def run_evaluation(model, opt, options, dataset_name, log_freq=50):
"""Run evaluation on the datasets and metrics we report in the paper. """
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
# Create SMPL model
smpl = SMPL().to(device)
if dataset_name == '3dpw' or dataset_name == 'surreal':
smpl_male = SMPL(cfg.MALE_SMPL_FILE).to(device)
smpl_female = SMPL(cfg.FEMALE_SMPL_FILE).to(device)
batch_size = opt.batch_size
# Create dataloader for the dataset
if dataset_name == 'surreal':
dataset = SurrealDataset(options, use_augmentation=False, is_train=False, use_IUV=False)
else:
dataset = BaseDataset(options, dataset_name, use_augmentation=False, is_train=False, use_IUV=False)
data_loader = DataLoader(dataset, batch_size=opt.batch_size, shuffle=False, num_workers=int(opt.num_workers),
pin_memory=True)
print('data loader finish')
# Transfer model to the GPU
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
model.to(device)
model.eval()
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
mpjpe = np.zeros(len(dataset))
mpjpe_pa = np.zeros(len(dataset))
# Shape metrics
# Mean per-vertex error
shape_err = np.zeros(len(dataset))
# Mask and part metrics
# Accuracy
accuracy = 0.
parts_accuracy = 0.
# True positive, false positive and false negative
tp = np.zeros((2, 1))
fp = np.zeros((2, 1))
fn = np.zeros((2, 1))
parts_tp = np.zeros((7, 1))
parts_fp = np.zeros((7, 1))
parts_fn = np.zeros((7, 1))
# Pixel count accumulators
pixel_count = 0
parts_pixel_count = 0
eval_pose = False
eval_shape = False
eval_masks = False
eval_parts = False
joint_mapper = cfg.J24_TO_J17 if dataset_name == 'mpi-inf-3dhp' else cfg.J24_TO_J14
# Choose appropriate evaluation for each dataset
if 'h36m' in dataset_name or dataset_name == '3dpw' or dataset_name == 'mpi-inf-3dhp':
eval_pose = True
elif dataset_name in ['up-3d', 'surreal']:
eval_shape = True
elif dataset_name == 'lsp':
eval_masks = True
eval_parts = True
annot_path = cfg.DATASET_FOLDERS['upi-s1h']
if eval_parts or eval_masks:
from utils.part_utils import PartRenderer
renderer = PartRenderer()
# Iterate over the entire dataset
for step, batch in enumerate(tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gt_vertices = smpl(gt_pose, gt_betas)
images = batch['img'].to(device)
curr_batch_size = images.shape[0]
# Run inference
with torch.no_grad():
out_dict = model(images)
pred_vertices = out_dict['pred_vertices']
camera = out_dict['camera']
# 3D pose evaluation
if eval_pose:
# Get 14 ground truth joints
if 'h36m' in dataset_name or 'mpi-inf' in dataset_name:
gt_keypoints_3d = batch['pose_3d'].cuda()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper, :-1]
gt_pelvis = (gt_keypoints_3d[:, [2]] + gt_keypoints_3d[:, [3]]) / 2
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
else:
gender = batch['gender'].to(device)
gt_vertices = smpl_male(gt_pose, gt_betas)
gt_vertices_female = smpl_female(gt_pose, gt_betas)
gt_vertices[gender == 1, :, :] = gt_vertices_female[gender == 1, :, :]
gt_keypoints_3d = smpl.get_train_joints(gt_vertices)[:, joint_mapper]
# gt_keypoints_3d = smpl.get_lsp_joints(gt_vertices) # joints_regressor used in cmr
gt_pelvis = (gt_keypoints_3d[:, [2]] + gt_keypoints_3d[:, [3]]) / 2
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
# Get 14 predicted joints from the non-parametic mesh
pred_keypoints_3d = smpl.get_train_joints(pred_vertices)[:, joint_mapper]
# pred_keypoints_3d = smpl.get_lsp_joints(pred_vertices) # joints_regressor used in cmr
pred_pelvis = (pred_keypoints_3d[:, [2]] + pred_keypoints_3d[:, [3]]) / 2
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# Absolute error (MPJPE)
error = torch.sqrt(((pred_keypoints_3d - gt_keypoints_3d) ** 2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
mpjpe[step * batch_size:step * batch_size + curr_batch_size] = error
# Reconstuction_error
r_error = reconstruction_error(pred_keypoints_3d.cpu().numpy(), gt_keypoints_3d.cpu().numpy(),
reduction=None)
mpjpe_pa[step * batch_size:step * batch_size + curr_batch_size] = r_error
# Shape evaluation (Mean per-vertex error)
if eval_shape:
if dataset_name == 'surreal':
gender = batch['gender'].to(device)
gt_vertices = smpl_male(gt_pose, gt_betas)
gt_vertices_female = smpl_female(gt_pose, gt_betas)
gt_vertices[gender == 1, :, :] = gt_vertices_female[gender == 1, :, :]
gt_pelvis_mesh = smpl.get_eval_joints(gt_vertices)
pred_pelvis_mesh = smpl.get_eval_joints(pred_vertices)
gt_pelvis_mesh = (gt_pelvis_mesh[:, [2]] + gt_pelvis_mesh[:, [3]]) / 2
pred_pelvis_mesh = (pred_pelvis_mesh[:, [2]] + pred_pelvis_mesh[:, [3]]) / 2
# se = torch.sqrt(((pred_vertices - gt_vertices) ** 2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
se = torch.sqrt(((pred_vertices - pred_pelvis_mesh - gt_vertices + gt_pelvis_mesh) ** 2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
shape_err[step * batch_size:step * batch_size + curr_batch_size] = se
# If mask or part evaluation, render the mask and part images
if eval_masks or eval_parts:
mask, parts = renderer(pred_vertices, camera)
# Mask evaluation (for LSP)
if eval_masks:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
# Dimensions of original image
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
# After rendering, convert imate back to original resolution
pred_mask = uncrop(mask[i].cpu().numpy(), center[i], scale[i], orig_shape[i]) > 0
# Load gt mask
gt_mask = cv2.imread(os.path.join(annot_path, batch['maskname'][i]), 0) > 0
# Evaluation consistent with the original UP-3D code
accuracy += (gt_mask == pred_mask).sum()
pixel_count += np.prod(np.array(gt_mask.shape))
for c in range(2):
cgt = gt_mask == c
cpred = pred_mask == c
tp[c] += (cgt & cpred).sum()
fp[c] += (~cgt & cpred).sum()
fn[c] += (cgt & ~cpred).sum()
f1 = 2 * tp / (2 * tp + fp + fn)
# Part evaluation (for LSP)
if eval_parts:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
pred_parts = uncrop(parts[i].cpu().numpy().astype(np.uint8), center[i], scale[i], orig_shape[i])
# Load gt part segmentation
gt_parts = cv2.imread(os.path.join(annot_path, batch['partname'][i]), 0)
# Evaluation consistent with the original UP-3D code
# 6 parts + background
for c in range(7):
cgt = gt_parts == c
cpred = pred_parts == c
cpred[gt_parts == 255] = 0
parts_tp[c] += (cgt & cpred).sum()
parts_fp[c] += (~cgt & cpred).sum()
parts_fn[c] += (cgt & ~cpred).sum()
gt_parts[gt_parts == 255] = 0
pred_parts[pred_parts == 255] = 0
parts_f1 = 2 * parts_tp / (2 * parts_tp + parts_fp + parts_fn)
parts_accuracy += (gt_parts == pred_parts).sum()
parts_pixel_count += np.prod(np.array(gt_parts.shape))
# Print intermediate results during evaluation
if step % log_freq == log_freq - 1:
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe[:step * batch_size].mean()))
print('MPJPE-PA: ' + str(1000 * mpjpe_pa[:step * batch_size].mean()))
print()
if eval_shape:
print('Shape Error: ' + str(1000 * shape_err[:step * batch_size].mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0, 1, 2, 3, 4, 5, 6]].mean())
print()
# Print final results during evaluation
print('*** Final Results ***')
print()
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe.mean()))
print('MPJPE-PA: ' + str(1000 * mpjpe_pa.mean()))
print()
if eval_shape:
print('Shape Error: ' + str(1000 * shape_err.mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0, 1, 2, 3, 4, 5, 6]].mean())
print()
# Save final results to .txt file
txt_name = join(opt.save_root, dataset_name + '.txt')
f = open(txt_name, 'w')
f.write('*** Final Results ***')
f.write('\n')
if eval_pose:
f.write('MPJPE: ' + str(1000 * mpjpe.mean()))
f.write('\n')
f.write('MPJPE-PA: ' + str(1000 * mpjpe_pa.mean()))
f.write('\n')
if eval_shape:
f.write('Shape Error: ' + str(1000 * shape_err.mean()))
f.write('\n')
if eval_masks:
f.write('Accuracy: ' + str(accuracy / pixel_count))
f.write('\n')
f.write('F1: ' + str(f1.mean()))
f.write('\n')
if eval_parts:
f.write('Parts Accuracy: ' + str(parts_accuracy / parts_pixel_count))
f.write('\n')
f.write('Parts F1 (BG): ' + str(parts_f1[[0, 1, 2, 3, 4, 5, 6]].mean()))
f.write('\n')
def run_evaluation(model, dataset_name, dataset, result_file,
batch_size=32, img_res=224,
num_workers=32, shuffle=False, log_freq=50, bVerbose= True):
"""Run evaluation on the datasets and metrics we report in the paper. """
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
# # Transfer model to the GPU
# model.to(device)
# Load SMPL model
global g_smpl_neutral, g_smpl_male, g_smpl_female
if g_smpl_neutral is None:
g_smpl_neutral = SMPL(config.SMPL_MODEL_DIR,
create_transl=False).to(device)
g_smpl_male = SMPL(config.SMPL_MODEL_DIR,
gender='male',
create_transl=False).to(device)
g_smpl_female = SMPL(config.SMPL_MODEL_DIR,
gender='female',
create_transl=False).to(device)
smpl_neutral = g_smpl_neutral
smpl_male = g_smpl_male
smpl_female = g_smpl_female
else:
smpl_neutral = g_smpl_neutral
smpl_male = g_smpl_male
smpl_female = g_smpl_female
# renderer = PartRenderer()
# Regressor for H36m joints
J_regressor = torch.from_numpy(np.load(config.JOINT_REGRESSOR_H36M)).float()
save_results = result_file is not None
# Disable shuffling if you want to save the results
if save_results:
shuffle=False
# Create dataloader for the dataset
data_loader = DataLoader(dataset, batch_size=batch_size, shuffle=shuffle, num_workers=num_workers)
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
# mpjpe = np.zeros(len(dataset))
# recon_err = np.zeros(len(dataset))
quant_mpjpe = {}#np.zeros(len(dataset))
quant_recon_err = {}#np.zeros(len(dataset))
mpjpe = np.zeros(len(dataset))
recon_err = np.zeros(len(dataset))
mpjpe_smpl = np.zeros(len(dataset))
recon_err_smpl = np.zeros(len(dataset))
# Shape metrics
# Mean per-vertex error
shape_err = np.zeros(len(dataset))
shape_err_smpl = np.zeros(len(dataset))
# Mask and part metrics
# Accuracy
accuracy = 0.
