def _pose_estimator(landmark_array, ret_array, command_queue, command_lock,
ret_queue):
global _MODEL_POSE # pylint: disable=global-statement
_LOGGER.info("Pose estimator starting up...")
if _MODEL_POSE is None:
_LOGGER.info("Loading pose estimation model...")
_MODEL_POSE = {}
for start_idx in tqdm.tqdm(range(13, 79, 3)):
_MODEL_POSE[start_idx] = joblib.load(
_path.join(_path.dirname(__file__), '..', 'models', '2dto3d',
'separate_regressors',
'forest_%d%s.z' % (start_idx, _DEBUG_SFX)))
ret_queue.put('ready')
_LOGGER.info("Pose estimator ready.")
rel_ids = {}
for start_idx in range(13, 79, 3):
rel_ids[start_idx] = create_featseltuple(lmset_to_use[(start_idx,
start_idx + 3)])
while True:
cmd = command_queue.get()
if cmd == 'shutdown':
break
with command_lock:
landmarks = landmark_array.reshape((1, 182)).copy()
for start_idx in range(13, 79, 3):
ret_array[start_idx - 13:start_idx -
10] = versor_to_axis_angle_ipr(
matrix_to_versor(
project_to_rot_nofailure_ipr(
_MODEL_POSE[start_idx].predict(landmarks[
0:1,
rel_ids[start_idx]]).astype('float32'))))
ret_queue.put('done')
_LOGGER.info("Pose estimator shut down.")
def _rot_estimator(landmark_array, ret_array, command_queue, command_lock,
ret_queue):
global _MODEL_ROT, _DTA_ROT # pylint: disable=global-statement, global-variable-not-assigned
_LOGGER.info("Rotation estimator starting up...")
if _MODEL_ROT is None:
_LOGGER.info("Loading rotation estimation model...")
_MODEL_ROT = joblib.load(
_path.join(_path.dirname(__file__), '..', 'models', '2dto3d',
'separate_regressors', 'forest_10%s.z' % (_DEBUG_SFX)))
ret_queue.put('ready')
_LOGGER.info("Rotation estimator ready.")
rel_ids = create_featseltuple(lmset_to_use[(10, 13)])
while True:
cmd = command_queue.get()
if cmd == 'shutdown':
break
with command_lock:
landmarks = landmark_array.reshape((1, 182))[0:1, rel_ids].copy()
#qidx = _MODEL_ROT.query(landmarks.reshape((1, 182)), return_distance=False)[0, 0]
#ret_array[...] = _DTA_ROT[qidx, 10:13]
ret_array[...] = versor_to_axis_angle_ipr(
matrix_to_versor(
project_to_rot_nofailure_ipr(
_MODEL_ROT.predict(landmarks).astype('float32'))))
ret_queue.put('done')
_LOGGER.info("Rotation estimator shut down.")
def _shape_estimator(landmark_array, ret_array, command_queue, command_lock,
ret_queue):
global _MODEL_SHAPE # pylint: disable=global-statement
_LOGGER.info("Shape estimator starting up...")
if _MODEL_SHAPE is None:
_LOGGER.info("Loading shape estimation model...")
_MODEL_SHAPE = joblib.load(
_path.join(_path.dirname(__file__), '..', 'models', '2dto3d',
'separate_regressors', 'forest_0%s.z' % (_DEBUG_SFX)))
ret_queue.put('ready')
_LOGGER.info("Shape estimator ready.")
rel_ids = create_featseltuple(lmset_to_use[(0, 10)])
while True:
cmd = command_queue.get()
if cmd == 'shutdown':
break
with command_lock:
landmarks = landmark_array.reshape((1, 182))[0:1, rel_ids].copy()
ret_array[...] = _MODEL_SHAPE.predict(landmarks)
ret_queue.put('done')
_LOGGER.info("Shape estimator shut down.")