hsize = SIZE // 2
for xi in range(-hsize, hsize + 1):
for yi in range(-hsize, hsize + 1):
if xi == -hsize and yi == -hsize:
# skip one corner for visual orientation
continue
vec3 = QtGui.QVector3D(xi, yi, 0)
pos = project.map(vec3).toPointF()
painter.drawEllipse(pos, 1, 1)
pg.mkQApp("GLPainterItem Example")
glv = GLViewWidget()
glv.show()
glv.setWindowTitle('pyqtgraph example: GLPainterItem')
glv.setCameraPosition(distance=50, elevation=90, azimuth=0)
griditem = GLGridItem()
griditem.setSize(SIZE, SIZE)
griditem.setSpacing(1, 1)
glv.addItem(griditem)
axisitem = GLAxisItem()
axisitem.setSize(SIZE / 2, SIZE / 2, 1)
glv.addItem(axisitem)
paintitem = GLPainterItem()
glv.addItem(paintitem)
if __name__ == '__main__':
pg.exec()
class PoseEstimation(object):
@staticmethod
def getframe(option):
image = None
ret_val = 0
camera = 0
if option == "camera":
cam = cv.VideoCapture(camera)
ret_val, image = cam.read()
elif option == "kinect":
image, ret_val = freenect.sync_get_video()
image = cv.cvtColor(image, cv.COLOR_RGB2BGR)
elif option.__contains__("/"):
image = cv.imread(option)
elif option == "camera_image":
print("after waiting")
time.sleep(5)
print("before waiting")
cam = cv.VideoCapture(camera)
ret_val, image = cam.read()
return image, ret_val
# creating window inilatizing graph objects
def __init__(self, args, option='camera'):
self.args = args
self.fpsTime = 0
self.option = option
self.app = QtGui.QApplication(sys.argv)
self.window = GLViewWidget()
self.window.setGeometry(0, 150, 1920, 1080)
self.window.setCameraPosition(distance=50, elevation=8)
self.window.setWindowTitle("3D Pose Estimation")
self.window.show()
gx = GLGridItem()
gy = GLGridItem()
gz = GLGridItem()
gx.rotate(90, 0, 1, 0)
gy.rotate(90, 1, 0, 0)
gx.translate(-10, 0, 0)
gy.translate(0, -10, 0)
gz.translate(0, 0, -10)
self.window.addItem(gx)
self.window.addItem(gy)
self.window.addItem(gz)
self.lines = {}
keypoints = []
self.connection = [[0, 1], [1, 2], [2, 3], [0, 4], [4, 5], [5, 6],
[0, 7], [7, 8], [8, 9], [9, 10], [8, 11], [11, 12],
[12, 13], [8, 14], [14, 15], [15, 16]]
self.w, self.h = model_wh(self.args.resize)
if self.w > 0 and self.h > 0:
self.e = TfPoseEstimator(get_graph_path(self.args.model),
target_size=(self.w, self.h),
trt_bool=str2bool(self.args.tensorrt))
else:
self.e = TfPoseEstimator(get_graph_path(self.args.model),
target_size=(432, 368),
trt_bool=str2bool(self.args.tensorrt))
print(self.args.option)
image, ret_val = PoseEstimation.getframe(self.args.option)
self.poseLifting = Prob3dPose(
'lifting/prob_model/prob_model_params.mat')
try:
keypoints = self.mesh(image)
except AssertionError:
print("body not in image")
keypoints = np.zeros((17, 3))
except Exception:
print("General exception")
keypoints = np.zeros((17, 3))
# self.lines = {}
# self.connection = [
# [13, 16]
# ]
# p = []
# p.append(keypoints[13])
# p.append(keypoints[16])
# p = np.array(p)
finally:
self.points = GLScatterPlotItem(
pos=np.array(np.array(keypoints)),
color=glColor((12, 255, 0)),
size=15,
)
self.window.addItem(self.points)
for n, pts in enumerate(self.connection):
self.lines[n] = GLLinePlotItem(pos=np.array(
[keypoints[p] for p in pts]),
color=glColor((0, 0, 255)),
width=3,
antialias=True)
self.window.addItem(self.lines[n])
def mesh(self, image):
# image_h, image_w = image.shape[:2]
width = 640
height = 480
pose_2d_mpiis = []
visibilities = []
humans = self.e.inference(image,
resize_to_default=(self.w > 0
and self.h > 0),
upsample_size=self.args.resize_out_ratio)
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
cv.putText(image, "FPS: %f" % (1.0 / (time.time() - self.fpsTime)),
(10, 10), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv.imshow('tf-pose-estimation result', image)
self.fpsTime = time.time()
# image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
# cv2.putText(image,
# "FPS: %f" % (1.0 / (time.time() - terrain.fps_time)),
# (10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
# (0, 255, 0), 2)
# cv2.imshow('tf-pose-estimation result', image)
# terrain.fps_time = time.time()
# cv2.waitKey(1)
for human in humans:
pose_2d_mpii, visibility = common.MPIIPart.from_coco(human)
pose_2d_mpiis.append([(int(y * height + 0.5), int(x * width + 0.5))
for x, y in pose_2d_mpii])
visibilities.append(visibility)
pose_2d_mpiis = np.array(pose_2d_mpiis)
visibilities = np.array(visibilities)
transformed_pose2d, weights = self.poseLifting.transform_joints(
pose_2d_mpiis, visibilities)
pose_3d = self.poseLifting.compute_3d(transformed_pose2d, weights)
keypoints = pose_3d[0].transpose()
keypoints = keypoints / 100
print(" \n")
print(keypoints)
return keypoints
"""
return 3d keypoints
"""
def update(self):
""" tf.constant([123]) + tf.constant([321])
update the mesh and shift the noise each time
"""
# ret_val, image = terrain.get_video()
# ret_val, image = self.cam.read()
if cv.waitKey(1) & 0xFF == 27:
cv.destroyAllWindows()
sys.exit()
keypoints = []
image, ret_val = PoseEstimation.getframe(self.args.option)
try:
keypoints = self.mesh(image)
except AssertionError:
print("body not in image")
keypoints = np.zeros((17, 3))
except Exception:
print("General exception")
keypoints = np.zeros((17, 3))
finally:
self.points.setData(pos=np.array(keypoints))
for n, pts in enumerate(self.connection):
self.lines[n].setData(pos=np.array([keypoints[p]
for p in pts]))
"""
update graph all graph objects
"""
def start(self):
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
def animation(self, frametime=10):
"""u
calls the update method to run in a loop
"""
if not (self.option.__contains__("/")
or self.option == "camera_image"):
timer = QtCore.QTimer()
timer.timeout.connect(self.update)
timer.start(frametime)
self.start()