parts_accuracy = 0.
# True positive, false positive and false negative
tp = np.zeros((2,1))
fp = np.zeros((2,1))
fn = np.zeros((2,1))
parts_tp = np.zeros((7,1))
parts_fp = np.zeros((7,1))
parts_fn = np.zeros((7,1))
# Pixel count accumulators
pixel_count = 0
parts_pixel_count = 0
# Store SMPL parameters
output_pred_pose = np.zeros((len(dataset), 72))
output_pred_betas = np.zeros((len(dataset), 10))
output_pred_camera = np.zeros((len(dataset), 3))
output_pred_joints = np.zeros((len(dataset), 14, 3))
output_gt_pose = np.zeros((len(dataset), 72))
output_gt_betas = np.zeros((len(dataset), 10))
output_gt_joints = np.zeros((len(dataset), 14, 3))
output_error_MPJPE = np.zeros((len(dataset)))
output_error_recon = np.zeros((len(dataset)))
output_imgNames =[]
output_cropScale = np.zeros((len(dataset)))
output_cropCenter = np.zeros((len(dataset), 2))
outputStartPointer = 0
eval_pose = False
eval_masks = False
eval_parts = False
# Choose appropriate evaluation for each dataset
if dataset_name == 'h36m-p1' or dataset_name == 'h36m-p2' or dataset_name == '3dpw' or dataset_name == 'mpi-inf-3dhp':
eval_pose = True
elif dataset_name == 'lsp':
eval_masks = True
eval_parts = True
annot_path = config.DATASET_FOLDERS['upi-s1h']
joint_mapper_h36m = constants.H36M_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.H36M_TO_J14
joint_mapper_gt = constants.J24_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.J24_TO_J14
# Iterate over the entire dataset
for step, batch in enumerate(tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
imgName = batch['imgname'][0]
seqName = os.path.basename ( os.path.dirname(imgName) )
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gt_vertices = smpl_neutral(betas=gt_betas, body_pose=gt_pose[:, 3:], global_orient=gt_pose[:, :3]).vertices
images = batch['img'].to(device)
gender = batch['gender'].to(device)
curr_batch_size = images.shape[0]
with torch.no_grad():
pred_rotmat, pred_betas, pred_camera = model(images)
pred_output = smpl_neutral(betas=pred_betas, body_pose=pred_rotmat[:,1:], global_orient=pred_rotmat[:,0].unsqueeze(1), pose2rot=False)
pred_vertices = pred_output.vertices
# 3D pose evaluation
if eval_pose:
# Regressor broadcasting
J_regressor_batch = J_regressor[None, :].expand(pred_vertices.shape[0], -1, -1).to(device)
# Get 14 ground truth joints
if 'h36m' in dataset_name or 'mpi-inf' in dataset_name:
gt_keypoints_3d = batch['pose_3d'].cuda()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_gt, :-1]
# For 3DPW get the 14 common joints from the rendered shape
else:
gt_vertices = smpl_male(global_orient=gt_pose[:,:3], body_pose=gt_pose[:,3:], betas=gt_betas).vertices
gt_vertices_female = smpl_female(global_orient=gt_pose[:,:3], body_pose=gt_pose[:,3:], betas=gt_betas).vertices
gt_vertices[gender==1, :, :] = gt_vertices_female[gender==1, :, :]
gt_keypoints_3d = torch.matmul(J_regressor_batch, gt_vertices)
gt_pelvis = gt_keypoints_3d[:, [0],:].clone()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_h36m, :]
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
if False:
from renderer import viewer2D
from renderer import glViewer
import humanModelViewer
batchNum = gt_pose.shape[0]
for i in range(batchNum):
smpl_face = humanModelViewer.GetSMPLFace()
meshes_gt = {'ver': gt_vertices[i].cpu().numpy()*100, 'f': smpl_face}
meshes_pred = {'ver': pred_vertices[i].cpu().numpy()*100, 'f': smpl_face}
glViewer.setMeshData([meshes_gt, meshes_pred], bComputeNormal= True)
glViewer.show(5)
# Get 14 predicted joints from the mesh
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vertices)
# if save_results:
# pred_joints[step * batch_size:step * batch_size + curr_batch_size, :, :] = pred_keypoints_3d.cpu().numpy()
pred_pelvis = pred_keypoints_3d[:, [0],:].clone()
pred_keypoints_3d = pred_keypoints_3d[:, joint_mapper_h36m, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
#Visualize GT mesh and SPIN output mesh
if False:
from renderer import viewer2D
from renderer import glViewer
import humanModelViewer
gt_keypoints_3d_vis = gt_keypoints_3d.cpu().numpy()
gt_keypoints_3d_vis = np.reshape(gt_keypoints_3d_vis, (gt_keypoints_3d_vis.shape[0],-1)) #N,14x3
gt_keypoints_3d_vis = np.swapaxes(gt_keypoints_3d_vis, 0,1) *100
pred_keypoints_3d_vis = pred_keypoints_3d.cpu().numpy()
pred_keypoints_3d_vis = np.reshape(pred_keypoints_3d_vis, (pred_keypoints_3d_vis.shape[0],-1)) #N,14x3
pred_keypoints_3d_vis = np.swapaxes(pred_keypoints_3d_vis, 0,1) *100
# output_sample = output_sample[ : , np.newaxis]*0.1
# gt_sample = gt_sample[: , np.newaxis]*0.1
# (skelNum, dim, frames)
glViewer.setSkeleton( [gt_keypoints_3d_vis, pred_keypoints_3d_vis] ,jointType='smplcoco')#(skelNum, dim, frames)
glViewer.show()
# Absolute error (MPJPE)
error = torch.sqrt(((pred_keypoints_3d - gt_keypoints_3d) ** 2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
# mpjpe[step * batch_size:step * batch_size + curr_batch_size] = error
# Reconstuction_error
r_error = reconstruction_error(pred_keypoints_3d.cpu().numpy(), gt_keypoints_3d.cpu().numpy(), reduction=None)
# recon_err[step * batch_size:step * batch_size + curr_batch_size] = r_error
for ii, p in enumerate(batch['imgname'][:len(r_error)]):
seqName = os.path.basename( os.path.dirname(p))
# quant_mpjpe[step * batch_size:step * batch_size + curr_batch_size] = error
if seqName not in quant_mpjpe.keys():
quant_mpjpe[seqName] = []
quant_recon_err[seqName] = []
quant_mpjpe[seqName].append(error[ii])
quant_recon_err[seqName].append(r_error[ii])
# Reconstuction_error
# quant_recon_err[step * batch_size:step * batch_size + curr_batch_size] = r_error
list_mpjpe = np.hstack([ quant_mpjpe[k] for k in quant_mpjpe])
list_reconError = np.hstack([ quant_recon_err[k] for k in quant_recon_err])
if bVerbose:
print(">>> {} : MPJPE {:.02f} mm, error: {:.02f} mm | Total MPJPE {:.02f} mm, error {:.02f} mm".format(seqName, np.mean(error)*1000, np.mean(r_error)*1000, np.hstack(list_mpjpe).mean()*1000, np.hstack(list_reconError).mean()*1000) )
# print("MPJPE {}, error: {}".format(np.mean(error)*100, np.mean(r_error)*100))
# If mask or part evaluation, render the mask and part images
# if eval_masks or eval_parts:
# mask, parts = renderer(pred_vertices, pred_camera)
# Mask evaluation (for LSP)
if eval_masks:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
# Dimensions of original image
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
# After rendering, convert imate back to original resolution
pred_mask = uncrop(mask[i].cpu().numpy(), center[i], scale[i], orig_shape[i]) > 0
# Load gt mask
gt_mask = cv2.imread(os.path.join(annot_path, batch['maskname'][i]), 0) > 0
