def export_scenelet(um,
o_pos_3d,
o_polys_3d,
query_full_skeleton,
scenes,
joints_active,
transform_id=None):
"""Extract a scenelet (poses and objects) from the data from the
optimized problem.
Args:
um (stealth.pose.unk_manager.UnkManager):
Data manager.
o_pos_3d (np.ndarray):
Output 3D poses.
o_polys_3d (np.ndarray): (6K, 4, 3)
3D oriented bounding boxes stored stacked.
query_full_skeleton (stealth.logic.skeleton.Skeleton):
Initial path containing time information.
joints_active (list):
List of joint_ids that were optimized for.
Usage: pose16[:, joints_active] = o_pos_3d[pid, :, :]
transform_id (int):
Export only a specific group. Everything is exported, if None.
Returns:
A scenelet extracted from the data provided.
"""
# cache function
_guess_time_at = query_full_skeleton.guess_time_at
# all poses or the ones that belong to a group/scenelet
if transform_id is None:
pids_sorted = sorted([(pid, pid2scene)
for pid, pid2scene in um.pids_2_scenes.items()],
key=lambda e: e[1].frame_id)
else:
# pids_sorted = sorted([(pid, pid2scene)
# for pid, pid2scene in um.pids_2_scenes.items()
# if pid2scene.transform_id == transform_id],
# key=lambda e: e[1].frame_id)
pids_2_scenes = um.pids_2_scenes
pids_sorted = sorted([(pid, pids_2_scenes[pid])
for pid in um.get_pids_for(transform_id)],
key=lambda e: e[1].frame_id)
# create output scenelet
o = Scenelet()
charness = None
#
# Skeleton
#
# cache skeleton reference
skeleton = o.skeleton
# fill skeleton
for pid, pid2scene in pids_sorted:
if charness is None:
scene = scenes[pid2scene.id_scene]
charness = scene.charness
o.add_aux_info('name_scenelet', scene.name_scenelet)
o.charness = charness
# get frame_id
frame_id = int(pid2scene.frame_id)
# check if already exists
if skeleton.has_pose(frame_id):
# TODO: fix overlapping frame_ids
lg.warning("[export_scenelet] Overwriting output frame_id %d" %
frame_id)
# add with time guessed from input skeleton rate
pose = np.zeros((3, Joint.get_num_joints()))
pose[:, joints_active] = o_pos_3d[pid, :, :]
pose[:, Joint.PELV] = (pose[:, Joint.LHIP] + pose[:, Joint.RHIP]) / 2.
pose[:, Joint.NECK] = (pose[:, Joint.HEAD] + pose[:, Joint.THRX]) / 2.
# for j, jid in joints_remap.items():
# pose[:, j] = o_pos_3d[pid, :, jid]
assert not skeleton.has_pose(frame_id=frame_id), \
'Already has pose: {}'.format(frame_id)
skeleton.set_pose(frame_id=frame_id,
pose=pose,
time=_guess_time_at(frame_id))
#
# Objects
#
scene_obj = None
scene_obj_oid = 0 # unique identifier that groups parts to objects
for polys2scene in um.polys2scene.values():
# Check, if we are restricted to a certain group
if transform_id is not None \
and polys2scene.transform_id != transform_id:
continue
start = polys2scene.poly_id_start
end = start + polys2scene.n_polys
# 6 x 4 x 3
polys = o_polys_3d[start:end, ...]
assert polys.shape[0] == 6, "Assumed cuboids here"
if scene_obj is None or scene_obj_oid != polys2scene.object_id:
category = next(cat for cat in CATEGORIES
if CATEGORIES[cat] == polys2scene.cat_id)
scene_obj = SceneObj(label=category)
scene_obj_oid = polys2scene.object_id
o.add_object(obj_id=-1, scene_obj=scene_obj, clone=False)
part = scene_obj.add_part(part_id=-1,
label_or_part=polys2scene.part_label)
# TODO: average for numerical precision errors
centroid = np.mean(polys, axis=(0, 1))
ax0 = polys[0, 1, :] - polys[0, 0, :]
scale0 = np.linalg.norm(ax0)
ax0 /= scale0
ax1 = polys[0, 3, :] - polys[0, 0, :]
scale1 = np.linalg.norm(ax1)
ax1 /= scale1
ax2 = polys[1, 0, :] - polys[0, 0, :]
scale2 = np.linalg.norm(ax2)
ax2 /= scale2
part.obb = Obb(centroid=centroid,
axes=np.concatenate(
(ax0[:, None], ax1[:, None], ax2[:, None]), axis=1),
scales=[scale0, scale1, scale2])
