def main():
dataset_path = "./data/data_3d_h36m.npz" # 加载数据
from common.h36m_dataset import Human36mDataset
dataset = Human36mDataset(dataset_path)
dataset = read_3d_data(dataset)
cudnn.benchmark = True
device = torch.device("cpu")
from models.sem_gcn import SemGCN
from common.graph_utils import adj_mx_from_skeleton
p_dropout = None
adj = adj_mx_from_skeleton(dataset.skeleton())
model_pos = SemGCN(adj, 128, num_layers=4, p_dropout=p_dropout,
nodes_group=dataset.skeleton().joints_group()).to(device)
ckpt_path = "./checkpoint/pretrained/ckpt_semgcn_nonlocal_sh.pth.tar"
ckpt = torch.load(ckpt_path, map_location='cpu')
model_pos.load_state_dict(ckpt['state_dict'], False)
model_pos.eval()
# ============ 新增代码 ==============
# 从项目处理2d数据的代码中输出的一个人体数据
inputs_2d = [[483.0, 450], [503, 450], [503, 539], [496, 622], [469, 450], [462, 546], [469, 622], [483, 347],
[483, 326], [489, 264], [448, 347], [448, 408], [441, 463], [517, 347], [524, 408], [538, 463]]
# # openpose的测试样例识别结果
# inputs_2d = [[86.0, 137], [99, 128], [94, 127], [97, 110], [89, 105], [102, 129], [116, 116], [99, 110],
# [105, 93], [117, 69], [147, 63], [104, 93], [89, 69], [82, 38], [89, 139], [94, 140]]
inputs_2d = np.array(inputs_2d)
# inputs_2d[:, 1] = np.max(inputs_2d[:, 1]) - inputs_2d[:, 1] # 变成正的人体姿态，原始数据为倒立的
cam = dataset.cameras()['S1'][0] # 获取相机参数
inputs_2d[..., :2] = normalize_screen_coordinates(inputs_2d[..., :2], w=cam['res_w'], h=cam['res_h']) # 2d坐标处理
# 画出归一化屏幕坐标并且标记序号的二维关键点图像
print(inputs_2d) # 打印归一化后2d关键点坐标
d_x = inputs_2d[:, 0]
d_y = inputs_2d[:, 1]
plt.figure()
plt.scatter(d_x, d_y)
for i, txt in enumerate(np.arange(inputs_2d.shape[0])):
plt.annotate(txt, (d_x[i], d_y[i])) # 标号
# plt.show() # 显示2d关键点归一化后的图像
# 获取3d结果
inputs_2d = torch.tensor(inputs_2d, dtype=torch.float32) # 转换为张量
outputs_3d = model_pos(inputs_2d).cpu() # 加载模型
outputs_3d[:, :, :] -= outputs_3d[:, :1, :] # Remove global offset / 移除全球偏移
predictions = [outputs_3d.detach().numpy()] # 预测结果
prediction = np.concatenate(predictions)[0] # 累加取第一个
# Invert camera transformation / 反相机的转换
prediction = camera_to_world(prediction, R=cam['orientation'], t=0) # R和t的参数设置影响不大，有多种写法和选取的相机参数有关，有些S没有t等等问题
prediction[:, 2] -= np.min(prediction[:, 2]) # 向上偏移min(prediction[:, 2]),作用是把坐标变为正数
print('prediction')
print(prediction) # 打印画图的3d坐标
plt.figure()
ax = plt.subplot(111, projection='3d') # 创建一个三维的绘图工程
o_x = prediction[:, 0]
o_y = prediction[:, 1]
o_z = prediction[:, 2]
print(o_x)
print(o_y)
print(o_z)
ax.scatter(o_x, o_y, o_z)
temp = o_x
x = [temp[9], temp[8], temp[7], temp[10], temp[11], temp[12]]
temp = o_y
y = [temp[9], temp[8], temp[7], temp[10], temp[11], temp[12]]
temp = o_z
z = [temp[9], temp[8], temp[7], temp[10], temp[11], temp[12]]
ax.plot(x, y, z)
temp = o_x
x = [temp[7], temp[0], temp[4], temp[5], temp[6]]
temp = o_y
y = [temp[7], temp[0], temp[4], temp[5], temp[6]]
temp = o_z
z = [temp[7], temp[0], temp[4], temp[5], temp[6]]
ax.plot(x, y, z)
temp = o_x
x = [temp[0], temp[1], temp[2], temp[3]]
temp = o_y
y = [temp[0], temp[1], temp[2], temp[3]]
temp = o_z
z = [temp[0], temp[1], temp[2], temp[3]]
ax.plot(x, y, z)
temp = o_x
x = [temp[7], temp[13], temp[14], temp[15]]
temp = o_y
y = [temp[7], temp[13], temp[14], temp[15]]
temp = o_z
z = [temp[7], temp[13], temp[14], temp[15]]
ax.plot(x, y, z)
# temp = o_x
# x = [temp[0], temp[14]]
# temp = o_y
# y = [temp[0], temp[14]]
# temp = o_z
# z = [temp[0], temp[14]]
# ax.plot(y, x, z)
#
# temp = o_x
# x = [temp[0], temp[15]]
# temp = o_y
# y = [temp[0], temp[15]]
# temp = o_z
# z = [temp[0], temp[15]]
# ax.plot(y, x, z)
# 改变坐标比例的代码，该代码的效果是z坐标轴是其他坐标的两倍
from matplotlib.pyplot import MultipleLocatort
major_locator = MultipleLocator(0.5)
ax.xaxis.set_major_locator(major_locator)
ax.yaxis.set_major_locator(major_locator)
ax.zaxis.set_major_locator(major_locator)
ax.get_proj = lambda: np.dot(Axes3D.get_proj(ax), np.diag([0.5, 0.5, 1, 1]))
plt.show()
def main(args):
print('==> Using settings {}'.format(args))