# Evaluation consistent with the original UP-3D code
accuracy += (gt_mask == pred_mask).sum()
pixel_count += np.prod(np.array(gt_mask.shape))
for c in range(2):
cgt = gt_mask == c
cpred = pred_mask == c
tp[c] += (cgt & cpred).sum()
fp[c] += (~cgt & cpred).sum()
fn[c] += (cgt & ~cpred).sum()
f1 = 2 * tp / (2 * tp + fp + fn)
# Part evaluation (for LSP)
if eval_parts:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
pred_parts = uncrop(parts[i].cpu().numpy().astype(np.uint8), center[i], scale[i], orig_shape[i])
# Load gt part segmentation
gt_parts = cv2.imread(os.path.join(annot_path, batch['partname'][i]), 0)
# Evaluation consistent with the original UP-3D code
# 6 parts + background
for c in range(7):
cgt = gt_parts == c
cpred = pred_parts == c
cpred[gt_parts == 255] = 0
parts_tp[c] += (cgt & cpred).sum()
parts_fp[c] += (~cgt & cpred).sum()
parts_fn[c] += (cgt & ~cpred).sum()
gt_parts[gt_parts == 255] = 0
pred_parts[pred_parts == 255] = 0
parts_f1 = 2 * parts_tp / (2 * parts_tp + parts_fp + parts_fn)
parts_accuracy += (gt_parts == pred_parts).sum()
parts_pixel_count += np.prod(np.array(gt_parts.shape))
# Print intermediate results during evaluation
if bVerbose:
if step % log_freq == log_freq - 1:
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe[:step * batch_size].mean()))
print('Reconstruction Error: ' + str(1000 * recon_err[:step * batch_size].mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0,1,2,3,4,5,6]].mean())
print()
if save_results:
rot_pad = torch.tensor([0,0,1], dtype=torch.float32, device=device).view(1,3,1)
rotmat = torch.cat((pred_rotmat.view(-1, 3, 3), rot_pad.expand(curr_batch_size * 24, -1, -1)), dim=-1)
pred_pose = tgm.rotation_matrix_to_angle_axis(rotmat).contiguous().view(-1, 72)
output_pred_pose[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_pose.cpu().numpy()
output_pred_betas[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_betas.cpu().numpy()
output_pred_camera[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_camera.cpu().numpy()
output_pred_pose[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_pose.cpu().numpy()
output_pred_betas[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_betas.cpu().numpy()
output_pred_camera[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_camera.cpu().numpy()
output_pred_joints[outputStartPointer:outputStartPointer+curr_batch_size, :] = pred_keypoints_3d.cpu().numpy()
output_gt_pose[outputStartPointer:outputStartPointer+curr_batch_size, :] = gt_pose.cpu().numpy()
output_gt_betas[outputStartPointer:outputStartPointer+curr_batch_size, :] = gt_betas.cpu().numpy()
output_gt_joints[outputStartPointer:outputStartPointer+curr_batch_size, :] = gt_keypoints_3d.cpu().numpy()
output_error_MPJPE[outputStartPointer:outputStartPointer+curr_batch_size,] = error *1000
output_error_recon[outputStartPointer:outputStartPointer+curr_batch_size] = r_error*1000
output_cropScale[outputStartPointer:outputStartPointer+curr_batch_size] = batch['scale'].cpu().numpy()
output_cropCenter[outputStartPointer:outputStartPointer+curr_batch_size, :] = batch['center'].cpu().numpy()
output_imgNames +=batch['imgname']
outputStartPointer +=curr_batch_size
# if outputStartPointer>100: #Debug
# break
# if len(output_imgNames) < output_pred_pose.shape[0]:
output ={}
finalLen = len(output_imgNames)
output['imageNames'] = output_imgNames
output['pred_pose'] = output_pred_pose[:finalLen]
output['pred_betas'] = output_pred_betas[:finalLen]
output['pred_camera'] = output_pred_camera[:finalLen]
output['pred_joints'] = output_pred_joints[:finalLen]
output['gt_pose'] = output_gt_pose[:finalLen]
output['gt_betas'] = output_gt_betas[:finalLen]
output['gt_joints'] = output_gt_joints[:finalLen]
output['error_MPJPE'] = output_error_MPJPE[:finalLen]
output['error_recon'] = output_error_recon[:finalLen]
output['cropScale'] = output_cropScale[:finalLen]
output['cropCenter'] = output_cropCenter[:finalLen]
# Save reconstructions to a file for further processing
if save_results:
import pickle
# np.savez(result_file, pred_joints=pred_joints, pred_pose=pred_pose, pred_betas=pred_betas, pred_camera=pred_camera)
with open(result_file,'wb') as f:
pickle.dump(output, f)
f.close()
print("Saved to:{}".format(result_file))
# Print final results during evaluation
if bVerbose:
print('*** Final Results ***')
print()
if eval_pose:
# if bVerbose:
# print('MPJPE: ' + str(1000 * mpjpe.mean()))
# print('Reconstruction Error: ' + str(1000 * recon_err.mean()))
# print()
list_mpjpe = np.hstack([ quant_mpjpe[k] for k in quant_mpjpe])
list_reconError = np.hstack([ quant_recon_err[k] for k in quant_recon_err])
output_str ='SeqNames; '
for seq in quant_mpjpe:
output_str += seq + ';'
output_str +='\n MPJPE; '
quant_mpjpe_avg_mm = np.hstack(list_mpjpe).mean()*1000
output_str += "Avg {:.02f} mm; ".format( quant_mpjpe_avg_mm)
for seq in quant_mpjpe:
output_str += '{:.02f}; '.format(1000 * np.hstack(quant_mpjpe[seq]).mean())
output_str +='\n Recon Error; '
quant_recon_error_avg_mm = np.hstack(list_reconError).mean()*1000
output_str +="Avg {:.02f}mm; ".format( quant_recon_error_avg_mm )
for seq in quant_recon_err:
output_str += '{:.02f}; '.format(1000 * np.hstack(quant_recon_err[seq]).mean())
if bVerbose:
print(output_str)
else:
print(">>> Test on 3DPW: MPJPE: {} | quant_recon_error_avg_mm: {}".format(quant_mpjpe_avg_mm, quant_recon_error_avg_mm) )
return quant_mpjpe_avg_mm, quant_recon_error_avg_mm
if bVerbose:
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0,1,2,3,4,5,6]].mean())
print()
return -1 #Should return something
def run_evaluation(model,
dataset_name,
dataset,
mesh,
batch_size=32,
img_res=224,
num_workers=32,
shuffle=False,
log_freq=50):
"""Run evaluation on the datasets and metrics we report in the paper. """
renderer = PartRenderer()
# Create SMPL model
smpl = SMPL().cuda()
# Regressor for H36m joints
J_regressor = torch.from_numpy(np.load(cfg.JOINT_REGRESSOR_H36M)).float()
# Create dataloader for the dataset
data_loader = DataLoader(dataset,
batch_size=batch_size,
shuffle=shuffle,
num_workers=num_workers)
# Transfer model to the GPU
device = torch.device(
'cuda') if torch.cuda.is_available() else torch.device('cpu')
model.to(device)
model.eval()
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
mpjpe = np.zeros(len(dataset))
recon_err = np.zeros(len(dataset))
mpjpe_smpl = np.zeros(len(dataset))
recon_err_smpl = np.zeros(len(dataset))
# Shape metrics
# Mean per-vertex error
shape_err = np.zeros(len(dataset))
shape_err_smpl = np.zeros(len(dataset))
# Mask and part metrics
# Accuracy
accuracy = 0.
parts_accuracy = 0.