# if scene_obj is not None:
# o.add_object(obj_id=-1, scene_obj=scene_obj, clone=False)
# else:
# lg.warning("No objects in scenelet?")
# scene_obj = SceneObj('couch')
# for poly_id in range(0, o_polys_3d.shape[0], 6):
# rects = o_polys_3d[poly_id : poly_id + 6, ...]
# # lg.debug("rects:\n%s" % rects)
# scene_obj.add_part(poly_id, 'seat')
#
# # fig = plt.figure()
# # ax = fig.add_subplot(111, projection='3d')
# # for rid, rect in enumerate(rects):
# # wrapped = np.concatenate((rect, rect[0:1, :]), axis=0)
# # ax.plot(wrapped[:, 0], wrapped[:, 2], wrapped[:, 1])
# # for ci in range(4):
# # c = rect[ci, :]
# # ax.text(c[0], c[2], c[1], s="%d, %d, %d"
# # % (poly_id, rid, ci))
# # if rid >= 1:
# # break
# #
# # plt.show()
# part = scene_obj.get_part(poly_id)
# centroid = np.mean(rects, axis=(0, 1))
# ax0 = rects[0, 1, :] - rects[0, 0, :]
# scale0 = np.linalg.norm(ax0)
# ax0 /= scale0
# ax1 = rects[0, 3, :] - rects[0, 0, :]
# scale1 = np.linalg.norm(ax1)
# ax1 /= scale1
# ax2 = rects[1, 0, :] - rects[0, 0, :]
# scale2 = np.linalg.norm(ax2)
# ax2 /= scale2
# part.obb = Obb(centroid=centroid,
# axes=np.concatenate((
# ax0[:, None], ax1[:, None], ax2[:, None]
# ), axis=1),
# scales=[scale0, scale1, scale2])
# o.add_object(obj_id=99, scene_obj=scene_obj,
# clone=False)
return o
def main(argv):
conf = Conf.get()
parser = argparse.ArgumentParser("Denis pose converter")
parser.add_argument('camera_name',
help="Camera name ('G15', 'S6')",
type=str)
parser.add_argument(
'-d',
dest='dir',
required=True,
help="Path to the <scene folder>/denis containing skeletons.json")
parser.add_argument(
'-filter',
dest='with_filtering',
action="store_true",
help="Should we do post-filtering (1-euro) on the pelvis positions")
parser.add_argument('-huber',
required=False,
help="Should we do huber loss?",
action='store_true')
parser.add_argument('-smooth',
type=float,
default=0.005,
help="Should we have a smoothness term (l2/huber)?")
parser.add_argument(
'--winsorize-limit',
type=float,
default=conf.optimize_path.winsorize_limit,
help='Threshold for filtering too large jumps of the 2D centroid')
parser.add_argument('--no-resample',
action='store_true',
help="add resampled frames")
parser.add_argument('--n-actors',
type=int,
default=1,
help="How many skeletons to track.")
parser.add_argument('-n-actors',
type=int,
default=1,
help="Max number of people in scene.")
# parser.add_argument(
# '-r', type=float,
# help='Video rate. Default: 1, if avconv -r 5. '
# 'Original video sampling rate (no subsampling) should be '
# '24/5=4.8. avconv -r 10 leads to 24/10=2.4.',
# required=True)
parser.add_argument('--person_height',
type=float,
help='Assumed height of human(s) in video.',
default=Conf.get().optimize_path.person_height)
parser.add_argument(
'--forwards-window-size',
type=int,
help='How many poses in time to look before AND after to '
'average forward direction. 0 means no averaging. Default: 0.',
default=0)
parser.add_argument('--no-img',
action='store_true',
help='Read and write images (vis reproj error)')
parser.add_argument('--postfix',
type=str,
help="output file postfix.",
default='unannot')
args = parser.parse_args(argv)
show = False
args.resample = not args.no_resample
# assert not args.resample, "resample should be off"
assert os.path.exists(args.dir), "Source does not exist: %s" % args.dir
p_scene = os.path.normpath(os.path.join(args.dir, os.pardir)) # type: str
p_video_params = os.path.join(p_scene, 'video_params.json')
assert os.path.exists(p_video_params), "Need video_params.json for rate"
if 'r' not in args or args.r is None:
args.r = json.load(open(p_video_params, 'r'))['rate-avconv']
# manual parameters (depth initialization, number of actors)
p_scene_params = os.path.join(args.dir, os.pardir, 'scene_params.json')
if not os.path.exists(p_scene_params):
scene_params = {
'depth_init': 10.,
'actors': args.n_actors,
'ground_rot': [0., 0., 0.]
