def cook(self, location, interface, attrs): if not 'xcp' in attrs or not attrs['xcp']: return if self.mats is None: xcp_filename = self.resolvePath(attrs['xcp']) try: self.mats, self.xcp_data = ViconReader.loadXCP(xcp_filename) self.Ps = interface.getPsFromMats(self.mats) except IOError as e: self.logger.error('Could not load XCP file: %s' % str(e)) return False interface.setAttr('mats', self.mats) interface.setAttr('xcp_data', self.xcp_data) xcp_camera_ids = np.array([int(x['DEVICEID']) for x in self.xcp_data], dtype=np.int32) camera_names = [ '%s:%s' % (x['LABEL'], x['DEVICEID']) for x in self.xcp_data ] self.setupAttrs = { 'Ps': self.Ps, 'camera_ids': xcp_camera_ids, 'camera_names': camera_names, 'mats': self.mats } interface.createChild('cameras', 'cameras', atLocation=location, attrs=self.setupAttrs)
GL.glDisableClientState(GL.GL_VERTEX_ARRAY) # GL.glEnable(GL.GL_CULL_FACE) # GL.glCullFace(GL.GL_BACK) # GL.glFrontFace(GL.GL_CCW) # GL.glVertexPointerf(self.cameraPointArray) # GL.glColorPointerf(self.cameraColourArray) # GL.glDrawElementsui(GL.GL_TRIANGLES, self.cameraIdxArray) # GL.glDisableClientState(GL.GL_COLOR_ARRAY) if __name__ == '__main__': import sys, os directory = os.environ['GRIP_DATA'] xcp_filename = os.path.join(directory, sys.argv[1]) from IO import ViconReader mats, xcp_data = ViconReader.loadXCP(xcp_filename) from UI import QAppCtx from UI.QGLViewer import Camera from UI.QApp import QApp with QAppCtx(): glWidget = QApp() n = len(mats) camera_ids = range(len(mats[:n])) cameras = [] for mat, cid in zip(mats, camera_ids)[:n]: camera = Camera('Cam_%d' % cid) glWidget.view().addCamera(camera) cameras.append(camera) camera.setP(mat[2], distortion=mat[3])
def main(x2d_filename, xcp_filename, c3d_filename=None): '''Generate a 3D view of an x2d file, using the calibration.''' global x2d_frames, mats, Ps, c3d_frames, primitives, primitives2D, track3d, prev_frame, track_orn, orn_graph, boot, orn_mapper, mar_mapper prev_frame = None c3d_frames = None if c3d_filename != None: c3d_dict = C3D.read(c3d_filename) c3d_frames, c3d_fps, c3d_labels = c3d_dict['frames'], c3d_dict[ 'fps'], c3d_dict['labels'] mats, xcp_data = ViconReader.loadXCP(xcp_filename) camera_ids = [int(x['DEVICEID']) for x in xcp_data] print 'loading 2d' x2d_dict = ViconReader.loadX2D(x2d_filename) x2d_frames = x2d_dict['frames'] cameras_info = ViconReader.extractCameraInfo(x2d_dict) print 'num frames', len(x2d_frames) Ps = [m[2] / (m[0][0, 0]) for m in mats] track3d = Label.Track3D(mats) primitives = QGLViewer.makePrimitives(vertices=[], altVertices=[]) primitives2D = QGLViewer.makePrimitives2D(([], [0])) global g_all_skels, md directory = os.path.join(os.environ['GRIP_DATA'], '151110') _, orn_skel_dict = IO.load(os.path.join(directory, 'orn.skel')) movie_fn = os.path.join(directory, '50_Grip_RoomCont_AA_02.v2.mov') md = MovieReader.open_file(movie_fn, audio=True, frame_offset=0, volume_ups=10) asf_filename = os.path.join(directory, 'Martha.asf') amc_filename = os.path.join(directory, 'Martha.amc') asf_dict = ASFReader.read_ASF(asf_filename) mar_skel_dict = ASFReader.asfDict_to_skelDict(asf_dict) mar_skel_dict['anim_dict'] = ASFReader.read_AMC(amc_filename, asf_dict) for k in ('geom_Vs', 'geom_vsplits', 'geom_Gs'): mar_skel_dict[k] = orn_skel_dict[k].copy() mar_skel_dict['shape_weights'] = orn_skel_dict['shape_weights'] mar_skel_dict['geom_dict'] = orn_skel_dict['geom_dict'] orn_vss = ViconReader.loadVSS(os.path.join(directory, 'Orn.vss')) orn_vss_chan_mapping = [ orn_vss['chanNames'].index(n) for n in orn_skel_dict['chanNames'] ] orn_anim_dict = orn_skel_dict['anim_dict'] orn_vss_anim = np.zeros( (orn_anim_dict['dofData'].shape[0], orn_vss['numChans']), dtype=np.float32) orn_vss_anim[:, orn_vss_chan_mapping] = orn_anim_dict['dofData'] orn_anim_dict['dofData'] = orn_vss_anim orn_vss['anim_dict'] = orn_anim_dict for x in [ 'geom_dict', 'geom_Vs', 'geom_vsplits', 'geom_Gs', 'shape_weights' ]: orn_vss[x] = orn_skel_dict[x] orn_skel_dict = orn_vss g_all_skels = {} orn_mesh_dict, orn_skel_mesh, orn_geom_mesh = orn_t = Character.make_geos( orn_skel_dict) g_all_skels['orn'] = (orn_skel_dict, orn_t) orn_skel_dict['chanValues'][:] = 0 Character.updatePoseAndMeshes(orn_skel_dict, orn_skel_mesh, orn_geom_mesh) mar_mesh_dict, mar_skel_mesh, mar_geom_mesh = mar_t = Character.make_geos( mar_skel_dict) g_all_skels['mar'] = (mar_skel_dict, mar_t) #ted_mesh_dict, ted_skel_mesh, ted_geom_mesh = ted_t = Character.make_geos(ted_skel_dict) #g_all_skels['ted'] = (ted_skel_dict, ted_t) #ted_skel_dict['chanValues'][0] += 1000 #Character.updatePoseAndMeshes(ted_skel_dict, ted_skel_mesh, ted_geom_mesh) mnu = orn_skel_dict['markerNamesUnq'] mns = orn_skel_dict['markerNames'] effectorLabels = np.array([mnu.index(n) for n in mns], dtype=np.int32) orn_graph = Label.graph_from_skel(orn_skel_dict, mnu) boot = -10 track_orn = Label.TrackModel(orn_skel_dict, effectorLabels, mats) #ted = GLSkel(ted_skel_dict['Bs'], ted_skel_dict['Gs']) #, mvs=ted_skel_dict['markerOffsets'], mvis=ted_skel_dict['markerParents']) #ted = GLSkeleton(ted_skel_dict['jointNames'],ted_skel_dict['jointParents'], ted_skel_dict['Gs'][:,:,3]) #ted.setName('ted') #ted.color = (1,1,0) #orn = GLSkeleton(orn_skel_dict['jointNames'],orn_skel_dict['jointParents'], orn_skel_dict['Gs'][:,:,3]) #orn.setName('orn') #orn.color = (0,1,1) #square = GLMeshes(names=['square'],verts=[[[0,0,0],[1000,0,0],[1000,1000,0],[0,1000,0]]],vts=[[[0,0],[1,0],[1,1],[0,1]]],faces=[[[0,1,2,3]]],fts=[[[0,1,2,3]]]) #square.setImageData(np.array([[[0,0,0],[255,255,255]],[[255,255,255],[0,0,0]]],dtype=np.uint8)) #orn_geom_mesh.setImageData(np.array([[[0,0,0],[255,255,255]],[[255,255,255],[0,0,0]]],dtype=np.uint8)) P = Calibrate.composeP_fromData((60.8, ), (-51.4, 14.7, 3.2), (6880, 2860, 5000), 0) # roughed in camera for 151110 ks = (0.06, 0.0) mat = Calibrate.makeMat(P, ks, (1080, 1920)) orn_mapper = Opengl.ProjectionMapper(mat) orn_mapper.setGLMeshes(orn_geom_mesh) orn_geom_mesh.setImage((md['vbuffer'], (md['vheight'], md['vwidth'], 3))) mar_mapper = Opengl.ProjectionMapper(mat) mar_mapper.setGLMeshes(mar_geom_mesh) mar_geom_mesh.setImage((md['vbuffer'], (md['vheight'], md['vwidth'], 3))) global g_screen g_screen = Opengl.make_quad_distortion_mesh() QGLViewer.makeViewer(mat=mat,md=md,layers = {\ #'ted':ted, 'orn':orn, #'ted_skel':ted_skel_mesh,'ted_geom':ted_geom_mesh,\ #'square':square, 'orn_skel':orn_skel_mesh,'orn_geom':orn_geom_mesh,\ 'mar_skel':mar_skel_mesh,'mar_geom':mar_geom_mesh,\ }, primitives=primitives, primitives2D=primitives2D, timeRange=(0, len(x2d_frames) - 1, 4, 25.0), callback=intersectRaysCB, mats=mats,camera_ids=camera_ids)