# True positive, false positive and false negative
tp = np.zeros((2, 1))
fp = np.zeros((2, 1))
fn = np.zeros((2, 1))
parts_tp = np.zeros((7, 1))
parts_fp = np.zeros((7, 1))
parts_fn = np.zeros((7, 1))
# Pixel count accumulators
pixel_count = 0
parts_pixel_count = 0
eval_pose = False
eval_shape = False
eval_masks = False
eval_parts = False
# Choose appropriate evaluation for each dataset
if dataset_name == 'h36m-p1' or dataset_name == 'h36m-p2':
eval_pose = True
elif dataset_name == 'up-3d':
eval_shape = True
elif dataset_name == 'lsp':
eval_masks = True
eval_parts = True
annot_path = cfg.DATASET_FOLDERS['upi-s1h']
# Iterate over the entire dataset
for step, batch in enumerate(
tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gt_vertices = smpl(gt_pose, gt_betas)
images = batch['img'].to(device)
curr_batch_size = images.shape[0]
# Run inference
with torch.no_grad():
pred_vertices, pred_vertices_smpl, camera, pred_rotmat, pred_betas = model(
images)
# 3D pose evaluation
if eval_pose:
# Regressor broadcasting
J_regressor_batch = J_regressor[None, :].expand(
pred_vertices.shape[0], -1, -1).to(device)
# Get 14 ground truth joints
gt_keypoints_3d = batch['pose_3d'].cuda()
gt_keypoints_3d = gt_keypoints_3d[:, cfg.J24_TO_J14, :-1]
# Get 14 predicted joints from the non-parametic mesh
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vertices)
pred_pelvis = pred_keypoints_3d[:, [0], :].clone()
pred_keypoints_3d = pred_keypoints_3d[:, cfg.H36M_TO_J14, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# Get 14 predicted joints from the SMPL mesh
pred_keypoints_3d_smpl = torch.matmul(J_regressor_batch,
pred_vertices_smpl)
pred_pelvis_smpl = pred_keypoints_3d_smpl[:, [0], :].clone()
pred_keypoints_3d_smpl = pred_keypoints_3d_smpl[:,
cfg.H36M_TO_J14, :]
pred_keypoints_3d_smpl = pred_keypoints_3d_smpl - pred_pelvis_smpl
# Compute error metrics
# Absolute error (MPJPE)
error = torch.sqrt(
((pred_keypoints_3d -
gt_keypoints_3d)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
error_smpl = torch.sqrt(
((pred_keypoints_3d_smpl -
gt_keypoints_3d)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
mpjpe[step * batch_size:step * batch_size +
curr_batch_size] = error
mpjpe_smpl[step * batch_size:step * batch_size +
curr_batch_size] = error_smpl
# Reconstuction_error
r_error = reconstruction_error(pred_keypoints_3d.cpu().numpy(),
gt_keypoints_3d.cpu().numpy(),
reduction=None)
r_error_smpl = reconstruction_error(
pred_keypoints_3d_smpl.cpu().numpy(),
gt_keypoints_3d.cpu().numpy(),
reduction=None)
recon_err[step * batch_size:step * batch_size +
curr_batch_size] = r_error
recon_err_smpl[step * batch_size:step * batch_size +
curr_batch_size] = r_error_smpl
# Shape evaluation (Mean per-vertex error)
if eval_shape:
se = torch.sqrt(
((pred_vertices -
gt_vertices)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
se_smpl = torch.sqrt(
((pred_vertices_smpl -
gt_vertices)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
shape_err[step * batch_size:step * batch_size +
curr_batch_size] = se
shape_err_smpl[step * batch_size:step * batch_size +
curr_batch_size] = se_smpl
# If mask or part evaluation, render the mask and part images
if eval_masks or eval_parts:
mask, parts = renderer(pred_vertices, camera)
# Mask evaluation (for LSP)
if eval_masks:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
# Dimensions of original image
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
# After rendering, convert imate back to original resolution
pred_mask = uncrop(mask[i].cpu().numpy(), center[i], scale[i],
orig_shape[i]) > 0
# Load gt mask
gt_mask = cv2.imread(
os.path.join(annot_path, batch['maskname'][i]), 0) > 0
# Evaluation consistent with the original UP-3D code
accuracy += (gt_mask == pred_mask).sum()
pixel_count += np.prod(np.array(gt_mask.shape))
for c in range(2):
cgt = gt_mask == c
cpred = pred_mask == c
tp[c] += (cgt & cpred).sum()
fp[c] += (~cgt & cpred).sum()
fn[c] += (cgt & ~cpred).sum()
f1 = 2 * tp / (2 * tp + fp + fn)
# Part evaluation (for LSP)
if eval_parts:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
pred_parts = uncrop(parts[i].cpu().numpy().astype(np.uint8),
center[i], scale[i], orig_shape[i])
# Load gt part segmentation
gt_parts = cv2.imread(
os.path.join(annot_path, batch['partname'][i]), 0)
# Evaluation consistent with the original UP-3D code
# 6 parts + background
for c in range(7):
cgt = gt_parts == c
cpred = pred_parts == c
cpred[gt_parts == 255] = 0
parts_tp[c] += (cgt & cpred).sum()
parts_fp[c] += (~cgt & cpred).sum()
parts_fn[c] += (cgt & ~cpred).sum()
gt_parts[gt_parts == 255] = 0
pred_parts[pred_parts == 255] = 0
parts_f1 = 2 * parts_tp / (2 * parts_tp + parts_fp + parts_fn)
parts_accuracy += (gt_parts == pred_parts).sum()
parts_pixel_count += np.prod(np.array(gt_parts.shape))
# Print intermediate results during evaluation
if step % log_freq == log_freq - 1:
if eval_pose:
print('MPJPE (NonParam): ' +
str(1000 * mpjpe[:step * batch_size].mean()))
print('Reconstruction Error (NonParam): ' +
str(1000 * recon_err[:step * batch_size].mean()))
print('MPJPE (Param): ' +
str(1000 * mpjpe_smpl[:step * batch_size].mean()))
print('Reconstruction Error (Param): ' +
str(1000 * recon_err_smpl[:step * batch_size].mean()))
print()
if eval_shape:
print('Shape Error (NonParam): ' +
str(1000 * shape_err[:step * batch_size].mean()))
print('Shape Error (Param): ' +
str(1000 * shape_err_smpl[:step * batch_size].mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0, 1, 2, 3, 4, 5,
6]].mean())
print()
# Print final results during evaluation
print('*** Final Results ***')
print()
if eval_pose:
print('MPJPE (NonParam): ' + str(1000 * mpjpe.mean()))
print('Reconstruction Error (NonParam): ' +
str(1000 * recon_err.mean()))
print('MPJPE (Param): ' + str(1000 * mpjpe_smpl.mean()))
print('Reconstruction Error (Param): ' +
str(1000 * recon_err_smpl.mean()))
print()
if eval_shape:
print('Shape Error (NonParam): ' + str(1000 * shape_err.mean()))
print('Shape Error (Param): ' + str(1000 * shape_err_smpl.mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0, 1, 2, 3, 4, 5, 6]].mean())
print()
def run_evaluation(model, dataset_name, dataset, result_file,
batch_size=32, img_res=224,
num_workers=32, shuffle=False, log_freq=50):
"""Run evaluation on the datasets and metrics we report in the paper. """
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
# Transfer model to the GPU
model.to(device)
# Load SMPL model
smpl_neutral = SMPL(config.SMPL_MODEL_DIR,
create_transl=False).to(device)
smpl_male = SMPL(config.SMPL_MODEL_DIR,
gender='male',
create_transl=False).to(device)
smpl_female = SMPL(config.SMPL_MODEL_DIR,
gender='female',
create_transl=False).to(device)
renderer = PartRenderer()
# Regressor for H36m joints
J_regressor = torch.from_numpy(np.load(config.JOINT_REGRESSOR_H36M)).float()
save_results = result_file is not None
# Disable shuffling if you want to save the results
if save_results:
shuffle=False
# Create dataloader for the dataset
data_loader = DataLoader(dataset, batch_size=batch_size, shuffle=shuffle, num_workers=num_workers)
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
mpjpe = np.zeros(len(dataset))
recon_err = np.zeros(len(dataset))
mpjpe_smpl = np.zeros(len(dataset))
recon_err_smpl = np.zeros(len(dataset))
# Shape metrics
# Mean per-vertex error
shape_err = np.zeros(len(dataset))
shape_err_smpl = np.zeros(len(dataset))
# Mask and part metrics
# Accuracy
accuracy = 0.
parts_accuracy = 0.
