def get_movie_frame(md, frame, deinterlacing):
'''Read a MovieReader frame and return it together with a filtered version.'''
if deinterlacing:
field = frame & 1
frame /= 2
try:
MovieReader.readFrame(md, seekFrame=frame)
except:
print 'oops', frame
return None, None
img = np.frombuffer(md['vbuffer'],
dtype=np.uint8).reshape(md['vheight'], md['vwidth'], 3)
if deinterlacing: # TODO check even/odd
y = np.arange(0, md['vheight'], 2)
if field: img[y, :] = img[y + 1, :] # odd
else: img[y + 1, :] = img[y, :] # even
return img
def setFrame(newFrame):
global frame, view, allSkels, points, joints, bones
frame = newFrame
for Gs3, Ls3, skelDict3, animData3, skel3 in allSkels:
dofs3 = animData3[frame % len(animData3)]
Gs3 = ASFReader.pose_skeleton(Gs3, Ls3, skelDict3['jointParents'],
skelDict3['jointDofs'],
skelDict3['dofSplits'], dofs3)
skel3.vertices[:] = Gs3[:, :, 3]
global md, img, g_detectingDots, g_readingMovie
if g_readingMovie and md is not None:
try:
MovieReader.readFrame(md, seekFrame=(frame - videoFrameOffset) / 4)
except:
frame = videoFrameOffset
MovieReader.readFrame(md, seekFrame=(frame - videoFrameOffset) / 4)
if g_detectingDots:
ret = ISCV.detect_bright_dots(img, 254, 200, 190)
good = [
r for r in ret
if min(r.sxx, r.syy) > 0.1 and min(r.sxx, r.syy) < 100.0
] # and r.sxy*r.sxy<=0.01*r.sxx*r.syy]
print len(good), 'good points'
for r in good:
#print r.sx,r.sy,r.sxx,r.sxy,r.syy
img[int(r.sy - 5):int(r.sy + 5),
int(r.sx - 5):int(r.sx + 5), :] = [0, 255, 0]
view.refreshImageData()
global animJoints, stablePointsGroups, displayFrames, groupRepresentatives
pfr = np.searchsorted(goodFrames, frame)
points.vertices = displayFrames[pfr % len(displayFrames)]
if animJoints is not None:
joints.vertices[:] = animJoints[pfr % len(animJoints)]
bones.vertices[::2] = joints.vertices
bones.vertices[1::2] = points.vertices[
groupRepresentatives[stablePointsGroups]]
view.updateGL()
def retrack_remap_rbfn():
grip_dir = os.environ['GRIP_DATA']
movie_fn,_ = QApp.app.loadFilename('Choose a movie to open', grip_dir, 'Movie Files (*.mp4 *.mov *.avi *.flv *.mpg)')
txt_fn,_ = QApp.app.loadFilename('Choose a text file of frame indices to open', grip_dir, 'Text Files (*.txt)')
md = MovieReader.open_file(movie_fn, audio=False)
lines = map(str.strip,(open(txt_fn,'r').readlines()))
mapping_file = {}
for l in lines:
pose_name,frame_number,group_names = l.split(':')
for gn in group_names.split(','):
mapping_file.setdefault(gn,{})[pose_name] = int(frame_number)
print mapping_file.keys()
print mapping_file
update_rbfn(md, mapping_file=mapping_file)
def import_movie_frames():
movie_fn, _ = QApp.app.loadFilename(
'Choose a movie to open', cwd(),
'Movie Files (*.mp4 *.mov *.avi *.flv *.mpg)')
if movie_fn == '': return # cancel
set_cwd(movie_fn)
txt_fn, _ = QApp.app.loadFilename(
'Choose a text file of frame indices to open', cwd(),
'Text Files (*.txt)')
md = MovieReader.open_file(movie_fn, audio=False)
images, shapes = [], []
if txt_fn == '':
frames = range(0, md['vmaxframe'], 100)
#if txt_fn == '': frames = range(30000, 38300, 100)
else:
frames = [int(l.split(':')[1]) for l in open(txt_fn, 'r').readlines()]
for fi in frames:
print fi, '/', frames[-1]
MovieReader.readFrame(md, fi)
add_image(
np.frombuffer(md['vbuffer'],
dtype=np.uint8).reshape(md['vheight'], md['vwidth'],
3).copy())
State.push('Import movie frames')
def dirty_cb(dirty):
if '/root/ui/attrs/movie_filename' in dirty:
fn = State.getKey('/root/ui/attrs/movie_filename')
global g_md
g_md = MovieReader.open_file(fn)
QApp.app.qtimeline.setRange(0,g_md['vmaxframe'])
for dk in dirty:
if dk.startswith('/root/ui/attrs/'):
QApp.app.refresh()
global g_mode, g_frame, g_rbfn
if g_mode == 1 and not '/root/sliders/attrs' in dirty: # RBFN view; changing frame sets all the sliders; we avoid that case
for key in dirty:
if key.startswith('/root/sliders/attrs'):
si = g_rbfn['slider_names'].index(key[len('/root/sliders/attrs/'):])
group,gn,pn,slider_indices,slider_names,pose_splits = rbfn_info_from_frame(g_frame[g_mode])