# print('==> Loading dataset...')
# dataset_path = path.join('data', 'data_3d_' + args.dataset + '.npz')
# if args.dataset == 'h36m':
# from common.h36m_dataset import Human36mDataset, TRAIN_SUBJECTS, TEST_SUBJECTS
# dataset = Human36mDataset(dataset_path)
# subjects_train = TRAIN_SUBJECTS
# subjects_test = TEST_SUBJECTS
# else:
# raise KeyError('Invalid dataset')
# print('==> Preparing data...')
# dataset = read_3d_data(dataset)
#
# print('==> Loading 2D detections...')
# keypoints = create_2d_data(path.join('data', 'data_2d_' + args.dataset + '_' + args.keypoints + '.npz'), dataset)
#
# action_filter = None if args.actions == '*' else args.actions.split(',')
# if action_filter is not None:
# action_filter = map(lambda x: dataset.define_actions(x)[0], action_filter)
# print('==> Selected actions: {}'.format(action_filter))
#
stride = args.downsample
cudnn.benchmark = True
device = torch.device("cuda")
# Create model
print("==> Creating model...")
p_dropout = (None if args.dropout == 0.0 else args.dropout)
# adj = adj_mx_from_skeleton(dataset.skeleton())
adj = adj_mx_from_skeleton()
print(adj)
# model_pos = SemGCN(adj, args.hid_dim, num_layers=args.num_layers, p_dropout=p_dropout,
# nodes_group=dataset.skeleton().joints_group() if args.non_local else None).to(device)
model_pos = SemGCN(adj,
args.hid_dim,
num_layers=args.num_layers,
p_dropout=p_dropout,
nodes_group=None).to(device)
print("==> Total parameters: {:.2f}M".format(
sum(p.numel() for p in model_pos.parameters()) / 1000000.0))
criterion = nn.MSELoss(reduction='mean').to(device)
optimizer = torch.optim.Adam(model_pos.parameters(), lr=args.lr)
# Optionally resume from a checkpoint
if args.resume or args.evaluate:
ckpt_path = (args.resume if args.resume else args.evaluate)
if path.isfile(ckpt_path):
print("==> Loading checkpoint '{}'".format(ckpt_path))
ckpt = torch.load(ckpt_path)
start_epoch = ckpt['epoch']
error_best = ckpt['error']
glob_step = ckpt['step']
lr_now = ckpt['lr']
model_pos.load_state_dict(ckpt['state_dict'])
optimizer.load_state_dict(ckpt['optimizer'])
print("==> Loaded checkpoint (Epoch: {} | Error: {})".format(
start_epoch, error_best))
if args.resume:
ckpt_dir_path = path.dirname(ckpt_path)
logger = Logger(path.join(ckpt_dir_path, 'log.txt'),
resume=True)
else:
raise RuntimeError(
"==> No checkpoint found at '{}'".format(ckpt_path))
else:
start_epoch = 0
error_best = None
glob_step = 0
lr_now = args.lr
ckpt_dir_path = args.checkpoint + '/' + 'test1'
if not path.exists(ckpt_dir_path):
os.makedirs(ckpt_dir_path)
print('==> Making checkpoint dir: {}'.format(ckpt_dir_path))
logger = Logger(os.path.join(ckpt_dir_path, 'log.txt'))
logger.set_names(
['epoch', 'lr', 'loss_train', 'error_eval_p1', 'error_eval_p2'])
if args.evaluate:
print('==> Evaluating...')