# True positive, false positive and false negative
tp = np.zeros((2,1))
fp = np.zeros((2,1))
fn = np.zeros((2,1))
parts_tp = np.zeros((7,1))
parts_fp = np.zeros((7,1))
parts_fn = np.zeros((7,1))
# Pixel count accumulators
pixel_count = 0
parts_pixel_count = 0
# Store SMPL parameters
smpl_pose = np.zeros((len(dataset), 72))
smpl_betas = np.zeros((len(dataset), 10))
smpl_camera = np.zeros((len(dataset), 3))
pred_joints = np.zeros((len(dataset), 17, 3))
eval_pose = False
eval_masks = False
eval_parts = False
# Choose appropriate evaluation for each dataset
if dataset_name == 'h36m-p1' or dataset_name == 'h36m-p2' or dataset_name == '3dpw' or dataset_name == 'mpi-inf-3dhp':
eval_pose = True
elif dataset_name == 'lsp':
eval_masks = True
eval_parts = True
annot_path = config.DATASET_FOLDERS['upi-s1h']
joint_mapper_h36m = constants.H36M_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.H36M_TO_J14
joint_mapper_gt = constants.J24_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.J24_TO_J14
# Iterate over the entire dataset
for step, batch in enumerate(tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gt_vertices = smpl_neutral(betas=gt_betas, body_pose=gt_pose[:, 3:], global_orient=gt_pose[:, :3]).vertices
images = batch['img'].to(device)
gender = batch['gender'].to(device)
curr_batch_size = images.shape[0]
with torch.no_grad():
pred_rotmat, pred_betas, pred_camera = model(images)
pred_output = smpl_neutral(betas=pred_betas, body_pose=pred_rotmat[:,1:], global_orient=pred_rotmat[:,0].unsqueeze(1), pose2rot=False)
pred_vertices = pred_output.vertices
if save_results:
rot_pad = torch.tensor([0,0,1], dtype=torch.float32, device=device).view(1,3,1)
rotmat = torch.cat((pred_rotmat.view(-1, 3, 3), rot_pad.expand(curr_batch_size * 24, -1, -1)), dim=-1)
pred_pose = tgm.rotation_matrix_to_angle_axis(rotmat).contiguous().view(-1, 72)
smpl_pose[step * batch_size:step * batch_size + curr_batch_size, :] = pred_pose.cpu().numpy()
smpl_betas[step * batch_size:step * batch_size + curr_batch_size, :] = pred_betas.cpu().numpy()
smpl_camera[step * batch_size:step * batch_size + curr_batch_size, :] = pred_camera.cpu().numpy()
# 3D pose evaluation
if eval_pose:
# Regressor broadcasting
J_regressor_batch = J_regressor[None, :].expand(pred_vertices.shape[0], -1, -1).to(device)
# Get 14 ground truth joints
if 'h36m' in dataset_name or 'mpi-inf' in dataset_name:
gt_keypoints_3d = batch['pose_3d'].cuda()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_gt, :-1]
# For 3DPW get the 14 common joints from the rendered shape
else:
gt_vertices = smpl_male(global_orient=gt_pose[:,:3], body_pose=gt_pose[:,3:], betas=gt_betas).vertices
gt_vertices_female = smpl_female(global_orient=gt_pose[:,:3], body_pose=gt_pose[:,3:], betas=gt_betas).vertices
gt_vertices[gender==1, :, :] = gt_vertices_female[gender==1, :, :]
gt_keypoints_3d = torch.matmul(J_regressor_batch, gt_vertices)
gt_pelvis = gt_keypoints_3d[:, [0],:].clone()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_h36m, :]
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
# Get 14 predicted joints from the mesh
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vertices)
if save_results:
pred_joints[step * batch_size:step * batch_size + curr_batch_size, :, :] = pred_keypoints_3d.cpu().numpy()
pred_pelvis = pred_keypoints_3d[:, [0],:].clone()
pred_keypoints_3d = pred_keypoints_3d[:, joint_mapper_h36m, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# Absolute error (MPJPE)
error = torch.sqrt(((pred_keypoints_3d - gt_keypoints_3d) ** 2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
mpjpe[step * batch_size:step * batch_size + curr_batch_size] = error
# Reconstuction_error
r_error = reconstruction_error(pred_keypoints_3d.cpu().numpy(), gt_keypoints_3d.cpu().numpy(), reduction=None)
recon_err[step * batch_size:step * batch_size + curr_batch_size] = r_error
# If mask or part evaluation, render the mask and part images
if eval_masks or eval_parts:
mask, parts = renderer(pred_vertices, pred_camera)
# Mask evaluation (for LSP)
if eval_masks:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
# Dimensions of original image
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
# After rendering, convert imate back to original resolution
pred_mask = uncrop(mask[i].cpu().numpy(), center[i], scale[i], orig_shape[i]) > 0
# Load gt mask
gt_mask = cv2.imread(os.path.join(annot_path, batch['maskname'][i]), 0) > 0
# Evaluation consistent with the original UP-3D code
accuracy += (gt_mask == pred_mask).sum()
pixel_count += np.prod(np.array(gt_mask.shape))
for c in range(2):
cgt = gt_mask == c
cpred = pred_mask == c
tp[c] += (cgt & cpred).sum()
fp[c] += (~cgt & cpred).sum()
fn[c] += (cgt & ~cpred).sum()
f1 = 2 * tp / (2 * tp + fp + fn)
# Part evaluation (for LSP)
if eval_parts:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
pred_parts = uncrop(parts[i].cpu().numpy().astype(np.uint8), center[i], scale[i], orig_shape[i])
# Load gt part segmentation
gt_parts = cv2.imread(os.path.join(annot_path, batch['partname'][i]), 0)
# Evaluation consistent with the original UP-3D code
# 6 parts + background
for c in range(7):
cgt = gt_parts == c
cpred = pred_parts == c
cpred[gt_parts == 255] = 0
parts_tp[c] += (cgt & cpred).sum()
parts_fp[c] += (~cgt & cpred).sum()
parts_fn[c] += (cgt & ~cpred).sum()
gt_parts[gt_parts == 255] = 0
pred_parts[pred_parts == 255] = 0
parts_f1 = 2 * parts_tp / (2 * parts_tp + parts_fp + parts_fn)
parts_accuracy += (gt_parts == pred_parts).sum()
parts_pixel_count += np.prod(np.array(gt_parts.shape))
# Print intermediate results during evaluation
if step % log_freq == log_freq - 1:
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe[:step * batch_size].mean()))
print('Reconstruction Error: ' + str(1000 * recon_err[:step * batch_size].mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0,1,2,3,4,5,6]].mean())
print()
# Save reconstructions to a file for further processing
if save_results:
np.savez(result_file, pred_joints=pred_joints, pose=smpl_pose, betas=smpl_betas, camera=smpl_camera)
# Print final results during evaluation
print('*** Final Results ***')
print()
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe.mean()))
print('Reconstruction Error: ' + str(1000 * recon_err.mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0,1,2,3,4,5,6]].mean())
print()
def run_evaluation(hmr_model, dataset, eval_size, batch_size=32, num_workers=32, log_freq=50):
"""Run evaluation on the datasets and metrics we report in the paper. """
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
# focal length
focal_length = constants.FOCAL_LENGTH
# Transfer hmr_model to the GPU
hmr_model.to(device)
# Load SMPL hmr_model
smpl_neutral = SMPL(config.SMPL_MODEL_DIR,
create_transl=False).to(device)
smpl_male = SMPL(config.SMPL_MODEL_DIR,
gender='male',
create_transl=False).to(device)
smpl_female = SMPL(config.SMPL_MODEL_DIR,
gender='female',
