def load_data(self):
db = COCO(osp.join(self.data_path,
'3DPW_' + self.data_split + '.json'))
datalist = []
for aid in db.anns.keys():
ann = db.anns[aid]
image_id = ann['image_id']
img = db.loadImgs(image_id)[0]
img_width, img_height = img['width'], img['height']
sequence_name = img['sequence']
img_name = img['file_name']
img_path = osp.join(self.data_path, 'imageFiles', sequence_name,
img_name)
cam_param = {
k: np.array(v, dtype=np.float32)
for k, v in img['cam_param'].items()
}
joint_cam = np.array(ann['joint_cam'],
dtype=np.float32).reshape(-1, 3)
joint_img = cam2pixel(joint_cam, cam_param['focal'],
cam_param['princpt'])
joint_valid = ((joint_img[:, 0] >= 0) *
(joint_img[:, 0] < img_width) *
(joint_img[:, 1] >= 0) *
(joint_img[:, 1] < img_height)).astype(np.float32)
root_cam = joint_cam[self.root_idx]
root_img = joint_img[self.root_idx]
root_vis = joint_valid[self.root_idx]
bbox = process_bbox(ann['bbox'], img_width, img_height)
if bbox is None: continue
area = bbox[2] * bbox[3]
datalist.append({
'img_path': img_path,
'img_id': image_id,
'ann_id': aid,
'bbox': bbox,
'area': area,
'root_img': root_img,
'root_cam': root_cam,
'root_vis': root_vis,
'f': cam_param['focal'],
'c': cam_param['princpt']
})
return datalist
def load_data(self):
subject_list = self.get_subject()
sampling_ratio = self.get_subsampling_ratio()
# aggregate annotations from each subject
db = COCO()
for subject in subject_list:
with open(
osp.join(self.annot_path,
'Human36M_subject' + str(subject) + '.json'),
'r') as f:
annot = json.load(f)
if len(db.dataset) == 0:
for k, v in annot.items():
db.dataset[k] = v
else:
for k, v in annot.items():
db.dataset[k] += v
db.createIndex()
if self.data_split == 'test' and not cfg.use_gt_info:
print("Get bounding box and root from " + self.human_bbox_root_dir)
bbox_root_result = {}
with open(self.human_bbox_root_dir) as f:
annot = json.load(f)
for i in range(len(annot)):
bbox_root_result[str(annot[i]['image_id'])] = {
'bbox': np.array(annot[i]['bbox']),
'root': np.array(annot[i]['root_cam'])
}
else:
print("Get bounding box and root from groundtruth")
data = []
for aid in db.anns.keys():
ann = db.anns[aid]
image_id = ann['image_id']
img = db.loadImgs(image_id)[0]
# check subject and frame_idx
subject = img['subject']
frame_idx = img['frame_idx']
if subject not in subject_list:
continue
if frame_idx % sampling_ratio != 0:
continue
img_path = osp.join(self.img_dir, img['file_name'])
img_width, img_height = img['width'], img['height']
cam_param = img['cam_param']
R, t, f, c = np.array(cam_param['R']), np.array(
cam_param['t']), np.array(cam_param['f']), np.array(
cam_param['c'])
# project world coordinate to cam, image coordinate space
joint_world = np.array(ann['keypoints_world'])
joint_world = self.add_thorax(joint_world)
joint_cam = np.zeros((self.joint_num, 3))
for j in range(self.joint_num):
joint_cam[j] = world2cam(joint_world[j], R, t)
joint_img = np.zeros((self.joint_num, 3))
joint_img[:, 0], joint_img[:, 1], joint_img[:, 2] = cam2pixel(
joint_cam, f, c)
joint_img[:, 2] = joint_img[:, 2] - joint_cam[self.root_idx, 2]
joint_vis = np.ones((self.joint_num, 1))
if self.data_split == 'test' and not cfg.use_gt_info:
bbox = bbox_root_result[str(
image_id
)]['bbox'] # bbox should be aspect ratio preserved-extended. It is done in RootNet.