# if action_filter is None:
# action_filter = dataset.define_actions()
#
# errors_p1 = np.zeros(len(action_filter))
# errors_p2 = np.zeros(len(action_filter))
# for i, action in enumerate(action_filter):
# poses_valid, poses_valid_2d, actions_valid = fetch(subjects_test, dataset, keypoints, [action], stride)
# valid_loader = DataLoader(PoseGenerator(poses_valid, poses_valid_2d, actions_valid),
# batch_size=args.batch_size, shuffle=False,
# num_workers=args.num_workers, pin_memory=True)
# poses_valid, poses_valid_2d, actions_valid = fetch(subjects_test, dataset, keypoints, [action], stride)
valid_loader = DataLoader(PoseGenerator(opt='val'),
batch_size=args.batch_size,
shuffle=False,
num_workers=args.num_workers,
pin_memory=True)
errors_p1, errors_p2 = evaluate(valid_loader, model_pos, device)
print('Protocol #1 (MPJPE) action-wise average: {:.2f} (mm)'.format(
np.mean(errors_p1)))
print('Protocol #2 (P-MPJPE) action-wise average: {:.2f} (mm)'.format(
np.mean(errors_p2)))
# print('Protocol #1 (MPJPE) action-wise average: {:.2f} (mm)'.format(np.mean(errors_p1).item()))
# print('Protocol #2 (P-MPJPE) action-wise average: {:.2f} (mm)'.format(np.mean(errors_p2).item()))
exit(0)
# poses_train, poses_train_2d, actions_train = fetch(subjects_train, dataset, keypoints, action_filter, stride)
# print('2d data shape: ', len(poses_train_2d))
# print('3d data shape: ', len(poses_train))
# print('action data shape: ', len(actions_train))
# train_loader = DataLoader(PoseGenerator(poses_train, poses_train_2d, actions_train), batch_size=args.batch_size,
# shuffle=True, num_workers=args.num_workers, pin_memory=True)
train_loader = DataLoader(PoseGenerator(opt='train'),
batch_size=args.batch_size,
shuffle=True,
num_workers=args.num_workers,
pin_memory=True)
# poses_valid, poses_valid_2d, actions_valid = fetch(subjects_test, dataset, keypoints, action_filter, stride)
# valid_loader = DataLoader(PoseGenerator(poses_valid, poses_valid_2d, actions_valid), batch_size=args.batch_size,
# shuffle=False, num_workers=args.num_workers, pin_memory=True)
valid_loader = DataLoader(PoseGenerator(opt='val'),
batch_size=args.batch_size,
shuffle=False,
num_workers=args.num_workers,
pin_memory=True)
for epoch in range(start_epoch, args.epochs):
print('\nEpoch: %d | LR: %.8f' % (epoch + 1, lr_now))
# Train for one epoch
epoch_loss, lr_now, glob_step = train(train_loader,
model_pos,
criterion,
optimizer,
device,
args.lr,
lr_now,
glob_step,
args.lr_decay,
args.lr_gamma,
max_norm=args.max_norm)
# Evaluate
error_eval_p1, error_eval_p2 = evaluate(valid_loader, model_pos,
device)
# Update log file
logger.append(
[epoch + 1, lr_now, epoch_loss, error_eval_p1, error_eval_p2])
# Save checkpoint
if error_best is None or error_best > error_eval_p1:
error_best = error_eval_p1
save_ckpt(
{
'epoch': epoch + 1,
'lr': lr_now,
'step': glob_step,
'state_dict': model_pos.state_dict(),
'optimizer': optimizer.state_dict(),
'error': error_eval_p1
},
ckpt_dir_path,
suffix='best')
if (epoch + 1) % args.snapshot == 0:
save_ckpt(
{
'epoch': epoch + 1,
'lr': lr_now,
'step': glob_step,
'state_dict': model_pos.state_dict(),
'optimizer': optimizer.state_dict(),
'error': error_eval_p1
}, ckpt_dir_path)
logger.close()
logger.plot(['loss_train', 'error_eval_p1'])
savefig(path.join(ckpt_dir_path, 'log.eps'))
return
class SemGCMDriver:
def __init__(self, args, device, skeleton):
print("Initialize SemGCMDriver - begin.")