}
json.dump(scene_params, open(p_scene_params, 'w'))
raise RuntimeError("Inited scene_params.json, please check: %s" %
p_scene_params)
else:
scene_params = json.load(open(p_scene_params, 'r'))
lg.warning("Will work with %d actors and init depth to %g" %
(scene_params['actors'], scene_params['depth_init']))
assert '--n-actors' not in argv \
or args.n_actors == scene_params['actors'], \
"Actor count mismatch, remove %d from args, because " \
"scene_params.json says %d?" \
% (args.n_actors, scene_params['actors'])
args.n_actors = scene_params['actors']
ground_rot = scene_params['ground_rot'] or [0., 0., 0.]
# load images
path_images = os.path.abspath(os.path.join(args.dir, os.pardir, 'origjpg'))
images = {}
shape_orig = None
if not args.no_img:
images, shape_orig = load_images(path_images)
path_skeleton = \
max((f for f in os.listdir(os.path.join(args.dir))
if f.startswith('skeletons') and f.endswith('json')),
key=lambda s: int(os.path.splitext(s)[0].split('_')[1]))
print("path_skeleton: %s" % path_skeleton)
data = json.load(open(os.path.join(args.dir, path_skeleton), 'r'))
# data, pose_constraints, first_run = \
# cleanup(data, p_dir=os.path.join(args.dir, os.pardir))
# poses_2d = []
# plt.figure()
# show_images(images, data)
if False:
# pose_ids = identify_actors_multi(data, n_actors=1)
p_segm_pickle = os.path.join(args.dir, os.pardir,
"label_skeletons.pickle")
problem = None
if False and os.path.exists(p_segm_pickle):
lg.warning("Loading skeleton segmentation from pickle %s" %
p_segm_pickle)
pose_ids, problem = pickle_load(open(p_segm_pickle, 'rb'))
if not problem or problem._n_actors != args.n_actors:
pose_ids, problem, data = more_actors_gurobi(
data,
n_actors=args.n_actors,
constraints=pose_constraints,
first_run=first_run)
if True or show:
show_multi(images,
data,
pose_ids,
problem,
p_dir=os.path.join(args.dir, os.pardir),
first_run=first_run,
n_actors=args.n_actors)
pickle.dump((pose_ids, problem), open(p_segm_pickle, 'wb'), -1)
else:
pose_ids = greedy_actors(data, n_actors=args.n_actors)
data = DataPosesWrapper(data=data)
visible_f = {a: {} for a in range(args.n_actors)}
visible_f_max = 0.
if show:
plt.ion()
fig = None
axe = None
scatters = dict()
# how many images we have
min_frame_id = min(f for f in pose_ids)
frames_mod = max(f for f in pose_ids) - min_frame_id + 1
skel_ours = Skeleton(frames_mod=frames_mod,
n_actors=args.n_actors,
min_frame_id=min_frame_id)
skel_ours_2d = Skeleton(frames_mod=frames_mod,
n_actors=args.n_actors,
min_frame_id=min_frame_id)
# assert len(images) == 0 or max(f for f in images) + 1 == frames_mod, \
# "Assumed image count is %d, but max_frame_id is %d" \
# % (len(images), frames_mod-1)
if isinstance(data, DataPosesWrapper):
frames = data.get_frames()
else:
frames = []
for frame_str in sorted(data.get_frames()):
try:
frame_id = int(frame_str.split('_')[1])
except ValueError:
print("skipping key %s" % frame_id)
continue
frames.append(frame_id)
my_visibilities = [[], []]
for frame_id in frames:
frame_str = DataPosesWrapper._to_frame_str(frame_id)
pose_in = data.get_poses_3d(frame_id=frame_id)
# np.asarray(data[frame_str][u'centered_3d'])
# pose_in_2d = np.asarray(data[frame_str][u'pose_2d'])
pose_in_2d = data.get_poses_2d(frame_id=frame_id)
# visible = np.asarray(data[frame_str][u'visible'])
if False and len(pose_in.shape) > 2:
pose_id = pose_ids[frame_id]
if not args.no_img:
im = cv2.cvtColor(images[frame_id], cv2.COLOR_RGB2BGR)
for i in range(pose_in.shape[0]):
c = (1., 0., 0., 1.)