print 'rbfn slider value changed:',key,si,'from',group['slider_data'][pn][si],'to',State.getKey(key)
group['slider_data'][pn][si] = State.getKey(key)
rbfn_view_cb(g_frame[g_mode]) # TODO, force an update of the geo
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)
def setFrame(frame):
global State, mats, movieFilenames, primitives
global movies, primitives2D, deinterlacing, detectingWands, dot_detections, track3d, prev_frame, booting, trackGraph
key = State.getKey('dotParams/attrs')
skipping, prev_frame = (frame != prev_frame
and frame - 1 != prev_frame), frame
booting = 10 if skipping else booting - 1
p0, p1 = [], []
if True: #dot_detections is None:
for pair in enumerate(movies):
pts = process_frame(deinterlacing, detectingWands, frame, key,
pair)
p0.append(pts[0])
p1.append(pts[1])
def make_bounds(lens):
return np.array([sum(lens[:x]) for x in xrange(len(lens) + 1)],
dtype=np.int32)
data0 = np.array(np.concatenate(p0),
dtype=np.float32).reshape(-1, 2), make_bounds(
map(len, p0))
data1 = np.array(np.concatenate(p1),
dtype=np.float32).reshape(-1, 2), make_bounds(
map(len, p1))
else:
#dot_detections = movies_to_detections(movies, [frame], deinterlacing, key)
data0, data1 = dot_detections[frame] if dot_detections.has_key(
frame) else dot_detections.values()[0]
for ci, md in enumerate(movies):
try:
MovieReader.readFrame(md, seekFrame=frame)
except:
print 'oops', frame
return None, None
#img = np.frombuffer(md['vbuffer'],dtype=np.uint8).reshape(md['vheight'],md['vwidth'],3)
QApp.view().cameras[ci + 1].invalidateImageData()
data0 = data0[0].copy(), data0[
1] # so that undistort doesn't modify the raw detections
data1 = data1[0].copy(), data1[1]
# TODO, move this to the viewer...
data0 = ViconReader.frameCentroidsToDets(data0, mats)
data1 = ViconReader.frameCentroidsToDets(data1, mats)
primitives2D[0].setData(data0[0], data0[1])
primitives2D[1].setData(data1[0], data1[1])
#print x2ds_labels
if len(movieFilenames) is not 1:
if 1:
#x2ds_data, x2ds_splits = data0 # dark points only
x2ds_data, x2ds_splits = data1 # light points only
if skipping:
x3ds, x3ds_labels = track3d.boot(x2ds_data, x2ds_splits)
#trackGraph = Label.TrackGraph()
else:
x3ds, x3ds_labels = track3d.push(x2ds_data, x2ds_splits)
# coarse bounding box
if False:
for xi, x in zip(x3ds_labels, x3ds):
if x[0] < -200 or x[0] > 200 or x[1] < 800 or x[
1] > 1200 or x[2] < -50 or x[2] > 300:
track3d.x2ds_labels[np.where(
track3d.x2ds_labels == xi)[0]] = -1
x[:] = 0
primitives[0].setData(x3ds)
#trackGraph.push(x3ds,x3ds_labels)
#primitives[0].graph = trackGraph.drawing_graph()
elif False:
Ps = np.array([m[2] / (m[0][0, 0]) for m in mats],
dtype=np.float32)
data = data0 # dark points
#data = data1 # light points
x3ds, x2ds_labels = Recon.intersect_rays(data[0],
data[1],
Ps,
mats,
tilt_threshold=0.003,
x2d_threshold=0.02,
x3d_threshold=5.0,
min_rays=2)
primitives[0].setData(x3ds)
if detectingTiara:
global c3d_frames
frame = c3d_frames[(frame - 55) % len(c3d_frames)]
which = np.where(frame[:, 3] == 0)[0]
x3ds = frame[which, :3]
#print frame,'len',len(x3ds)
primitives[1].setData(x3ds)
QApp.app.refreshImageData()
QApp.app.updateGL()
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 intersectRaysCB(fi):
global x2d_frames, mats, Ps, c3d_frames, view, primitives, primitives2D, track3d, prev_frame, track_orn, orn_graph, boot, g_all_skels, md, orn_mapper, mar_mapper
skipping = prev_frame is None or np.abs(fi - prev_frame) > 10
prev_frame = fi
view = QApp.view()
points, altpoints = primitives
g2d = primitives2D[0]
frame = x2d_frames[fi]
x2ds_data, x2ds_splits = ViconReader.frameCentroidsToDets(frame, mats)
g2d.setData(x2ds_data, x2ds_splits)
if skipping:
x3ds, x3ds_labels = track3d.boot(x2ds_data, x2ds_splits)
#trackGraph = Label.TrackGraph()
boot = -10
else:
x3ds, x3ds_labels = track3d.push(x2ds_data, x2ds_splits)
if False:
boot = boot + 1
if boot == 0:
x2d_threshold_hash = 0.01
penalty = 10.0 # the penalty for unlabelled points. this number should be about 10. to force more complete labellings, set it higher.
maxHyps = 500 # the number of hypotheses to maintain.