create_transl=False).to(device)
# Regressor for H36m joints
J_regressor = torch.from_numpy(np.load(config.JOINT_REGRESSOR_H36M)).float()
# Create dataloader for the dataset
data_loader = DataLoader(dataset, batch_size=batch_size, shuffle=False, num_workers=num_workers)
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
mpjpe = np.zeros((len(dataset)))
recon_err = np.zeros((len(dataset)))
joint_mapper_h36m = constants.H36M_TO_J14
# Iterate over the entire dataset
for step, batch in enumerate(tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gender = batch['gender'].to(device)
images = batch['img_up']
curr_batch_size = images.shape[0]
with torch.no_grad():
images = images.to(device)
pred_rotmat, pred_betas, pred_camera, _ = hmr_model(images, scale=size_to_scale(eval_size))
pred_output = smpl_neutral(betas=pred_betas, body_pose=pred_rotmat[:, 1:],
global_orient=pred_rotmat[:, 0].unsqueeze(1), pose2rot=False)
pred_vertices = pred_output.vertices
J_regressor_batch = J_regressor[None, :].expand(pred_vertices.shape[0], -1, -1).to(device)
gt_vertices = smpl_male(global_orient=gt_pose[:, :3], body_pose=gt_pose[:, 3:], betas=gt_betas).vertices
gt_vertices_female = smpl_female(global_orient=gt_pose[:, :3], body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices[gender == 1, :, :] = gt_vertices_female[gender == 1, :, :]
gt_keypoints_3d = torch.matmul(J_regressor_batch, gt_vertices)
gt_pelvis = gt_keypoints_3d[:, [0], :].clone()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_h36m, :]
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vertices)
pred_pelvis = pred_keypoints_3d[:, [0], :].clone()
pred_keypoints_3d = pred_keypoints_3d[:, joint_mapper_h36m, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# Absolute error (MPJPE)
error = torch.sqrt(((pred_keypoints_3d - gt_keypoints_3d) ** 2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
mpjpe[step * batch_size:step * batch_size + curr_batch_size] = error
# Reconstuction_error
r_error = reconstruction_error(pred_keypoints_3d.cpu().numpy(), gt_keypoints_3d.cpu().numpy(), reduction=None)
recon_err[step * batch_size:step * batch_size + curr_batch_size] = r_error
# Print intermediate results during evaluation
if step % log_freq == log_freq - 1:
print('MPJPE: ' + str(1000 * mpjpe[:step * batch_size].mean()))
print('Reconstruction Error: ' + str(1000 * recon_err[:step * batch_size].mean()))
# Print final results during evaluation
print('*** Final Results ***')
print()
print('MPJPE: {}'.format(1000 * mpjpe.mean()))
print('Reconstruction Error: {}'.format(1000 * recon_err.mean()))
print()
def run_evaluation(model, dataset):
"""Run evaluation on the datasets and metrics we report in the paper. """
shuffle = args.shuffle
log_freq = args.log_freq
batch_size = args.batch_size
dataset_name = args.dataset
result_file = args.result_file
num_workers = args.num_workers
device = torch.device('cuda') if torch.cuda.is_available() \
else torch.device('cpu')
# Transfer model to the GPU
model.to(device)
# Load SMPL model
smpl_neutral = SMPL(path_config.SMPL_MODEL_DIR,
create_transl=False).to(device)
smpl_male = SMPL(path_config.SMPL_MODEL_DIR,
gender='male',
create_transl=False).to(device)
smpl_female = SMPL(path_config.SMPL_MODEL_DIR,
gender='female',
create_transl=False).to(device)
renderer = PartRenderer()
# Regressor for H36m joints
J_regressor = torch.from_numpy(np.load(
path_config.JOINT_REGRESSOR_H36M)).float()
save_results = result_file is not None
# Disable shuffling if you want to save the results
if save_results:
shuffle = False
# Create dataloader for the dataset
data_loader = DataLoader(dataset,
batch_size=batch_size,
shuffle=shuffle,
num_workers=num_workers)
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
mpjpe = np.zeros(len(dataset))
recon_err = np.zeros(len(dataset))
mpjpe_smpl = np.zeros(len(dataset))
recon_err_smpl = np.zeros(len(dataset))
pve = np.zeros(len(dataset))
# Shape metrics
# Mean per-vertex error
shape_err = np.zeros(len(dataset))
shape_err_smpl = np.zeros(len(dataset))
# Mask and part metrics
# Accuracy
accuracy = 0.
parts_accuracy = 0.
# True positive, false positive and false negative
tp = np.zeros((2, 1))
fp = np.zeros((2, 1))
fn = np.zeros((2, 1))
parts_tp = np.zeros((7, 1))
parts_fp = np.zeros((7, 1))
parts_fn = np.zeros((7, 1))
# Pixel count accumulators
pixel_count = 0
parts_pixel_count = 0
# Store SMPL parameters
smpl_pose = np.zeros((len(dataset), 72))
smpl_betas = np.zeros((len(dataset), 10))
smpl_camera = np.zeros((len(dataset), 3))
pred_joints = np.zeros((len(dataset), 17, 3))
action_idxes = {}
idx_counter = 0
# for each action
act_PVE = {}
act_MPJPE = {}
act_paMPJPE = {}
eval_pose = False
eval_masks = False
eval_parts = False
# Choose appropriate evaluation for each dataset
if dataset_name == 'h36m-p1' or dataset_name == 'h36m-p2' or dataset_name == 'h36m-p2-mosh' \
or dataset_name == '3dpw' or dataset_name == 'mpi-inf-3dhp' or dataset_name == '3doh50k':
eval_pose = True
elif dataset_name == 'lsp':
eval_masks = True
eval_parts = True
annot_path = path_config.DATASET_FOLDERS['upi-s1h']
joint_mapper_h36m = constants.H36M_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.H36M_TO_J14
joint_mapper_gt = constants.J24_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.J24_TO_J14
# Iterate over the entire dataset
cnt = 0
results_dict = {'id': [], 'pred': [], 'pred_pa': [], 'gt': []}
for step, batch in enumerate(
tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gt_smpl_out = smpl_neutral(betas=gt_betas,
body_pose=gt_pose[:, 3:],
global_orient=gt_pose[:, :3])
gt_vertices_nt = gt_smpl_out.vertices
images = batch['img'].to(device)
gender = batch['gender'].to(device)
curr_batch_size = images.shape[0]
if save_results:
s_id = np.array(
[int(item.split('/')[-3][-1])
for item in batch['imgname']]) * 10000
s_id += np.array(
[int(item.split('/')[-1][4:-4]) for item in batch['imgname']])
results_dict['id'].append(s_id)
if dataset_name == 'h36m-p2':
action = [
im_path.split('/')[-1].split('.')[0].split('_')[1]
for im_path in batch['imgname']
]
for act_i in range(len(action)):
if action[act_i] in action_idxes:
action_idxes[action[act_i]].append(idx_counter + act_i)
else:
action_idxes[action[act_i]] = [idx_counter + act_i]
idx_counter += len(action)
with torch.no_grad():
if args.regressor == 'hmr':
pred_rotmat, pred_betas, pred_camera = model(images)
# torch.Size([32, 24, 3, 3]) torch.Size([32, 10]) torch.Size([32, 3])
elif args.regressor == 'pymaf_net':
preds_dict, _ = model(images)
pred_rotmat = preds_dict['smpl_out'][-1]['rotmat'].contiguous(
).view(-1, 24, 3, 3)
pred_betas = preds_dict['smpl_out'][-1][
'theta'][:, 3:13].contiguous()
pred_camera = preds_dict['smpl_out'][-1][
'theta'][:, :3].contiguous()
pred_output = smpl_neutral(
betas=pred_betas,
body_pose=pred_rotmat[:, 1:],
global_orient=pred_rotmat[:, 0].unsqueeze(1),
pose2rot=False)
pred_vertices = pred_output.vertices
if save_results:
rot_pad = torch.tensor([0, 0, 1],