root_cam = bbox_root_result[str(image_id)]['root']
else:
bbox = np.array(ann['bbox'])
root_cam = joint_cam[self.root_idx]
# aspect ratio preserving bbox
w = bbox[2]
h = bbox[3]
c_x = bbox[0] + w / 2.
c_y = bbox[1] + h / 2.
aspect_ratio = cfg.input_shape[1] / cfg.input_shape[0]
if w > aspect_ratio * h:
h = w / aspect_ratio
elif w < aspect_ratio * h:
w = h * aspect_ratio
bbox[2] = w * 1.25
bbox[3] = h * 1.25
bbox[0] = c_x - bbox[2] / 2.
bbox[1] = c_y - bbox[3] / 2.
data.append({
'img_path': img_path,
'img_id': image_id,
'bbox': bbox,
'joint_img':
joint_img, # [org_img_x, org_img_y, depth - root_depth]
'joint_cam': joint_cam, # [X, Y, Z] in camera coordinate
'joint_vis': joint_vis,
'root_cam': root_cam, # [X, Y, Z] in camera coordinate
'f': f,
'c': c
})
return data
def load_data(self):
print('Load data of H36M Protocol ' + str(self.protocol))
subject_list = self.get_subject()
sampling_ratio = self.get_subsampling_ratio()
# aggregate annotations from each subject
db = COCO()
cameras = {}
joints = {}
for subject in subject_list:
# data load
with open(
osp.join(self.annot_path,
'Human36M_subject' + str(subject) + '_data.json'),
'r') as f:
annot = json.load(f)
if len(db.dataset) == 0:
for k, v in annot.items():
db.dataset[k] = v
else:
for k, v in annot.items():
db.dataset[k] += v
# camera load
with open(
osp.join(
self.annot_path,
'Human36M_subject' + str(subject) + '_camera.json'),
'r') as f:
cameras[str(subject)] = json.load(f)
# joint coordinate load
with open(
osp.join(
self.annot_path,
'Human36M_subject' + str(subject) + '_joint_3d.json'),
'r') as f:
joints[str(subject)] = json.load(f)
db.createIndex()
if self.data_split == 'test' and not cfg.use_gt_info:
print("Get bounding box and root from " + self.human_bbox_root_dir)
bbox_root_result = {}
with open(self.human_bbox_root_dir) as f:
annot = json.load(f)
for i in range(len(annot)):
bbox_root_result[str(annot[i]['image_id'])] = {
'bbox': np.array(annot[i]['bbox']),
'root': np.array(annot[i]['root_cam'])
}
else:
print("Get bounding box and root from groundtruth")
data = []
for aid in db.anns.keys():
ann = db.anns[aid]
image_id = ann['image_id']
img = db.loadImgs(image_id)[0]
img_path = osp.join(self.img_dir, img['file_name'])
img_width, img_height = img['width'], img['height']
# check subject and frame_idx
subject = img['subject']
frame_idx = img['frame_idx']
if subject not in subject_list:
continue
if frame_idx % sampling_ratio != 0:
continue
# camera parameter
cam_idx = img['cam_idx']
cam_param = cameras[str(subject)][str(cam_idx)]
R, t, f, c = np.array(cam_param['R'], dtype=np.float32), np.array(
cam_param['t'], dtype=np.float32), np.array(
cam_param['f'],
dtype=np.float32), np.array(cam_param['c'],
dtype=np.float32)
# project world coordinate to cam, image coordinate space
action_idx = img['action_idx']
subaction_idx = img['subaction_idx']
frame_idx = img['frame_idx']
joint_world = np.array(joints[str(subject)][str(action_idx)][str(
subaction_idx)][str(frame_idx)],
dtype=np.float32)
joint_world = self.add_thorax(joint_world)
joint_cam = world2cam(joint_world, R, t)
joint_img = cam2pixel(joint_cam, f, c)
joint_img[:, 2] = joint_img[:, 2] - joint_cam[self.root_idx, 2]
joint_vis = np.ones((self.joint_num, 1))
if self.data_split == 'test' and not cfg.use_gt_info:
bbox = bbox_root_result[str(
image_id
)]['bbox'] # bbox should be aspect ratio preserved-extended. It is done in RootNet.