print "booting:"
numLabels = len(orn_graph[0])
l2x = -np.ones(numLabels, dtype=np.int32)
label_score = ISCV.label_from_graph(x3ds, orn_graph[0],
orn_graph[1], orn_graph[2],
orn_graph[3], maxHyps, penalty,
l2x)
clouds = ISCV.HashCloud2DList(x2ds_data, x2ds_splits,
x2d_threshold_hash)
which = np.array(np.where(l2x != -1)[0], dtype=np.int32)
pras_score, x2d_labels, vels = Label.project_assign(
clouds,
x3ds[l2x[which]],
which,
Ps,
x2d_threshold=x2d_threshold_hash)
print fi, label_score, pras_score
labelled_x3ds = x3ds[l2x[which]]
print track_orn.bootPose(x2ds_data, x2ds_splits, x2d_labels)
if boot > 0:
track_orn.push(x2ds_data, x2ds_splits, its=4)
#x3ds,x2ds_labels = Recon.intersect_rays(x2ds_data, x2ds_splits, Ps, mats, seed_x3ds = None)
points.setData(x3ds)
if c3d_frames != None:
c3ds = c3d_frames[(fi - 832) / 2]
true_labels = np.array(np.where(c3ds[:, 3] == 0)[0], dtype=np.int32)
x3ds_true = c3ds[true_labels, :3]
altpoints.setData(x3ds_true)
ci = view.cameraIndex() - 1
if True: #ci == -1:
MovieReader.readFrame(md, seekFrame=max((fi - 14) / 4, 0))
QApp.app.refreshImageData()
(orn_skel_dict, orn_t) = g_all_skels['orn']
orn_mesh_dict, orn_skel_mesh, orn_geom_mesh = orn_t
orn_anim_dict = orn_skel_dict['anim_dict']
orn_skel_dict['chanValues'][:] = orn_anim_dict['dofData'][fi]
Character.updatePoseAndMeshes(orn_skel_dict, orn_skel_mesh, orn_geom_mesh)
(mar_skel_dict, mar_t) = g_all_skels['mar']
mar_anim_dict = mar_skel_dict['anim_dict']
mar_mesh_dict, mar_skel_mesh, mar_geom_mesh = mar_t
Character.updatePoseAndMeshes(mar_skel_dict, mar_skel_mesh, mar_geom_mesh,
mar_anim_dict['dofData'][fi])
from PIL import Image
#orn_geom_mesh.setImage((md['vbuffer'],(md['vheight'],md['vwidth'],3)))
#orn_geom_mesh.refreshImage()
w, h = 1024, 1024
cam = view.cameras[0]
cam.refreshImageData(view)
aspect = float(max(1, cam.bindImage.width())) / float(
cam.bindImage.height()) if cam.bindImage is not None else 1.0
orn_mapper.project(orn_skel_dict['geom_Vs'], aspect)
data = Opengl.renderGL(w, h, orn_mapper.render, cam.bindId)
orn_geom_mesh.setImage(data)
mar_mapper.project(mar_skel_dict['geom_Vs'], aspect)
data = Opengl.renderGL(w, h, mar_mapper.render, cam.bindId)
mar_geom_mesh.setImage(data)
#image = Image.fromstring(mode='RGB', size=(w, h), data=data)
#image = image.transpose(Image.FLIP_TOP_BOTTOM)
#image.save('screenshot.png')
if 0:
global g_screen
image = Opengl.renderGL(1920, 1080, Opengl.quad_render,
(cam.bindId, g_screen))
import pylab as pl
pl.imshow(image)
pl.show()
view.updateGL()
def initialise(self, interface, attrs):
directory = self.resolvePath(attrs['directory'])
if not directory: return False
prefix = attrs['prefix']
prefixFilename = self.resolvePath(attrs['prefixFilename'])
if prefix and not prefixFilename: return
calibration = attrs['calibration']
calibrationFilename = self.resolvePath(attrs['calibrationFilename'])
calibrationLocation = self.resolvePath(attrs['calibrationLocation'])
if calibration and (not calibrationFilename
and not calibrationLocation):
return False
movieFilenames = []
try:
for file in os.listdir(directory):
if prefixFilename and not file.startswith(prefixFilename):
continue
if file.endswith('.avi') or file.endswith(
'.mov') or file.endswith('mp4'):
movieFilenames.append(os.path.join(directory, file))
except WindowsError as e:
self.logger.error('Could not find videos: % s' % str(e))
if not movieFilenames:
# TODO: Here we'll have to clear the cameras etc.
return False
# Windows will produce a wonky order, i.e. 1, 10, 11, .., 2, 3, ..
# Use natural sorting to rectify
movieFilenames.sort(key=self.alphaNumKey)
self.camera_ids = []
self.camera_names = []
self.movies = []
self.mats = []
vheights = []
vwidths = []
timecodes = []
hasTimecode = False
useTimecode = attrs['useTimecode'] if 'useTimecode' in attrs else True
offset = attrs['offset']
if 'offsets' in attrs and attrs['offsets']:
offsets = eval(attrs['offsets'])
else:
offsets = [offset] * len(movieFilenames)
for ci, mf in enumerate(movieFilenames):
self.logger.info('Loading MovieReader: %s' % mf)
movieData = MovieReader.open_file(mf,
audio=False,
frame_offset=offsets[ci])
if movieData['vbuffer'] is not None:
self.movies.append(movieData)
self.timecodeOffsets.append(0)
if 'timecode' in movieData and movieData['timecode']:
hasTimecode = True
timecodes.append(movieData['timecode'])
# Make sure we have all the cameras before continuing
if len(self.movies) != len(movieFilenames):
self.logger.error('Could not load all movies in sequence')
return
# Make sure we have as many time codes as movies (if we have any)
if hasTimecode and len(self.movies) != len(timecodes):
self.logger.error('Not all movie files have a time code')
return
# See if we can get the offsets using the time codes
if hasTimecode and useTimecode:
print 'Video timecodes:', timecodes
fps_all = [round(m['fps']) for m in self.movies]
print 'FPS:', fps_all
timecodeValues = [
Timecode.TCFtoInt(tc, fps)
for tc, fps in zip(timecodes, fps_all)
]
tcOrderDesc = [
timecodes.index(tc) for tc in sorted(timecodes, reverse=True)
]
# Set the first offset to 0
firstTcIndex = tcOrderDesc[0]
self.timecodeOffsets[firstTcIndex] = 0
largestTc = timecodes[firstTcIndex]
offsetStartIndex = 1
# We can also get the timecode destination from an incoming location, e.g. 2D detections
if 'timecodeLocation' in attrs and attrs['timecodeLocation']:
tcSyncTime = interface.attr(
'timecode', atLocation=attrs['timecodeLocation'])
if tcSyncTime is not None:
tcSyncValue = Timecode.TCFtoInt(tcSyncTime, fps_all[0])
if tcSyncValue < timecodeValues[firstTcIndex]:
self.logger.error(
'Sync timecode %s is smaller than video timecodes (%s).'
% (tcSyncTime, largestTc))
return
largestTc = tcSyncTime
offsetStartIndex = 0
self.timecode = largestTc
self.logger.info('Setting timecode to: %s' % (largestTc))
# Calculate the offset for each camera to get it up to speed with the target timecode
# TODO: Replace hard coded timecode fps and multiplier
timecodeFps, timecodeMultiplier = 25., 2.
for tcInd in tcOrderDesc[offsetStartIndex:]:
diff = Timecode.TCSub(largestTc, timecodes[tcInd], timecodeFps)
self.timecodeOffsets[tcInd] = Timecode.TCFtoInt(
diff, timecodeFps) * timecodeMultiplier
if self.timecodeOffsets:
print 'Video timecode offsets:', self.timecodeOffsets
self.camera_ids = [
'Camera %d' % ci for ci in xrange(len(movieFilenames))
]
self.movies = self.movies
if not calibrationLocation: calibrationLocation = interface.root()
if calibrationFilename or interface.hasAttr(
'mats', atLocation=calibrationLocation):
if calibrationFilename:
# TODO: Detect filetype, e.g. .cal and .xcp and handle accordingly
try:
self.mats, rawCalData = OptitrackReader.load_CAL(
calibrationFilename)
if not self.mats: return False
except IOError as e:
self.logger.error('Could not load calibration file: %s' %
str(e))
return False
else:
self.mats = interface.attr('mats',
atLocation=calibrationLocation)
if not self.mats:
self.logger.error('Could not find calibration mats: %s' %
calibrationLocation)
return False
else:
from GCore import Calibrate
for ci, (cid, md) in enumerate(zip(self.camera_ids, self.movies)):
if md is not None:
self.mats.append(
Calibrate.makeUninitialisedMat(
ci, (md['vheight'], md['vwidth'])))
for md in self.movies:
vheights.append(md['vheight'])
vwidths.append(md['vwidth'])
Ps = interface.getPsFromMats(self.mats)
self.attrs = {
'vheight': vheights,
'vwidth': vwidths,
'camera_ids': self.camera_ids,
'Ps': Ps,
'mats': self.mats,
'colour': eval(attrs['colour'])
}
if self.camera_names:
self.attrs['camera_names'] = self.camera_names
self.initialised = True
return True
def track_view_cb(fi, attrs):
# g_mode = 0
global g_webcam, g_md, g_rbfn, g_predictor
# runtime options and state
global g_prev_smooth_shape, g_prev_vs, g_hmc_boot, g_settle, g_head_pan_tilt_roll
if attrs['using_webcam']:
if g_webcam is None:
g_webcam = WebCam()
g_webcam.Open(State.getKey('/root/ui/attrs/cam_offset') + State.getKey('/root/ui/attrs/webcam_index'))
g_webcam.SetProperty('FPS', State.getKey('/root/ui/attrs/cam_fps'))
g_webcam.SetProperty('FRAME_WIDTH', State.getKey('/root/ui/attrs/cam_width'))
g_webcam.SetProperty('FRAME_HEIGHT', State.getKey('/root/ui/attrs/cam_height'))