if i == pose_id:
c = (0., 1., 0., 1.)
color = tuple(int(c_ * 255) for c_ in c[:3])
for p2d in pose_in_2d[i, :, :]:
# color = (c[0] * 255, c[1] * 255., c[2] * 255.)
cv2.circle(im, (p2d[1], p2d[0]),
radius=3,
color=color,
thickness=-1)
center = np.mean(pose_in_2d[i, :, :],
axis=0).round().astype('i4').tolist()
cv2.putText(im, "%d" % i, (center[1], center[0]), 1, 1,
color)
if show:
cv2.imshow("im", im)
cv2.waitKey(100)
# if sid not in scatters:
# scatters[sid] = axe.scatter(pose_in_2d[i, :, 1], pose_in_2d[i, :, 0], c=c)
# else:
# scatters[sid].set_offsets(pose_in_2d[i, :, [1, 0]])
# scatters[sid].set_array(np.tile(np.array(c), pose_in_2d.shape[1]))
# scatter.set_color(c)
# plt.draw()
# plt.pause(1.)
pose_in = pose_in[pose_id, :, :]
pose_in_2d = pose_in_2d[pose_id, :, :]
visible = visible[pose_id]
# else:
# pose_id = 0
# pose_id = pose_ids[frame_id]
for actor_id in range(args.n_actors):
# if actor_id in (2, 3, 4, 5, 8, 9)
# expanded frame_id
frame_id2 = Skeleton.unmod_frame_id(frame_id=frame_id,
actor_id=actor_id,
frames_mod=frames_mod)
assert (actor_id != 0) ^ (frame_id2 == frame_id), "no"
frame_id_mod = skel_ours.mod_frame_id(frame_id=frame_id2)
assert frame_id_mod == frame_id, \
"No: %d %d %d" % (frame_id, frame_id2, frame_id_mod)
actor_id2 = skel_ours.get_actor_id(frame_id2)
assert actor_id2 == actor_id, "no: %s %s" % (actor_id, actor_id2)
# which pose explains this actor in this frame
pose_id = pose_ids[frame_id][actor_id]
# check, if actor found
if pose_id < 0:
continue
# 3D pose
pose = pose_in[pose_id, :, JointDenis.revmap].T
# added by Aron on 4/4/2018 (Denis' pelvis is too high up)
pose[:, Joint.PELV] = (pose[:, Joint.LHIP] + pose[:, Joint.RHIP]) \
/ 2.
skel_ours.set_pose(frame_id2, pose)
# 2D pose
pose_2d = pose_in_2d[pose_id, :, :]
arr = np.array(JointDenis.pose_2d_to_ours(pose_2d),
dtype=np.float32).T
skel_ours_2d.set_pose(frame_id2, arr)
#
# visibility (binary) and confidence (float)
#
# np.asarray(data[frame_str][u'visible'][pose_id])
vis_i = data.get_visibilities(frame_id)[pose_id]
# vis_f = np.asarray(data[frame_str][u'visible_float'][pose_id])
vis_f = data.get_confidences(frame_id)[pose_id]
for jid, visible in enumerate(vis_i): # for each joint
# binary visibility
jid_ours = JointDenis.to_ours_2d(jid)
skel_ours_2d.set_visible(frame_id2, jid_ours, visible)
# confidence (fractional visibility)
if np.isnan(vis_f[jid]):
continue
try:
visible_f[actor_id][frame_id2][jid_ours] = vis_f[jid]
except KeyError:
visible_f[actor_id][frame_id2] = {jid_ours: vis_f[jid]}
visible_f_max = max(visible_f_max, vis_f[jid])
conf_ = get_conf_thresholded(vis_f[jid],
thresh_log_conf=None,
dtype_np=np.float32)
skel_ours_2d.set_confidence(frame_id=frame_id2,
joint=jid_ours,
confidence=conf_)
my_visibilities[0].append(vis_f[jid])
my_visibilities[1].append(conf_)
skel_ours_2d._confidence_normalized = True
plt.figure()
plt.plot(my_visibilities[0], my_visibilities[1], 'o')
plt.savefig('confidences.pdf')
assert skel_ours.n_actors == args.n_actors, "no"
assert skel_ours_2d.n_actors == args.n_actors, "no"
# align to room
min_z = np.min(skel_ours.poses[:, 2, :])
print("min_max: %s, %s" % (min_z, np.max(skel_ours.poses[:, 2, :])))
skel_ours.poses[:, 2, :] += min_z
skel_ours.poses /= 1000.