def main(): global State, mats, movieFilenames, primitives global movies, primitives2D, deinterlacing, detectingWands import IO import sys, os deinterlacing = False detectingWands = False detectingTiara = False dot_detections = None detections_filename = None frame_offsets = None firstFrame, lastFrame = 0, 5000 drawDotSize = 4.0 fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 50., (0, 0), (0, 0, 0), (0, 1250, 0), (0, 0) mats = [] grip_directory = os.environ['GRIP_DATA'] if 0: fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 37.9, (0, 0), ( -66.0, 3.5, -0.2), (4850, 1330, 3280), (0, 0) # roughed in K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT( Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0) mat0 = [ K[:3, :3], RT[:3, :4], np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]), [1920, 1080] ] fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 55.8, (0, 0), ( -103.6, 3.5, -0.3), (2980, 1380, -2180), (0, 0) # roughed in K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT( Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0) mat1 = [ K[:3, :3], RT[:3, :4], np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]), [1920, 1080] ] fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 49.3, (0, 0), ( 27.9, 4.0, -0.2), (-5340, 1150, 5030), (0, 0) # roughed in K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT( Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0) mat2 = [ K[:3, :3], RT[:3, :4], np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]), [1920, 1080] ] fovX, (ox, oy), pan_tilt_roll, tx_ty_tz, distortion = 50.6, (0, 0), ( -156.6, 4.9, 0.2), (-105, 1400, -4430), (0, 0) # roughed in K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT( Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0) mat3 = [ K[:3, :3], RT[:3, :4], np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]), [1920, 1080] ] mats = [mat0, mat1, mat2, mat3] xcp_filename = '154535_Cal168_Floor_Final.xcp' directory = os.path.join(grip_directory, 'REFRAME') movieFilenames = [ '001E0827_01.MP4', '001F0813_01.MP4', '001G0922_01.MP4', '001H0191_01.MP4' ] #mats,movieFilenames = mats[:1],movieFilenames[:1] # restrict to single-view frame_offsets = [119 + 160, 260, 339, 161] small_blur, large_blur = 1, 25 min_dot_size = 1.0 max_dot_size = 20.0 circularity_threshold = 3.0 threshold_bright, threshold_dark_inv = 250, 250 #135,135 elif 0: xcp_filename = '201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_01.xcp' detections_filename = 'detections.dat' detectingTiara = True pan_tilt_roll = (0, 0, 90) distortion = (0.291979, 0.228389) directory = os.path.join(os.environ['GRIP_DATA'], 'ted') movieFilenames = [ '201401211653-4Pico-32_Quad_Dialogue_01_%d.mpg' % xi for xi in range(1) ] firstFrame = 511 small_blur, large_blur = 1, 20 min_dot_size = 1.0 max_dot_size = 16.0 circularity_threshold = 3.0 threshold_bright, threshold_dark_inv = 0, 170 elif 1: xcp_filename = '50_Grip_RoomCont_AA_02.xcp' detections_filename = 'detections.dat' pan_tilt_roll = (0, 0, 0) distortion = (0.291979, 0.228389) directory = os.path.join(os.environ['GRIP_DATA'], '151110') movieFilenames = ['50_Grip_RoomCont_AA_02.v2.mov'] firstFrame = 0 small_blur, large_blur = 1, 20 min_dot_size = 1.0 max_dot_size = 16.0 circularity_threshold = 3.0 threshold_bright, threshold_dark_inv = 170, 170 attrs = dict([(v, eval(v)) for v in [ 'small_blur', 'large_blur', 'threshold_bright', 'threshold_dark_inv', 'circularity_threshold', 'min_dot_size', 'max_dot_size' ]]) primitives2D = QGLViewer.makePrimitives2D(([], []), ([], [])) primitives = [] if len(movieFilenames) is 