if g_webcam is None:
img = np.zeros((16,16,3),dtype=np.uint8)
else:
img = g_webcam.GetFrame()
if img is None:
img = np.zeros((16,16,3),dtype=np.uint8)
elif g_md is not None:
MovieReader.readFrame(g_md, seekFrame=fi) # only update the visible camera
img = np.frombuffer(g_md['vbuffer'], dtype=np.uint8).reshape(g_md['vheight'],g_md['vwidth'],3)
#QApp.app.qtimeline.setRange(0, g_md['vmaxframe'])
else:
img = np.zeros((16,16,3),dtype=np.uint8)
mirror_scale = -1 if attrs['mirroring'] else 1
rotate = attrs['rotate']
if g_settle >= 0:
if g_settle == 0 and g_prev_vs is not None:
g_hmc_boot = g_prev_vs.copy()
g_settle = g_settle - 1
else:
if attrs['HMC_mode'] and g_hmc_boot is not None: g_prev_vs = g_hmc_boot.copy()
if attrs['booting'] or Face.test_reboot(img, g_prev_vs):
g_prev_vs = Face.detect_face(img, g_predictor, 2, rotate)
g_hmc_boot = None # in case we didn't detect a face
g_settle = 10 # go into settle mode (10 frames)
if g_prev_vs is not None:
State.setKey('/root/ui/attrs/booting',False)
if attrs['HMC_mode']: g_hmc_boot = g_prev_vs.copy()
g_prev_vs = Face.track_face(img, g_predictor, g_prev_vs, rotate=rotate)
# compensate for roll, translation and scale
norm_shape, head_pan, head_tilt, A = stabilize_shape(g_prev_vs, setting_neutral=attrs['setting_neutral'])
# dejitter
if attrs['filtering']:
g_prev_smooth_shape = filter_data(norm_shape, g_prev_smooth_shape)
else:
g_prev_smooth_shape = norm_shape.copy()
# extract angles from the measured values
head_pan_tilt_roll = np.degrees(np.arctan2([head_pan*mirror_scale, head_tilt, -mirror_scale*A[1][0]],[2,2,A[1][1]]))
g_head_pan_tilt_roll = filter_data(head_pan_tilt_roll, g_head_pan_tilt_roll, 3.0)
camera = QApp.view().camera
camera.lockedUpright = False
camera.cameraRoll = (-90*rotate if rotate != -1 else g_head_pan_tilt_roll[2])
ret = g_prev_smooth_shape.copy()
if attrs['mirroring']:
flip_order = [16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0, 26,25,24,23,22,21,20,19,18,17, 27,28,29,30, 35,34,33,32,31, \
45,44,43,42, 47,46, 39,38,37,36, 41,40, 54,53,52,51,50,49,48, 59,58,57,56,55, 64,63,62,61,60, 67,66,65, 69,68]
ret = ret[flip_order]
slider_names, slider_values = applyRetarget(g_rbfn, ret)
#State._setKey('/root/sliders/attrs', dict(zip(slider_names, slider_values))) # NO UNDO
slider_names.extend(['NeckPan','NeckTilt','NeckRoll'])
slider_values = np.float32(list(slider_values)+list(g_head_pan_tilt_roll))
return g_head_pan_tilt_roll.copy(),g_prev_vs.copy(),norm_shape,img,slider_names,slider_values,A
def retrack_refresh_rbfn():
grip_dir = os.environ['GRIP_DATA']
movie_fn,_ = QApp.app.loadFilename('Choose a movie to open', grip_dir, 'Movie Files (*.mp4 *.mov *.avi *.flv *.mpg)')
md = MovieReader.open_file(movie_fn, audio=False)
update_rbfn(md)
def animateHead(newFrame):
global ted_geom, ted_geom2, ted_shape, tony_geom, tony_shape, tony_geom2, tony_obj, ted_obj, diff_geom, c3d_frames, extract
global tony_shape_vector, tony_shape_mat, ted_lo_rest, ted_lo_mat, c3d_points
global md, movies
tony_geom.image, tony_geom.bindImage, tony_geom.bindId = ted_geom.image, ted_geom.bindImage, ted_geom.bindId # reuse the texture!
fo = 55
MovieReader.readFrame(md, seekFrame=((newFrame + fo) / 2))
view = QApp.view()
for ci in range(0, 4):
view.cameras[ci + 1].invalidateImageData()
ci = view.cameras.index(view.camera) - 1
if ci >= 0:
MovieReader.readFrame(movies[ci],
seekFrame=(newFrame +
fo)) # only update the visible camera
frac = (newFrame % 200) / 100.
if (frac > 1.0): frac = 2.0 - frac
fi = newFrame % len(c3d_frames)
if ted_skel: # move the skeleton
dofs = ted_anim['dofData'][fi * 2 - 120]
Character.pose_skeleton(ted_skel['Gs'], ted_skel, dofs)
ted_glskel.setPose(ted_skel['Gs'])
offset = ted_skel['Gs'][13] # ted_skel['jointNames'].index('VSS_Head')
cams = QApp.app.getLayers()['cameras']
tmp = np.eye(4, 4, dtype=np.float32)
tmp[:3, :] = offset
cams.setTransform(tmp)
if ci >= 0: # move the camera view to be correct
camRT = mats[ci][1]
RT = np.dot(camRT, np.linalg.inv(tmp))
view.cameras[ci + 1].setRT(RT)
# update the face geometries to fit the skeleton
ted_geom.setPose(offset.reshape(1, 3, 4))
tony_geom.setPose(offset.reshape(1, 3, 4))
#TODO head_points,c3d_points,surface_points,ted_geom2
frame = c3d_frames[fi][extract]
which = np.where(frame[:, 3] == 0)[0]
x3ds = frame[which, :3]
#print which,x3ds.shape,ted_lo_rest.shape,ted_lo_mat.shape
bnds = np.array([[0, 1]] * ted_lo_mat.shape[0], dtype=np.float32)
tony_shape_vector[:] = OBJReader.fitLoResShapeMat(ted_lo_rest,
ted_lo_mat,
x3ds,
Aoffset=10.0,
Boffset=3.0,
x_0=tony_shape_vector,
indices=which,
bounds=bnds)
#global tony_shape_vectors; tony_shape_vector[:] = tony_shape_vectors[newFrame%len(tony_shape_vectors)]
#tony_shape_vector *= 0.