from models.sem_gcn import SemGCN
from common.graph_utils import adj_mx_from_skeleton
self.hid_dim = args.sem_hid_dim
self.num_layers = args.sem_num_layers
self.p_dropout = (None
if args.sem_dropout == 0.0 else args.sem_dropout)
self.render_score_threshold = args.render_score_threshold
self.skeleton = skeleton
adj = adj_mx_from_skeleton(self.skeleton)
self.device = device
self.model_pos = SemGCN(adj,
self.hid_dim,
num_layers=self.num_layers,
p_dropout=self.p_dropout,
nodes_group=self.skeleton.joints_group()).to(
self.device.device)
self.last_2d_positions = None
self.last_3d_positions = None
self.last_scores = None
self.render_3d = args.sem_show_3d
self._plot = args.sem_plot
self._plot_initalized = False
self._plot_skeleton = None
self.last_3d_skeletons = None
# Resume from a checkpoint
ckpt_path = args.sem_evaluate
if path.isfile(ckpt_path):
print("==> Loading checkpoint '{}'".format(ckpt_path))
self.ckpt = torch.load(ckpt_path)
self.rename_nonlocal_node(self.ckpt)
start_epoch = self.ckpt['epoch']
error_best = self.ckpt['error']
self.model_pos.load_state_dict(self.ckpt['state_dict'])
print("==> Loaded checkpoint (Epoch: {} | Error: {})".format(
start_epoch, error_best))
else:
raise RuntimeError(
"==> No checkpoint found at '{}'".format(ckpt_path))
if self._plot:
size = 5
radius = 1
azim = 45
title = "test"
plt.ion()
fig = plt.figure(figsize=(size, size))
self._plot_ax = fig.add_subplot(1, 1, 1, projection='3d')
self._plot_ax.view_init(elev=15., azim=azim)
self._plot_ax.set_xlim3d([-radius / 2, radius / 2])
self._plot_ax.set_zlim3d([0, radius])
self._plot_ax.set_ylim3d([-radius / 2, radius / 2])
self._plot_ax.set_aspect('auto')
self._plot_ax.set_xticklabels([])
self._plot_ax.set_yticklabels([])
self._plot_ax.set_zticklabels([])
self._plot_ax.dist = 7.5
self._plot_ax.set_title(title) # , pad=35
print("Initialize SemGCMDriver - end.")
def update(self, mmpose):
self.last_2d_positions, self.last_scores = mmpose.getLastPoseResult()
self.last_3d_positions = None
if self.last_2d_positions is None:
return
self.last_3d_positions = []
for input2d in self.last_2d_positions:
result = self.model_pos(input2d).cpu()
self.last_3d_positions.append(result)
self.last_3d_skeletons = []
for index, position in enumerate(self.last_3d_positions):
skeleton = []
for node, parent in enumerate(self.skeleton._parents):
if parent < 0:
continue
n = [
position[0][node][0], position[0][node][1],
position[0][node][2]
]
p = [
position[0][parent][0], position[0][parent][1],
position[0][parent][2]
]
line = [
n, p,
[
self.last_scores[index][node],
self.last_scores[index][parent]
]
]
skeleton.append(line)
self.last_3d_skeletons.append(skeleton)
def render(self, img):
img = self.__render_3d(img)
return img
def plotting(self):
if not self._plot:
return
if not self.last_3d_skeletons:
return
if not self._plot_skeleton:
for skeleton in self.last_3d_skeletons:
self._plot_skeleton = []
for line in skeleton:
clr = '#a0a0a0'
if line[2][0] > self.render_score_threshold and line[2][
1] > self.render_score_threshold:
clr = 'black'
self._plot_skeleton.append(
self._plot_ax.plot([line[0][0], line[1][0]],
[line[0][1], line[1][1]],
[line[0][2], line[1][2]],
zdir='z',
color=clr))
break
else:
for si, skeleton in enumerate(self.last_3d_skeletons):
for li, line in enumerate(skeleton):
clr = '#a0a0a0'
if line[2][0] > self.render_score_threshold and line[2][
1] > self.render_score_threshold:
clr = 'black'
self._plot_skeleton[li][0].set_xdata(
np.array([line[0][0], line[1][0]]))
self._plot_skeleton[li][0].set_ydata(
np.array([line[0][2], line[1][2]]))
self._plot_skeleton[li][0].set_3d_properties(
[line[0][1], line[1][1]], zdir='z')
self._plot_skeleton[li][0].set_color(clr)
break
plt.draw()
plt.pause(0.01)
def __render_3d(self, img):
if self.render_3d and self.last_3d_skeletons:
for skeleton in self.last_3d_skeletons:
for line in skeleton:
color = (255, 0, 0)
if line[2][0] > self.render_score_threshold and line[2][
1] > self.render_score_threshold:
color = (255, 255, 0)
nx = line[0][0] * 100 + 100
ny = line[0][1] * 100 + 100
px = line[1][0] * 100 + 100
py = line[1][1] * 100 + 100
cv2.line(img, (nx, ny), (px, py), color, 1)
break
return img
def rename_nonlocal_node(self, dic):
if 'items' not in dir(dic):
return
targets = []
for key, value in dic.items():
if type(key) == str:
if '.nonlocal.' in key:
targets.append(key)
self.rename_nonlocal_node(value)
for key in targets:
value = dic.pop(key)
key = key.replace('.nonlocal.', '._nonlocal.')
dic[key] = value
def term(self):
if self._plot:
plt.ioff()
