else:
print('Please specify the dataset source')
exit(0)
# Create 2D pose file
print('')
print('Computing ground-truth 2D poses...')
dataset = Human36mDataset(output_filename + '.npz')
output_2d_poses = {}
for subject in dataset.subjects():
output_2d_poses[subject] = {}
for action in dataset[subject].keys():
anim = dataset[subject][action]
positions_2d = []
for cam in anim['cameras']:
pos_3d = world_to_camera(anim['positions'], R=cam['orientation'], t=cam['translation'])
pos_2d = wrap(project_to_2d, pos_3d, cam['intrinsic'], unsqueeze=True)
pos_2d_pixel_space = image_coordinates(pos_2d, w=cam['res_w'], h=cam['res_h'])
positions_2d.append(pos_2d_pixel_space.astype('float32'))
output_2d_poses[subject][action] = positions_2d
print('Saving...')
metadata = {
'num_joints': dataset.skeleton().num_joints(),
'keypoints_symmetry': [dataset.skeleton().joints_left(), dataset.skeleton().joints_right()]
}
np.savez_compressed(output_filename_2d, positions_2d=output_2d_poses, metadata=metadata)
print('Done.')
# Create 2D pose file
print('')
print('Computing ground-truth 2D poses...')
dataset = Human36mDataset(output_filename + '.npz')
output_2d_poses = {}
for subject in dataset.subjects():
output_2d_poses[subject] = {}
for action in dataset[subject].keys():
anim = dataset[subject][action]
positions_2d = []
for cam in anim['cameras']:
pos_3d = world_to_camera(anim['positions'],
R=cam['orientation'],
t=cam['translation'])
pos_2d = wrap(project_to_2d, True, pos_3d, cam['intrinsic'])
pos_2d_pixel_space = image_coordinates(pos_2d,
w=cam['res_w'],
h=cam['res_h'])
positions_2d.append(pos_2d_pixel_space.astype('float32'))
output_2d_poses[subject][action] = positions_2d
print('Saving...')
metadata = {
'num_joints':
dataset.skeleton().num_joints(),
'keypoints_symmetry':
[dataset.skeleton().joints_left(),
dataset.skeleton().joints_right()]
}
np.savez_compressed(output_filename_2d,
def camera_to_world(X, R, t):
return wrap(qrot, np.tile(R, (*X.shape[:-1], 1)), X) + t
def world_to_camera(X, R, t):
Rt = wrap(qinverse, R) # Invert rotation
return wrap(qrot, np.tile(Rt, (*X.shape[:-1], 1)),
X - t) # Rotate and translate
def camera_to_world(X, R, t):
return wrap(qrot, False, np.tile(R, X.shape[:-1] + (1, )), X) + t
def camera_to_world(X, R, t):
return wrap(qrot, np.tile(R, (*X.shape[:-1], 1)), X) + t
def world_to_camera(X, R, t):
Rt = wrap(qinverse, R) # Invert rotation
return wrap(qrot, np.tile(Rt, (*X.shape[:-1], 1)), X - t) # Rotate and translate