#tony_shape_vector += (np.random.random(len(tony_shape_vector)) - 0.5)*0.2
if 1:
ted_shape_v = np.dot(ted_shape_mat_T, tony_shape_vector).reshape(-1, 3)
else:
ted_shape_v = np.zeros_like(ted_obj['v'])
ISCV.dot(ted_shape_mat_T, tony_shape_vector, ted_shape_v.reshape(-1))
tony_shape_v = ted_shape_v
#tony_shape_v = tony_shape['v']*frac
ted_geom.setVs(ted_obj['v'] + ted_shape_v) #ted_shape['v'] * frac)
tony_geom.setVs(tony_obj['v'] + tony_shape_v -
np.array([200, 0, 0], dtype=np.float32))
ted_geom2.setVs(ted_obj['v'] * (1.0 - frac) +
tony_tedtopo_obj['v'] * frac +
np.array([200, 0, 0], dtype=np.float32))
#if len(ted_shape_v) == len(tony_shape_v):
# tony_geom2.setVs(tony_obj['v'] + ted_shape_v - [400,0,0])
# diff_geom.setVs(ted_obj['v'] + tony_shape_v - ted_shape_v - [600,0,0])
#print [c3d_labels[i] for i in which]
surface_points.vertices = np.dot(ted_lo_mat.T,
tony_shape_vector).T + ted_lo_rest
surface_points.colour = [0, 1, 0, 1] # green
c3d_points.vertices = x3ds
c3d_points.colour = [1, 0, 0, 1] # red
QApp.app.refreshImageData()
QApp.app.updateGL()
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']
if False: # only for cleaned-up data
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 c3d_labels
if False: # this is for the cleaned-up data (don't apply the other offset...)
offset = Calibrate.composeRT(Calibrate.composeR((0.0, 0.0, 0)),
(0, 0, -8), 0) # 0.902
def import_movie_cb():
grip_dir = os.environ['GRIP_DATA']
movie_fn, _ = QApp.app.loadFilename('Choose a movie to open', grip_dir, 'Movie Files (*.mp4 *.mov *.avi *.flv *.mpg)')
global md
md = MovieReader.open_file(movie_fn)
def set_frame_cb2(frame):
global g_predictor, g_predictor_dlib, g_detector
size = (len(g_predictor['ref_shape'])+4)
geo_vs = np.zeros((size,3), dtype=np.float32)
ref_vs = np.zeros((size,3), dtype=np.float32)
global g_prev_vs
try: g_prev_vs
except: g_prev_vs = None
if 0: # show_images
global g_jpgs; fn = g_jpgs[frame%len(g_jpgs)]
img = Face.load_image(fn)
img = Face.fix_image(img, max_size=640)
use_prev_vs = False # images need booting every frame
else: # show_movies
global md; MovieReader.readFrame(md, seekFrame=frame) # only update the visible camera
img = np.frombuffer(md['vbuffer'], dtype=np.uint8).reshape(md['vheight'],md['vwidth'],3)
use_prev_vs = True
if 0: # undistort_stuff
global g_screen
global g_tid, g_bid
g_tid,g_bid = Opengl.bind_streaming_image(img, g_tid, g_bid)
img = Opengl.renderGL(img.shape[1], img.shape[0], Opengl.quad_render, (g_tid, g_screen, 0.85))
#Opengl.unbind_image(bid)
if 0: # rotated_image
img = img.transpose((1,0,2)).copy()
if 0: # gamma_image
lookup = np.array([int(((x/255.0)**0.4545)*255.0) for x in range(256)], dtype=np.uint8)
img = lookup[img]
#img[:,600:1000] = 0 #img[:,200:600].copy()
if 0: # test_rotate
import scipy; img = scipy.misc.imrotate(img, frame, interp='bilinear')
if 0: # test_rotate_right
import scipy; img[:,-img.shape[0]:] = scipy.misc.imrotate(img[:,-img.shape[0]:], frame, interp='bilinear')
if 0: # test_filter_image
img = ISCV.filter_image(img,4,16)
w,h = img.shape[1]*0.5,img.shape[0]*0.5
boot = g_prev_vs
if boot is None: boot = Face.detect_face(img, g_predictor, 2) # ,-1) # put -1 at end to boot at any angle
tmp = Face.track_face(img, g_predictor, boot)
if use_prev_vs and boot is not None: g_prev_vs = tmp
if frame == 0 or Face.test_reboot(img, g_prev_vs): g_prev_vs = None
global template_vs
geo_vs[:size-4,:2] = tmp
geo_vs[size-4:size,:2] = Face.get_boundary(geo_vs[:size-4,:2], template_vs)
if 0: # show_aam
global g_aam_model
shape_u, tex_u, A_inv, mn = Face.fit_aam(g_aam_model, tmp, img)
Face.render_aam(g_aam_model, A_inv*0.1, mn*0.1, shape_u, tex_u, img)
su,tu = Face.normalized_aam_coords(g_aam_model, shape_u, tex_u)
res = Face.aam_residual(g_aam_model, tmp, img)
