def calculate_knee_neck_height(skel, joint_names):
"""Calculate skeleton height from left knee to neck via the spine joint.
This function is based on a code snippet provided courtesy of Dushyant Mehta.
Args:
skel (torch.Tensor): The skeleton.
joint_names (list): List of joint names for the skeleton.
Returns:
The knee-neck height of the skeleton.
"""
left_knee = joint_names.index('left_knee')
left_hip = joint_names.index('left_hip')
spine = joint_names.index('spine')
pelvis = joint_names.index('pelvis')
neck = joint_names.index('neck')
skel = ensure_cartesian(skel, d=3)
return sum([
(skel[left_knee] - skel[left_hip]).norm(2).item(),
(skel[spine] - skel[pelvis]).norm(2).item(),
(skel[neck] - skel[spine]).norm(2).item(),
])
def main(argv, common_opts):
args = parse_args(argv)
seed_all(12345)
init_algorithms(deterministic=True)
torch.set_grad_enabled(False)
device = common_opts['device']
assert args.multicrop == False, 'TODO: Implement multi-crop for single image inference.'
model = load_model(args.model).to(device).eval()
input_specs: ImageSpecs = model.data_specs.input_specs
image: PIL.Image.Image = PIL.Image.open(args.image, 'r')
image.thumbnail((input_specs.width, input_specs.height))
inp = input_specs.convert(image).to(device, torch.float32)
output = model(inp[None, ...])[0]
norm_skel3d = ensure_cartesian(output.to(CPU, torch.float64), d=3)
fig = plt.figure(figsize=(16, 8))
ax1 = fig.add_subplot(1, 2, 1)
ax2: Axes3D = fig.add_subplot(1, 2, 2, projection='3d')
ax1.imshow(input_specs.unconvert(inp.to(CPU)))
plot_skeleton_on_axes3d(norm_skel3d, CanonicalSkeletonDesc, ax2, invert=True)
plt.show()
def make_eval_scale_bone_lengths(skel_desc, untransform, ref_skel):
joint_tree = skel_desc.joint_tree
ref_bone_lengths = cartesian_to_spherical(
absolute_to_parent_relative(ensure_cartesian(ref_skel, d=3), joint_tree)
)[:, 0]
def eval_scale(test_skel):
skel = untransform(test_skel)
return calc_relative_scale(skel, ref_bone_lengths, joint_tree)
return eval_scale
def infer_joints(model, image):
#Obtains input spec from model and resizes the image
input_specs: ImageSpecs = model.data_specs.input_specs
try:
image: PIL.Image.Image = PIL.Image.open(image, 'r')
except:
pass
if image.width != image.height:
cropSize = min(image.width, image.height)
image = image.crop((image.width/2 - cropSize/2, image.height/2 - cropSize/2,
image.width/2 + cropSize/2, image.height/2 + cropSize/2))
if image.width < 256:
image = image.resize((256, 256), PIL.Image.ANTIALIAS)
image.thumbnail((input_specs.width, input_specs.height))
input_image = input_specs.convert(image).to(CPU, torch.float32)
# input_image = input_specs.convert(image).to(CPU, torch.cuda)
# Make inference
output = model(input_image[None, ...])[0]
# Create location of normalized skeleton
norm_skel3d = ensure_cartesian(output.to(CPU, torch.float64), d=3)
# norm_skel3d = ensure_cartesian(output, d=3)
coords = norm_skel3d.cpu().numpy()
# if torch.cuda.is_available():
# coords = norm_skel3d.cpu().numpy()
# else:
# coords = norm_skel3d.numpy()
coords_raw = coords
coords_img = np.rint((1+coords)*(255-0)/2)[:,:3]
coords_img = coords_img.astype(int)
# print(coords_2d)
img = input_specs.unconvert(input_image.to(CPU).cpu())
# print(norm_skel3d)
# create visualization of normalized skeleton
fig = plt.figure(1)
plt_3d: Axes3D = fig.add_subplot(1, 1, 1, projection='3d')
plot_skeleton_on_axes3d(norm_skel3d, CanonicalSkeletonDesc, plt_3d, invert=True)
# plt.show()
#saving all outputs as image files with corresponding filename
fig.canvas.draw()
fig_img = np.array(fig.canvas.renderer._renderer, np.uint8)[:,:,:3]
# fig_img = fig_img[:,:,:3]
plt.close(fig)
return (coords_img, coords_raw, img, fig_img)
def prepare_for_3d_evaluation(original_skel,
norm_pred,
dataset,
camera_intrinsics,
transform_opts,
known_depth=False):
"""Process predictions and ground truth into root-relative original skeleton space.
Args:
original_skel (torch.Tensor): Ground truth skeleton joint locations in the original
coordinate space.
norm_pred (torch.Tensor): Normalised predictions for skeleton joints.
dataset:
camera_intrinsics:
transform_opts:
known_depth (bool): If true, use the ground truth depth of the root joint. If false,
use skeleton height of 92cm knee-neck to infer depth.
Returns:
Expected and actual skeletons in original coordinate space.
"""
if known_depth:
z_ref = original_skel[dataset.skeleton_desc.root_joint_id][2]
denorm_skel = dataset.denormalise_with_depth(norm_pred, z_ref,
camera_intrinsics)
else:
denorm_skel = dataset.denormalise_with_skeleton_height(
norm_pred, camera_intrinsics, transform_opts)
pred_skel = dataset.untransform_skeleton(denorm_skel, transform_opts)
actual = absolute_to_root_relative(
dataset.to_canonical_skeleton(ensure_cartesian(pred_skel, d=3)),
CanonicalSkeletonDesc.root_joint_id)
expected = absolute_to_root_relative(
dataset.to_canonical_skeleton(ensure_cartesian(original_skel, d=3)),
CanonicalSkeletonDesc.root_joint_id)
return expected, actual
def calc_relative_scale(skeleton, ref_bone_lengths, joint_tree) -> (float, float):
"""Calculate the factor by which the reference is larger than the query skeleton.
Args:
skeleton (torch.DoubleTensor): The query skeleton.
ref_bone_lengths (torch.DoubleTensor): The reference skeleton bone lengths.
joint_tree (list of int):
Returns:
The average scale factor.
"""
bone_lengths = cartesian_to_spherical(
absolute_to_parent_relative(ensure_cartesian(skeleton, d=3), joint_tree)
)[:, 0]
non_zero = bone_lengths.gt(1e-6)
if non_zero.sum() == 0: return 0
ratio = (ref_bone_lengths / bone_lengths).masked_select(non_zero)
return ratio.median().item()
def project_cartesian(self, coords):
coords = ensure_homogeneous(coords, d=3)
return ensure_cartesian(self.project(coords), d=2)
def root_relative(skel):
return absolute_to_root_relative(
ensure_cartesian(skel, d=3),
CanonicalSkeletonDesc.root_joint_id
)