root_cam = bbox_root_result[str(image_id)]['root']
else:
bbox = process_bbox(np.array(ann['bbox']), img_width,
img_height)
if bbox is None: continue
root_cam = joint_cam[self.root_idx]
data.append({
'img_path': img_path,
'img_id': image_id,
'bbox': bbox,
'joint_img':
joint_img, # [org_img_x, org_img_y, depth - root_depth]
'joint_cam': joint_cam, # [X, Y, Z] in camera coordinate
'joint_vis': joint_vis,
'root_cam': root_cam, # [X, Y, Z] in camera coordinate
'f': f,
'c': c
})
return data
def load_data(self):
print('Load data of H36M Protocol ' + str(self.protocol))
subject_list = self.get_subject()
sampling_ratio = self.get_subsampling_ratio()
# aggregate annotations from each subject
db = COCO()
cameras = {}
joints = {}
for subject in subject_list:
# data load
with open(
osp.join(self.annot_path,
'Human36M_subject' + str(subject) + '_data.json'),
'r') as f:
annot = json.load(f)
if len(db.dataset) == 0:
for k, v in annot.items():
db.dataset[k] = v
else:
for k, v in annot.items():
db.dataset[k] += v
# camera load
with open(
osp.join(
self.annot_path,
'Human36M_subject' + str(subject) + '_camera.json'),
'r') as f:
cameras[str(subject)] = json.load(f)
# joint coordinate load
with open(
osp.join(
self.annot_path,
'Human36M_subject' + str(subject) + '_joint_3d.json'),
'r') as f:
joints[str(subject)] = json.load(f)
db.createIndex()
if self.data_split == 'test' and not cfg.use_gt_bbox:
print("Get bounding box from " + self.human_bbox_dir)
bbox_result = {}
with open(self.human_bbox_dir) as f:
annot = json.load(f)
for i in range(len(annot)):
bbox_result[str(annot[i]['image_id'])] = np.array(
annot[i]['bbox'])
else:
print("Get bounding box from groundtruth")
data = []
for aid in db.anns.keys():
ann = db.anns[aid]
image_id = ann['image_id']
img = db.loadImgs(image_id)[0]
img_path = osp.join(self.img_dir, img['file_name'])
img_width, img_height = img['width'], img['height']
# check subject and frame_idx
subject = img['subject']
frame_idx = img['frame_idx']
if subject not in subject_list:
continue
if frame_idx % sampling_ratio != 0:
continue
# camera parameter
cam_idx = img['cam_idx']
cam_param = cameras[str(subject)][str(cam_idx)]
R, t, f, c = np.array(cam_param['R'], dtype=np.float32), np.array(
cam_param['t'], dtype=np.float32), np.array(
cam_param['f'],
dtype=np.float32), np.array(cam_param['c'],
dtype=np.float32)
# project world coordinate to cam, image coordinate space
action_idx = img['action_idx']
subaction_idx = img['subaction_idx']
frame_idx = img['frame_idx']
root_world = np.array(joints[str(subject)][str(action_idx)][str(
subaction_idx)][str(frame_idx)],
dtype=np.float32)[self.root_idx]
root_cam = world2cam(root_world[None, :], R, t)[0]
root_img = cam2pixel(root_cam[None, :], f, c)[0]
joint_vis = np.ones((self.joint_num, 1))
root_vis = np.array(ann['keypoints_vis'])[self.root_idx, None]
# bbox load
if self.data_split == 'test' and not cfg.use_gt_bbox:
bbox = bbox_result[str(image_id)]
else:
bbox = np.array(ann['bbox'])
bbox = process_bbox(bbox, img_width, img_height)
if bbox is None: continue
area = bbox[2] * bbox[3]
data.append({
'img_path': img_path,
'img_id': image_id,
'bbox': bbox,
'area': area,
'root_img': root_img, # [org_img_x, org_img_y, depth]
'root_cam': root_cam,
'root_vis': root_vis,
'f': f,
'c': c
})
return data