[:10, :]))
return opt_pose[:3].r, opt_trans.r, cam_3d.r[:,
2].min(), cam_3d.r[:,
2].max()
def create_renderer(w=640, # pylint: disable=too-many-arguments
h=480,
rt=_np.zeros(3),
t=_np.zeros(3),
f=None, # pylint: disable=redefined-outer-name
c=None,
k=None,
near=.5,
far=10.):
"""Create a colored renderer."""
f = _np.array([w, w])/2. if f is None else f
c = _np.array([w, h])/2. if c is None else c
k = _np.zeros(5) if k is None else k
rn = _ColoredRenderer()
rn.camera = _ProjectPoints(rt=rt, t=t, f=f, c=c, k=k)
rn.frustum = {'near':near, 'far':far, 'height':h, 'width':w}
return rn
def initialize_camera(
model, # pylint: disable=too-many-arguments, too-many-locals
j2d,
center,
img,
init_t,
init_pose,
conf,
is_gt,
flength=1000.,
pix_thsh=25.,
viz=False):
"""Initialize the camera."""
# try to optimize camera translation and rotation based on torso joints
# right shoulder, left shoulder, right hip, left hip
torso_cids = _CID_TORSO
torso_smpl_ids = [2, 1, 17, 16]
# initialize camera rotation and translation
rt = _ch.zeros(3) # pylint: disable=no-member
_LOGGER.info('Initializing camera: guessing translation via similarity')
init_t = guess_init(model, flength, j2d, conf, init_pose, is_gt)
t = _ch.array(init_t) # pylint: disable=no-member
# check how close the shoulders are
try_both_orient = _np.linalg.norm(j2d[8] - j2d[9]) < pix_thsh
opt_pose = _ch.array(init_pose) # pylint: disable=no-member
(_, A_global) = _global_rigid_transformation(opt_pose,
model.J,
model.kintree_table,
xp=_ch)
Jtr = _ch.vstack([g[:3, 3] for g in A_global]) # pylint: disable=no-member
# initialize the camera
cam = _ProjectPoints(f=_np.array([flength, flength]),
rt=rt,
t=t,
k=_np.zeros(5),
c=center)
# we are going to project the SMPL joints
cam.v = Jtr
if viz:
viz_img = img.copy()
# draw the target joints
for coord in _np.around(j2d).astype(int):
if (coord[0] < img.shape[1] and coord[0] >= 0
and coord[1] < img.shape[0] and coord[1] >= 0):
_cv2.circle(viz_img, tuple(coord), 3, [0, 255, 0])
import matplotlib.pyplot as plt
plt.ion()
# draw optimized joints at each iteration
def on_step(_):
"""Draw a visualization."""
plt.figure(1, figsize=(5, 5))
plt.subplot(1, 1, 1)
viz_img = img.copy()
for coord in _np.around(cam.r[torso_smpl_ids]).astype(int):
if (coord[0] < viz_img.shape[1] and coord[0] >= 0
and coord[1] < viz_img.shape[0] and coord[1] >= 0):
_cv2.circle(viz_img, tuple(coord), 3, [0, 0, 255])
plt.imshow(viz_img[:, :, ::-1])
plt.draw()
plt.show()
else:
on_step = None
free_variables = [cam.t, opt_pose[:3]] # pylint: disable=no-member
_ch.minimize(
[(j2d[torso_cids] - cam[torso_smpl_ids]).T * conf[torso_cids], 1e2 *
(cam.t[2] - init_t[2])], # pylint: disable=no-member
# The same for verbose output.
#{'cam': (j2d[torso_cids] - cam[torso_smpl_ids]).T * conf[torso_cids],
# # Reduce the weight here to avoid the 'small people' problem.
# 'cam_t': 1e2*(cam.t[2]-init_t[2])}, # pylint: disable=no-member
x0=free_variables,
method='dogleg',
callback=on_step,
options={
'maxiter': 100,
'e_3': .0001,
'disp': 0
})
if viz:
plt.ioff()
return (cam, try_both_orient, opt_pose[:3].r)