# The output is scaled to 2m by Denis.
# We change this to 1.8 * a scale in order to correct for
# the skeletons being a bit too high still.
skel_ours.poses *= \
args.person_height * conf.optimize_path.height_correction / 2.
skel_ours.poses[:, 2, :] *= -1.
skel_ours.poses = skel_ours.poses[:, [0, 2, 1], :]
# refine
name_video = args.dir.split(os.sep)[-2]
out_path = os.path.join(args.dir, os.pardir,
"skel_%s_%s.json" % (name_video, args.postfix))
out_path_orig = os.path.join(args.dir, os.pardir,
"skel_%s_lfd_orig.json" % name_video)
sclt_orig = Scenelet(skeleton=copy.deepcopy(skel_ours))
sclt_orig.save(out_path_orig)
skel_ours_2d_all = copy.deepcopy(skel_ours_2d)
assert len(skel_ours_2d_all.get_frames()), skel_ours_2d_all.get_frames()
#
# Optimize
#
# frames_ignore = [(282, 372), (516, 1000)]
skel_ours, skel_ours_2d, intrinsics, \
frame_ids_filled_in = prepare(
args.camera_name,
winsorize_limit=args.winsorize_limit,
shape_orig=shape_orig,
path_scene=p_scene,
skel_ours_2d=skel_ours_2d,
skel_ours=skel_ours,
resample=args.resample,
path_skel=path_skeleton)
frames_ignore = []
tr_ground = np.eye(4, dtype=np.float32)
skel_opt, out_images, K = \
optimize_path(
skel_ours, skel_ours_2d, images, intrinsics=intrinsics,
path_skel=out_path, shape_orig=shape_orig,
use_huber=args.huber, weight_smooth=args.smooth,
frames_ignore=frames_ignore, resample=args.resample,
depth_init=scene_params['depth_init'],
ground_rot=ground_rot)
for frame_id in skel_opt.get_frames():
skel_opt.set_time(frame_id=frame_id, time=float(frame_id) / args.r)
skel_opt_raw = copy.deepcopy(skel_opt)
skel_opt_resampled = Skeleton.resample(skel_opt)
# Filter pelvis
if args.with_filtering:
out_filter_path = os.path.join(args.dir, os.pardir, "vis_filtering")
skel_opt = filter_(skel_opt_resampled,
out_filter_path=out_filter_path,
skel_orig=skel_opt,
weight_smooth=args.smooth,
forwards_window_size=args.forwards_window_size)
else:
skel_opt.estimate_forwards(k=args.forwards_window_size)
skel_opt_resampled.estimate_forwards(k=args.forwards_window_size)
# if len(images):
# skel_opt.fill_with_closest(images.keys()[0], images.keys()[-1])
min_y, max_y = skel_opt.get_min_y(tr_ground)
print("min_y: %s, max_y: %s" % (min_y, max_y))
#
# save
#
frame_ids_old = set(skel_opt.get_frames())
if args.resample:
skel_opt = skel_opt_resampled
frame_ids_filled_in.update(
set(skel_opt.get_frames()).difference(frame_ids_old))
lg.warning("Saving resampled scenelet!")
scenelet = Scenelet(skel_opt)
del skel_opt
# skel_dict = skel_opt.to_json()
tr_ground[1, 3] = min_y
scenelet.aux_info['ground'] = tr_ground.tolist()
assert isinstance(ground_rot, list) and len(ground_rot) == 3
scenelet.add_aux_info('ground_rot', ground_rot)
scenelet.add_aux_info(
'path_opt_params', {
'rate': args.r,
'w-smooth': args.smooth,
'winsorize-limit': args.winsorize_limit,
'camera': args.camera_name,
'huber': args.huber,
'height_correction': conf.optimize_path.height_correction,
'focal_correction': conf.optimize_path.focal_correction
})
scenelet.add_aux_info('frame_ids_filled_in', list(frame_ids_filled_in))
# To MATLAB
# _skeleton.get_min_y(_tr_ground)
# with skel_opt as skeleton:
# skeleton = skel_opt
# skeleton_name = os.path.split(args.dir)[0]
# skeleton_name = skeleton_name[skeleton_name.rfind('/')+1:]
# mdict = skeleton.to_mdict(skeleton_name)
# mdict['room_transform'] = tr_ground
# mdict['room_transform'][1, 3] *= -1.
# print(mdict)
# print("scene_name?: %s" % os.path.split(args.dir)[0])
# skeleton.save_matlab(
# os.path.join(os.path.dirname(args.dir), "skeleton_opt.mat"),
# mdict=mdict)
assert scenelet.skeleton.has_forwards(), "No forwards??"