QApp.view().displayText = [(10,100,'%f' % np.linalg.norm(tu)),(10,125,'%f' % np.linalg.norm(su)),(10,150,'%f'%res)]
if 0: # show_extracted_texture
global g_aam_model_indices,g_aam_model_weights
pixels = Face.extract_texture(img, geo_vs[:size,:2], g_aam_model_indices, g_aam_model_weights)
global template_vs
Face.render_texture(pixels, img, template_vs, g_aam_model_indices, g_aam_model_weights)
geo_mesh = QApp.app.getLayer('geo_mesh')
geo_mesh.setVs(geo_vs)
geo_mesh.transforms[0][:,:3] = [[1,0,0],[0,1,0],[0,0,1],[-w,1000-h,0.1]]
image_mesh = QApp.app.getLayer('image_mesh')
image_mesh.setVs(np.array([[-w,-h,0],[w,-h,0],[w,h,0],[-w,h,0]], dtype=np.float32))
image_mesh.setImage(img)
QApp.view().updateGL()
def update_rbfn(md, short_name='Take', mapping_file=None):
global g_rbfn, g_predictor
# TODO these groups must have weights, this can't initialise weights
groups, slider_splits, slider_names, marker_names = extract_groups(g_rbfn)
# update the neutral
if mapping_file:
fi = mapping_file[mapping_file.keys()[0]]['Neutral']
else:
g = groups[0][1]
print g.keys()
active_poses = [pn for pn in g['marker_data'].keys() if pn not in g.get('disabled', [])]
ni = [ap.rsplit('_',2)[1]=='Neutral' for ap in active_poses].index(True)
fi = int(active_poses[ni].rsplit('_',2)[2])
print 'neutral on frame',fi
MovieReader.readFrame(md, fi)
img = np.frombuffer(md['vbuffer'],dtype=np.uint8).reshape(md['vheight'],md['vwidth'],3).copy()
vs = Face.detect_face(img, g_predictor)
vs = Face.track_face(img, g_predictor, vs)
clear_neutral()
g_rbfn['neutral'] = stabilize_shape(vs)[0]
for (gn,group) in groups:
gmd,gsd,gis = {},{},{}
for pose_key,pose_data in group['marker_data'].iteritems():
sd = group['slider_data'][pose_key]
test_short_name,pose_name,frame_number = pose_key.rsplit('_',2)
assert(test_short_name == short_name)
fi = int(frame_number)
print fi
if mapping_file:
if pose_name not in mapping_file[gn]:
print 'WARNING: pose %s missing; removing from rbfn' % pose_name
continue
fi = mapping_file[gn].pop(pose_name)
print 'remapping to',fi
MovieReader.readFrame(md, fi)
img = np.frombuffer(md['vbuffer'],dtype=np.uint8).reshape(md['vheight'],md['vwidth'],3).copy()
vs = Face.detect_face(img, g_predictor)
if vs is None:
print 'failed to boot'
for vi in range(max(fi-300,0),fi):
MovieReader.readFrame(md, vi)
img2 = np.frombuffer(md['vbuffer'],dtype=np.uint8).reshape(md['vheight'],md['vwidth'],3).copy()
vs = Face.detect_face(img2, g_predictor)
if vs is not None:
print 'booted on frame',vi
for vi2 in range(vi+1,fi):
MovieReader.readFrame(md, vi2)
img2 = np.frombuffer(md['vbuffer'],dtype=np.uint8).reshape(md['vheight'],md['vwidth'],3).copy()
vs = Face.track_face(img2, g_predictor, vs)
break
if vi == fi-1: print 'don\'t know what to do'
vs = Face.track_face(img, g_predictor, vs)
#Face.show_image(img,vs)
#vs, head_pan, head_tilt, A = stabilize_shape(vs)
print pose_name
#tmp = pose_data.reshape(-1,3)[:,:2]
#Face.show_image(None,tmp-np.mean(tmp,axis=0),(vs-np.mean(vs,axis=0))*5)
pose_data = np.hstack((vs,np.zeros((vs.shape[0],1),dtype=np.float32)))
pose_key = '_'.join((short_name,pose_name,str(fi)))
gmd[pose_key] = pose_data
gsd[pose_key] = sd
gis[pose_key] = JPEG.compress(img)
group['marker_data'] = gmd
group['slider_data'] = gsd
group['images'] = gis
if mapping_file: print 'left overs:',mapping_file
def generateSkeleton(cacheId=622,
x3d_filename='',
perc=0.9,
triangleThreshold=1000,
thresholdDistance=25.,
useFrames=range(0, 514),
numComps=30,
labelGraphThreshold=4,
stepSize=1):
directory = os.path.join(os.environ['GRIP_DATA'],
'140113_A2_GRIP_GenPeople')
c3d_filename = 'ROM.c3d'
cameraB = 7292, 34, (47, 2.3, -0.2), (67, 788, 79)
cameraA = 5384, 49.8, (5.4, 1.1,
-0.7), (4, 1135, 0
) #5045,52,(5.6,0.9,-0.7),(0,1130,0)