dtype=torch.float32,
device=device).view(1, 3, 1)
rotmat = torch.cat((pred_rotmat.view(
-1, 3, 3), rot_pad.expand(curr_batch_size * 24, -1, -1)),
dim=-1)
pred_pose = tgm.rotation_matrix_to_angle_axis(
rotmat).contiguous().view(-1, 72)
smpl_pose[step * batch_size:step * batch_size +
curr_batch_size, :] = pred_pose.cpu().numpy()
smpl_betas[step * batch_size:step * batch_size +
curr_batch_size, :] = pred_betas.cpu().numpy()
smpl_camera[step * batch_size:step * batch_size +
curr_batch_size, :] = pred_camera.cpu().numpy()
# 3D pose evaluation
if eval_pose:
# Regressor broadcasting
J_regressor_batch = J_regressor[None, :].expand(
pred_vertices.shape[0], -1, -1).to(device)
# Get 14 ground truth joints
if 'h36m' in dataset_name or 'mpi-inf' in dataset_name or '3doh50k' in dataset_name:
gt_keypoints_3d = batch['pose_3d'].cuda()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_gt, :-1]
# For 3DPW get the 14 common joints from the rendered shape
else:
gt_vertices = smpl_male(global_orient=gt_pose[:, :3],
body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices_female = smpl_female(global_orient=gt_pose[:, :3],
body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices[gender == 1, :, :] = gt_vertices_female[gender ==
1, :, :]
gt_keypoints_3d = torch.matmul(J_regressor_batch, gt_vertices)
gt_pelvis = gt_keypoints_3d[:, [0], :].clone()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_h36m, :]
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
if '3dpw' in dataset_name:
per_vertex_error = torch.sqrt(
((pred_vertices -
gt_vertices)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
else:
per_vertex_error = torch.sqrt(
((pred_vertices - gt_vertices_nt)**2).sum(dim=-1)).mean(
dim=-1).cpu().numpy()
pve[step * batch_size:step * batch_size +
curr_batch_size] = per_vertex_error
# Get 14 predicted joints from the mesh
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vertices)
if save_results:
pred_joints[
step * batch_size:step * batch_size +
curr_batch_size, :, :] = pred_keypoints_3d.cpu().numpy()
pred_pelvis = pred_keypoints_3d[:, [0], :].clone()
pred_keypoints_3d = pred_keypoints_3d[:, joint_mapper_h36m, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# Absolute error (MPJPE)
error = torch.sqrt(
((pred_keypoints_3d -
gt_keypoints_3d)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
mpjpe[step * batch_size:step * batch_size +
curr_batch_size] = error
# Reconstuction_error
r_error, pred_keypoints_3d_pa = reconstruction_error(
pred_keypoints_3d.cpu().numpy(),
gt_keypoints_3d.cpu().numpy(),
reduction=None)
recon_err[step * batch_size:step * batch_size +
curr_batch_size] = r_error
if save_results:
results_dict['gt'].append(gt_keypoints_3d.cpu().numpy())
results_dict['pred'].append(pred_keypoints_3d.cpu().numpy())
results_dict['pred_pa'].append(pred_keypoints_3d_pa)
if args.vis_demo:
imgnames = [i_n.split('/')[-1] for i_n in batch['imgname']]
if args.regressor == 'hmr':
iuv_pred = None
images_vis = images * torch.tensor([0.229, 0.224, 0.225],
device=images.device).reshape(
1, 3, 1, 1)
images_vis = images_vis + torch.tensor(
[0.485, 0.456, 0.406], device=images.device).reshape(
1, 3, 1, 1)
vis_smpl_iuv(
images_vis.cpu().numpy(),
pred_camera.cpu().numpy(),
pred_output.vertices.cpu().numpy(), smpl_neutral.faces,
iuv_pred, 100 * per_vertex_error, imgnames,
os.path.join('./notebooks/output/demo_results', dataset_name,
args.checkpoint.split('/')[-3]), args)
# If mask or part evaluation, render the mask and part images
if eval_masks or eval_parts:
mask, parts = renderer(pred_vertices, pred_camera)
# Mask evaluation (for LSP)
if eval_masks:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
# Dimensions of original image
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
# After rendering, convert imate back to original resolution
pred_mask = uncrop(mask[i].cpu().numpy(), center[i], scale[i],
orig_shape[i]) > 0
# Load gt mask
gt_mask = cv2.imread(
os.path.join(annot_path, batch['maskname'][i]), 0) > 0
# Evaluation consistent with the original UP-3D code
accuracy += (gt_mask == pred_mask).sum()
pixel_count += np.prod(np.array(gt_mask.shape))
for c in range(2):
cgt = gt_mask == c
cpred = pred_mask == c
tp[c] += (cgt & cpred).sum()
fp[c] += (~cgt & cpred).sum()
fn[c] += (cgt & ~cpred).sum()
f1 = 2 * tp / (2 * tp + fp + fn)
# Part evaluation (for LSP)
if eval_parts:
center = batch['center'].cpu().numpy()
scale = batch['scale'].cpu().numpy()
orig_shape = batch['orig_shape'].cpu().numpy()
for i in range(curr_batch_size):
pred_parts = uncrop(parts[i].cpu().numpy().astype(np.uint8),
center[i], scale[i], orig_shape[i])
# Load gt part segmentation
gt_parts = cv2.imread(
os.path.join(annot_path, batch['partname'][i]), 0)
# Evaluation consistent with the original UP-3D code
# 6 parts + background
for c in range(7):
cgt = gt_parts == c
cpred = pred_parts == c
cpred[gt_parts == 255] = 0
parts_tp[c] += (cgt & cpred).sum()
parts_fp[c] += (~cgt & cpred).sum()
parts_fn[c] += (cgt & ~cpred).sum()
gt_parts[gt_parts == 255] = 0
pred_parts[pred_parts == 255] = 0
parts_f1 = 2 * parts_tp / (2 * parts_tp + parts_fp + parts_fn)
parts_accuracy += (gt_parts == pred_parts).sum()
parts_pixel_count += np.prod(np.array(gt_parts.shape))
# Print intermediate results during evaluation
if step % log_freq == log_freq - 1:
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe[:step * batch_size].mean()))
print('Reconstruction Error: ' +
str(1000 * recon_err[:step * batch_size].mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0, 1, 2, 3, 4, 5,
6]].mean())
print()
# Save reconstructions to a file for further processing
if save_results:
np.savez(result_file,
pred_joints=pred_joints,
pose=smpl_pose,
betas=smpl_betas,
camera=smpl_camera)
for k in results_dict.keys():
results_dict[k] = np.concatenate(results_dict[k])
print(k, results_dict[k].shape)
scipy.io.savemat(result_file + '.mat', results_dict)
# Print final results during evaluation
print('*** Final Results ***')
try:
print(os.path.split(args.checkpoint)[-3:], args.dataset)
except:
pass
if eval_pose:
print('PVE: ' + str(1000 * pve.mean()))
print('MPJPE: ' + str(1000 * mpjpe.mean()))
print('Reconstruction Error: ' + str(1000 * recon_err.mean()))
print()
if eval_masks:
print('Accuracy: ', accuracy / pixel_count)
print('F1: ', f1.mean())
print()
if eval_parts:
print('Parts Accuracy: ', parts_accuracy / parts_pixel_count)
print('Parts F1 (BG): ', parts_f1[[0, 1, 2, 3, 4, 5, 6]].mean())
print()
if dataset_name == 'h36m-p2':
print(
'Note: PVE is not available for h36m-p2. To evaluate PVE, use h36m-p2-mosh instead.'
)
for act in action_idxes:
act_idx = action_idxes[act]
act_pve = [pve[i] for i in act_idx]
act_errors = [mpjpe[i] for i in act_idx]
act_errors_pa = [recon_err[i] for i in act_idx]
act_errors_mean = np.mean(np.array(act_errors)) * 1000.
act_errors_pa_mean = np.mean(np.array(act_errors_pa)) * 1000.
act_pve_mean = np.mean(np.array(act_pve)) * 1000.