scenelet.save(out_path)
if show:
# save path plot
out_path_path = os.path.join(args.dir, os.pardir,
"%s_path.jpg" % name_video)
path_fig = plot_path(scenelet.skeleton)
legend = ["smooth %g" % args.smooth]
# hack debug
# path_skel2 = os.path.join(args.dir, os.pardir, 'skel_lobby7_nosmooth.json')
# if os.path.exists(path_skel2):
# skel2 = Skeleton.load(path_skel2)
# path_fig = plot_path(skel2, path_fig)
# legend.append('no smooth')
if show:
plt.legend(legend)
path_fig.savefig(out_path_path)
# backup args
path_args = os.path.join(args.dir, os.pardir, 'args_denis.txt')
with open(path_args, 'a') as f_args:
f_args.write("%s %s\n" %
(os.path.basename(sys.executable), " ".join(argv)))
# save 2D detections to file
if args.postfix == 'unannot':
path_skel_ours_2d = os.path.join(
args.dir, os.pardir, "skel_%s_2d_%02d.json" % (name_video, 0))
sclt_2d = Scenelet(skel_ours_2d_all)
print('Saving {} to {}'.format(len(skel_ours_2d_all.get_frames()),
path_skel_ours_2d))
sclt_2d.skeleton.aux_info = {}
sclt_2d.save(path_skel_ours_2d)
else:
print(args.postfix)
logging.info("Saving images...")
if len(images) and len(out_images):
path_out_images = os.path.join(args.dir, os.pardir, 'color')
try:
os.makedirs(path_out_images)
except OSError:
pass
visible_f_max_log = np.log(visible_f_max)
frames = list(out_images.keys())
for frame_id in range(frames[0], frames[-1] + 1):
im = out_images[frame_id] if frame_id in out_images \
else cv2.cvtColor(images[frame_id], cv2.COLOR_BGR2RGB)
for actor_id in range(args.n_actors):
if frame_id in visible_f[actor_id]:
frame_id2 = skel_ours_2d_all.unmod_frame_id(
frame_id=frame_id,
actor_id=actor_id,
frames_mod=skel_ours_2d_all.frames_mod)
for joint, is_vis in visible_f[actor_id][frame_id].items():
p2d = skel_ours_2d_all.get_joint_3d(joint,
frame_id=frame_id2)
# radius = np.log(is_vis) / visible_f_max_log
# lg.debug("r0: %g" % radius)
# radius = np.exp(np.log(is_vis) / visible_f_max_log)
# lg.debug("radius is %g" % radius)
vis_bool = True
if skel_ours_2d_all.has_visible(frame_id=frame_id2,
joint_id=joint):
vis_bool &= skel_ours_2d_all.is_visible(
frame_id2, joint)
radius = abs(np.log(is_vis / 0.1 + 1e-6))
if not np.isnan(radius):
p2d = (int(round(p2d[0])), int(round(p2d[1])))
cv2.circle(im,
center=p2d,
radius=int(round(radius)),
color=(1., 1., 1., 0.5),
thickness=1)
conf = get_conf_thresholded(conf=is_vis,
thresh_log_conf=None,
dtype_np=np.float32)
if conf > 0.5:
cv2.putText(img=im,
text=Joint(joint).get_name(),
org=p2d,
fontFace=1,
fontScale=1,
color=(10., 150., 10., 100.))
# lg.debug("set visibility to %g, radius %g" % (is_vis, radius))
# if frame_id in out_images:
scale = (shape_orig[1] / float(im.shape[1]),
shape_orig[0] / float(im.shape[0]))
cv2.imwrite(
os.path.join(path_out_images, "color_%05d.jpg" % frame_id),
cv2.resize(im, (0, 0),
fx=scale[0],
fy=scale[1],
interpolation=cv2.INTER_CUBIC))
# else:
# fname = "color_%05d.jpg" % frame_id
# shutil.copyfile(
# os.path.join(path_images, fname),
# os.path.join(path_out_images, fname))
lg.info("Wrote images to %s/" % path_out_images)