1: # TODO: time_base, timecode K, RT = Calibrate.composeK(fovX, ox, oy), Calibrate.composeRT( Calibrate.composeR(pan_tilt_roll), tx_ty_tz, 0) mats = [[ K[:3, :3], RT[:3, :4], np.dot(K, RT)[:3, :], distortion, -np.dot(RT[:3, :3].T, RT[:3, 3]), [1920, 1080] ]] camera_ids = ['video'] movies = [ MovieReader.open_file(os.path.join(directory, movieFilenames[0]), audio=False) ] else: # hard coded cameras if xcp_filename.endswith('.xcp'): if detectingTiara: # gruffalo c3d_filename = os.path.join( directory, '201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_02.c3d') from IO import C3D c3d_dict = C3D.read(c3d_filename) global c3d_frames c3d_frames, c3d_fps, c3d_labels = c3d_dict['frames'], c3d_dict[ 'fps'], c3d_dict['labels'] c3d_subject = '' #'TedFace' which = np.where( [s.startswith(c3d_subject) for s in c3d_labels])[0] c3d_frames = c3d_frames[:, which, :] c3d_labels = [c3d_labels[i] for i in which] print len(c3d_frames) xcp, xcp_data = ViconReader.loadXCP( os.path.join(directory, xcp_filename)) mats.extend(xcp) elif xcp_filename.endswith('.cal'): from IO import OptitrackReader xcp, xcp_data = OptitrackReader.load_CAL( os.path.join(directory, xcp_filename)) mats = xcp print 'mats', len(mats), len(movieFilenames) assert (len(mats) == len(movieFilenames)) camera_ids = [] movies = [] for ci, mf in enumerate(movieFilenames): fo = 0 if frame_offsets is None else frame_offsets[ci] movies.append( MovieReader.open_file(os.path.join(directory, mf), audio=False, frame_offset=fo)) camera_ids = ['cam_%d' % ci for ci in xrange(len(mats))] print len(mats), len(movies), len(camera_ids) primitives.append(GLPoints3D([])) primitives.append(GLPoints3D([])) primitives.append(GLPoints3D([])) primitives[0].colour = (0, 1, 1, 0.5) # back-projected "cyan" points primitives[1].colour = (0, 0, 1, 0.5) primitives[1].pointSize = 5 primitives[2].colour = (1, 0, 0, 0.99) if len(movieFilenames) != 1 and detections_filename != None: try: dot_detections = IO.load(detections_filename)[1] except: numFrames = len(c3d_frames) # TODO HACK HACK dot_detections = movies_to_detections(movies, range(numFrames), deinterlacing, attrs) IO.save(detections_filename, dot_detections) if detectingTiara: x3ds_seq = {} for fi in dot_detections.keys(): frame = c3d_frames[(fi - 55) % len(c3d_frames)] which = np.array(np.where(frame[:, 3] == 0)[0], dtype=np.int32) x3ds_seq[fi] = np.concatenate((VICON_tiara_x3ds + np.array([150,-100,0],dtype=np.float32),frame[which,:3])), \ np.concatenate((np.arange(len(VICON_tiara_x3ds),dtype=np.int32),which+len(VICON_tiara_x3ds))) dot_labels = get_labels(dot_detections.keys(), x3ds_seq, dot_detections, mats, x2d_threshold=0.05) calibration_fi = 546 - 2 - 6 RT = tighten_calibration(x3ds_seq[calibration_fi], dot_labels[calibration_fi], mats) for v in c3d_frames: v[:, :3] = np.dot(v[:, :3], RT[:3, :3].T) + RT[:, 3] if True: dot_detections = IO.load(detections_filename)[1] x3ds_seq = {} for fi in dot_detections.keys(): frame = c3d_frames[(fi - 55) % len(c3d_frames)] which = np.array(np.where(frame[:, 3] == 0)[0], dtype=np.int32) x3ds_seq[fi] = np.concatenate((VICON_tiara_x3ds + np.array([0,1000,0],dtype=np.float32),frame[which,:3])), \ np.concatenate((np.arange(len(VICON_tiara_x3ds),dtype=np.int32),which+len(VICON_tiara_x3ds))) #dot_labels = get_labels(dot_detections.keys(), x3ds_seq, dot_detections, mats, x2d_threshold = 0.05) if detectingTiara: primitives.append(GLPoints3D(VICON_tiara_x3ds + [0, 1000, 0])) primitives[-1].pointSize = 5 global track3d, prev_frame, booting, trackGraph track3d = Label.Track3D(mats[:len(movies)], x2d_threshold=0.03, x3d_threshold=5.0, min_rays=3, boot_interval=2) #tilt_threshold = 0.01, gruffalo trackGraph = Label.TrackGraph() prev_frame = 0 booting = 1 from UI import QApp from PySide import QtGui from GCore import State # Modified the options parameter for fields to be the range of acceptable values for the box # Previously would crash if small_blur got too low QApp.fields = { 'image filter': [ ('small_blur', 'Small blur radius', 'This is part of the image filter which controls the size of smallest detected features.', 'int', small_blur, { "min": 0, "max": None }), ('large_blur', 'Large blur radius', 'This is part of the image filter which controls the size of largest detected features.', 'int', large_blur, { "min": 0, "max": None }), ('threshold_bright', 'threshold_bright', 'This is part of the image filter which controls the size of smallest detected features.', 'int', threshold_bright, { "min": 0, "max": 255 }), ('threshold_dark_inv', 'threshold_dark_inv', 'This is part of the image filter which controls the size of largest detected features.', 'int', threshold_dark_inv, { "min": 0, "max": 255 }), ('circularity_threshold', 'circularity_threshold', 'How circular?.', 'float', circularity_threshold, { "min": 0, "max": 100 }), ('min_dot_size', 'min_dot_size', 'min_dot_size smallest detected features.', 'float', min_dot_size, { "min": 0, "max": 100 }), ('max_dot_size', 'max_dot_size', 'max_dot_size largest detected features.', 'float', max_dot_size, { "min": 0, "max": 100 }), ] } State.addKey('dotParams', {'type': 'image filter', 'attrs': attrs}) State.setSel('dotParams') appIn = QtGui.QApplication(sys.argv) appIn.setStyle('plastique') win = QApp.QApp() win.setWindowTitle('Imaginarium Dots Viewer') QGLViewer.makeViewer(primitives=primitives, primitives2D=primitives2D, timeRange=(firstFrame, lastFrame), callback=setFrame, mats=mats, camera_ids=camera_ids, movies=movies, pickCallback=picked, appIn=appIn, win=win)
ted_dir = os.path.join(os.environ['GRIP_DATA'], 'ted') asf_filename = os.path.join(ted_dir, '32_Quad_Dialogue_01.asf') amc_filename = os.path.join(ted_dir, '32_Quad_Dialogue_01.amc') xcp_filename = os.path.join(ted_dir, '32_Quad_Dialogue_01.xcp') skelFilename = os.path.join(ted_dir, 'ted.skel') animFilename = os.path.join(ted_dir, 'ted.anim') try: ted_skel = IO.load(skelFilename)[1] ted_anim = IO.load(animFilename)[1] except: print 'generating ted skel and anim' ASFReader.convertASFAMC_to_SKELANIM(asf_filename, amc_filename, skelFilename, animFilename) ted_skel = IO.load(skelFilename)[1] ted_anim = IO.load(animFilename)[1] ted_xcp_mats, ted_xcp_data = ViconReader.loadXCP(xcp_filename) if True: # facial animation global ted_geom, ted_geom2, ted_shape, tony_geom, tony_shape, tony_geom2, tony_obj, ted_obj, diff_geom, c3d_frames global tony_shape_vector, tony_shape_mat, ted_lo_rest, ted_lo_mat, c3d_points global md, movies ted_dir = os.path.join(os.environ['GRIP_DATA'], 'ted') wavFilename = os.path.join(ted_dir, '32T01.WAV') md = MovieReader.open_file(wavFilename) c3d_filename = os.path.join( ted_dir, '201401211653-4Pico-32_Quad_Dialogue_01_Col_wip_02.c3d') c3d_dict = C3D.read(c3d_filename) c3d_frames, c3d_fps, c3d_labels = c3d_dict['frames'], c3d_dict[ 'fps'], c3d_dict['labels']