act_MPJPE[act] = act_errors_mean
act_paMPJPE[act] = act_errors_pa_mean
act_PVE[act] = act_pve_mean
act_err_info = ['action err']
act_row = [str(act_paMPJPE[act])
for act in action_idxes] + [act for act in action_idxes]
act_err_info.extend(act_row)
print(act_err_info)
else:
act_row = None
def test(self, databatch, joint_mapper_gt, joint_mapper_h36m):
if '3dpw' in self.options.dataset_name:
gt_pose = databatch['pose']
gt_betas = databatch['betas']
gender = databatch['gender']
with torch.no_grad():
# forward
self.model.eval()
images = databatch['image']
pred_rotmat, pred_betas, pred_cam = self.model(images)
pred_smpl_out = decode_smpl_params(pred_rotmat,
pred_betas,
pred_cam,
neutral=True)
pred_vts = pred_smpl_out['vts']
# calculate metrics
J_regressor_batch = J_regressor[None, :].expand(
pred_vts.shape[0], -1, -1).to(self.device)
# get 14 gt joints
if 'h36m' in self.options.dataset_name or 'mpi-inf' in self.options.dataset_name:
gt_keypoints_3d = databatch['oripose_3d']
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_gt, :-1]
else:
gt_vertices = smpl_male(global_orient=gt_pose[:, :3],
body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices_female = smpl_female(global_orient=gt_pose[:, :3],
body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices[gender == 1, :, :] = gt_vertices_female[gender ==
1, :, :]
gt_keypoints_3d = torch.matmul(J_regressor_batch, gt_vertices)
gt_pelvis = gt_keypoints_3d[:, [0], :].clone()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_h36m, :]
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
# get unposed mesh
t_rotmat = torch.eye(3, 3).unsqueeze(0).unsqueeze(0).repeat(
pred_rotmat.shape[0], pred_rotmat.shape[1], 1,
1).to(self.device)
pred_smpl_out = decode_smpl_params(t_rotmat,
pred_betas,
pred_cam,
neutral=True)
unposed_pred_vts = pred_smpl_out['vts']
unposed_gt_vertices = smpl_male(
global_orient=t_rotmat[:, 1:],
body_pose=t_rotmat[:, 0].unsqueeze(1),
betas=gt_betas,
pose2rot=False).vertices
unposed_gt_vertices_female = smpl_female(
global_orient=t_rotmat[:, 1:],
body_pose=t_rotmat[:, 0].unsqueeze(1),
betas=gt_betas,
pose2rot=False).vertices
unposed_gt_vertices[
gender == 1, :, :] = unposed_gt_vertices_female[gender ==
1, :, :]
# Get 14 predicted joints from the mesh
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vts)
pred_pelvis = pred_keypoints_3d[:, [0], :].clone()
pred_keypoints_3d = pred_keypoints_3d[:, joint_mapper_h36m, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# 1. MPJPE
error = torch.sqrt(
((pred_keypoints_3d -
gt_keypoints_3d)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
# 2. PA-MPJPE
r_error, pck_error = reconstruction_error(
pred_keypoints_3d.cpu().numpy(),
gt_keypoints_3d.cpu().numpy(),
needpck=True,
reduction=None)
results = {'mpjpe': error, 'pa-mpjpe': r_error, 'pck': pck_error}
if '3dpw' in self.options.dataset_name:
# 3. shape evaluation
unposed_mesh_error = torch.sqrt(
((unposed_gt_vertices - unposed_pred_vts)**2).sum(
dim=-1)).mean(dim=-1).cpu().numpy()
posed_mesh_error = torch.sqrt(
((gt_vertices -
pred_vts)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
results['ume'] = unposed_mesh_error
results['pme'] = posed_mesh_error
return results
def run_evaluation(model,
dataset_name,
dataset,
result_file,
batch_size=32,
img_res=224,
num_workers=32,
shuffle=False,
log_freq=50):
"""Run evaluation on the datasets and metrics we report in the paper. """
device = torch.device(
'cuda') if torch.cuda.is_available() else torch.device('cpu')
# Transfer model to the GPU
model.to(device)
# Load SMPL model
smpl_neutral = SMPL(config.SMPL_MODEL_DIR, create_transl=False).to(device)
smpl_male = SMPL(config.SMPL_MODEL_DIR, gender='male',
create_transl=False).to(device)
smpl_female = SMPL(config.SMPL_MODEL_DIR,
gender='female',
create_transl=False).to(device)
renderer = PartRenderer()
# Regressor for H36m joints
J_regressor = torch.from_numpy(np.load(
config.JOINT_REGRESSOR_H36M)).float()
save_results = result_file is not None
# Disable shuffling if you want to save the results
if save_results:
shuffle = False
# Create dataloader for the dataset
data_loader = DataLoader(dataset,
batch_size=batch_size,
shuffle=shuffle,
num_workers=num_workers)
# Pose metrics
# MPJPE and Reconstruction error for the non-parametric and parametric shapes
mpjpe = np.zeros(len(dataset))
recon_err = np.zeros(len(dataset))
mpjpe_smpl = np.zeros(len(dataset))
recon_err_smpl = np.zeros(len(dataset))
# Shape metrics
# Mean per-vertex error
shape_err = np.zeros(len(dataset))
shape_err_smpl = np.zeros(len(dataset))
# Store SMPL parameters
smpl_pose = np.zeros((len(dataset), 72))
smpl_betas = np.zeros((len(dataset), 10))
smpl_camera = np.zeros((len(dataset), 3))
pred_joints = np.zeros((len(dataset), 17, 3))
eval_pose = False
eval_masks = False
eval_parts = False
# Choose appropriate evaluation for each dataset
if dataset_name == 'h36m-p1' or dataset_name == 'h36m-p2' or dataset_name == '3dpw' or dataset_name == 'mpi-inf-3dhp':
eval_pose = True
elif dataset_name == 'lsp':
eval_masks = True
eval_parts = True
annot_path = config.DATASET_FOLDERS['upi-s1h']
joint_mapper_h36m = constants.H36M_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.H36M_TO_J14
joint_mapper_gt = constants.J24_TO_J17 if dataset_name == 'mpi-inf-3dhp' else constants.J24_TO_J14
# Iterate over the entire dataset
for step, batch in enumerate(
tqdm(data_loader, desc='Eval', total=len(data_loader))):
# Get ground truth annotations from the batch
gt_pose = batch['pose'].to(device)
gt_betas = batch['betas'].to(device)
gt_vertices = smpl_neutral(betas=gt_betas,
body_pose=gt_pose[:, 3:],
global_orient=gt_pose[:, :3]).vertices
images = batch['img'].to(device)
gender = batch['gender'].to(device)
curr_batch_size = images.shape[0]
with torch.no_grad():
pred_rotmat, pred_betas, pred_camera = model(images)
pred_output = smpl_neutral(
betas=pred_betas,
body_pose=pred_rotmat[:, 1:],
global_orient=pred_rotmat[:, 0].unsqueeze(1),
pose2rot=False)
pred_vertices = pred_output.vertices
if save_results:
rot_pad = torch.tensor([0, 0, 1],
dtype=torch.float32,
device=device).view(1, 3, 1)
rotmat = torch.cat((pred_rotmat.view(
-1, 3, 3), rot_pad.expand(curr_batch_size * 24, -1, -1)),
dim=-1)
pred_pose = tgm.rotation_matrix_to_angle_axis(
rotmat).contiguous().view(-1, 72)
smpl_pose[step * batch_size:step * batch_size +
curr_batch_size, :] = pred_pose.cpu().numpy()
smpl_betas[step * batch_size:step * batch_size +
curr_batch_size, :] = pred_betas.cpu().numpy()
smpl_camera[step * batch_size:step * batch_size +
curr_batch_size, :] = pred_camera.cpu().numpy()
# 3D pose evaluation
if eval_pose:
# Regressor broadcasting
J_regressor_batch = J_regressor[None, :].expand(
pred_vertices.shape[0], -1, -1).to(device)
# Get 14 ground truth joints
if 'h36m' in dataset_name or 'mpi-inf' in dataset_name:
gt_keypoints_3d = batch['pose_3d'].cuda()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_gt, :-1]
# For 3DPW get the 14 common joints from the rendered shape
else:
gt_vertices = smpl_male(global_orient=gt_pose[:, :3],
body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices_female = smpl_female(global_orient=gt_pose[:, :3],
body_pose=gt_pose[:, 3:],
betas=gt_betas).vertices
gt_vertices[gender == 1, :, :] = gt_vertices_female[gender ==
1, :, :]
gt_keypoints_3d = torch.matmul(J_regressor_batch, gt_vertices)
gt_pelvis = gt_keypoints_3d[:, [0], :].clone()
gt_keypoints_3d = gt_keypoints_3d[:, joint_mapper_h36m, :]
gt_keypoints_3d = gt_keypoints_3d - gt_pelvis
# Get 14 predicted joints from the mesh
pred_keypoints_3d = torch.matmul(J_regressor_batch, pred_vertices)
if save_results:
pred_joints[
step * batch_size:step * batch_size +
curr_batch_size, :, :] = pred_keypoints_3d.cpu().numpy()
pred_pelvis = pred_keypoints_3d[:, [0], :].clone()
pred_keypoints_3d = pred_keypoints_3d[:, joint_mapper_h36m, :]
pred_keypoints_3d = pred_keypoints_3d - pred_pelvis
# Absolute error (MPJPE)
error = torch.sqrt(
((pred_keypoints_3d -
gt_keypoints_3d)**2).sum(dim=-1)).mean(dim=-1).cpu().numpy()
mpjpe[step * batch_size:step * batch_size +
curr_batch_size] = error
# Reconstuction_error
r_error = reconstruction_error(pred_keypoints_3d.cpu().numpy(),
gt_keypoints_3d.cpu().numpy(),
reduction=None)
recon_err[step * batch_size:step * batch_size +
curr_batch_size] = r_error
# If mask or part evaluation, render the mask and part images
if eval_masks or eval_parts:
mask, parts = renderer(pred_vertices, pred_camera)
# Print intermediate results during evaluation
if step % log_freq == log_freq - 1:
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe[:step * batch_size].mean()))
print('Reconstruction Error: ' +
str(1000 * recon_err[:step * batch_size].mean()))
print()
# Save reconstructions to a file for further processing
if save_results:
np.savez(result_file,
pred_joints=pred_joints,
pose=smpl_pose,
betas=smpl_betas,
camera=smpl_camera)
np.savez('error.npz', mpjpe=mpjpe, recon_err=recon_err)
# Print final results during evaluation
print('*** Final Results ***')
print()
if eval_pose:
print('MPJPE: ' + str(1000 * mpjpe.mean()))
print('Reconstruction Error: ' + str(1000 * recon_err.mean()))
print()