camera = cameraA
startFrame = 0
tempDir = os.environ['GRIP_TEMP']
#import logging
#logging.basicConfig(level=logging.DEBUG)
from IO import C3D
graph_out_fn = None
# labelGraphThreshold = 4
# stepSize = 1
if True: # bo data
c = C3D.read(os.path.join(directory, c3d_filename))
c3d_frames, c3d_fps = c['frames'], c['fps']
pointLabels = c['labels']
print 'c3d fps = ', c3d_fps
numFramesVisiblePerPoint = np.sum(c3d_frames[:, :, 3] == 0, axis=0)
numPointsVisiblePerFrame = np.sum(c3d_frames[:, :, 3] == 0, axis=1)
print 'threshold', 0.40 * len(c3d_frames)
goodPoints = np.where(
numFramesVisiblePerPoint > 0.90 * len(c3d_frames))[0]
goodFrames = np.where(
np.sum(c3d_frames[:, goodPoints,
3] == 0, axis=1) == len(goodPoints))[0]
print len(goodPoints), len(
goodFrames) # 290 x 6162 (80%), 283 x 8729 (90%), 275x10054 (96%)
frames = c3d_frames[goodFrames, :, :][:, goodPoints, :][:, :, :3]
pointLabels = [pointLabels[g] for g in goodPoints]
#badPoint = pointLabels.index('BoDense:A_Neck_1')
data_fn = 'W90-28-10.IO'
skel_out_fn = None
triangleThreshold = 1000.
else: # orn data
# cacheId = 622
# perc = 0.9
# triangleThreshold = 1000. # Bone threshold
# thresholdDistance = 25. # Joint threshold
# useFrames = range(2370, 3500)
# useFrames = range(2650, 3500)
# useFrames = range(2600, 3480)
# useFrames = range(2650, 3480)
# useFrames = range(0, 2000)
# useFrames = range(0, 514)
#useFrames = [] #range(0, 1000)
#useFrames.extend(range(2650, 3480))
#useFrames.extend(range(4824, 5253))
# numComps = 30
# useFrames = range(0, 333)
# useFrames = range(4824, 5253)
print 'CacheId:', cacheId
print 'Good point percentage:', perc
print 'Triangle threshold:', triangleThreshold
print 'Distance threshold:', thresholdDistance
print 'Frames:', useFrames[0], '-', useFrames[-1]
_, x3d_data = IO.load(x3d_filename)
data_fn = 'W90-28-8.romtracks_T%d.IO' % cacheId
location = '/root/tracks'
# location = '/root/skeleton/reconstruction/collection/c3ds'
c3d_frames = x3d_data[location]['x3ds']
print c3d_frames.shape
c3d_frames = np.transpose(c3d_frames, axes=(1, 0, 2))
#frames = frames[:, blueIds, :]
print c3d_frames.shape
pointLabels = x3d_data[location]['x3ds_labels']
if False:
goodPoints = np.arange(c3d_frames.shape[1])
goodFrames = np.arange(len(c3d_frames))
else:
numFramesVisiblePerPoint = np.sum(c3d_frames[useFrames, :, 3] == 0,
axis=0)
numPointsVisiblePerFrame = np.sum(c3d_frames[useFrames, :, 3] == 0,
axis=1)
goodPoints = np.where(
numFramesVisiblePerPoint > perc * len(useFrames))[0]
goodFrames = np.where(
np.sum(c3d_frames[:, goodPoints,
3] == 0, axis=1) == len(goodPoints))[0]
print '# Good points: %d | # Good frames: %d' % (len(goodPoints),
len(goodFrames))
print goodFrames[:4]
frames = c3d_frames[goodFrames, :, :][:, goodPoints, :][:, :, :3]
pointLabels = [int(pointLabels[g]) for g in goodPoints]
skel_out_fn = None
graph_out_fn = None
data = frames[::stepSize, :, :].copy()
first_time_only = not os.path.exists(os.path.join(tempDir, data_fn))
if first_time_only: # generate the file
M = ASFReader.greedyTriangles(
data,
numComps,
triangleThreshold=triangleThreshold,
thresholdDistance=thresholdDistance**2) # only every Nth frame
IO.save(os.path.join(tempDir, 'M90_T%d.IO' % cacheId), M)
_, M = IO.load(os.path.join(tempDir, 'M90_T%d.IO' % cacheId))
stabilizedPointToGroup, stabilizedPointResiduals, stabilizedFrames = ASFReader.assignAndStabilize(
data,
M['RTs'][M['triIndices'][:28]],
thresholdDistance=thresholdDistance**2)
W = {
'stabilizedPointToGroup': stabilizedPointToGroup,
'stabilizedPointResiduals': stabilizedPointResiduals,
'stabilizedFrames': stabilizedFrames
}
IO.save(os.path.join(tempDir, data_fn), W)
else:
_data = IO.load(os.path.join(tempDir, data_fn))[1]
stabilizedPointToGroup = _data['stabilizedPointToGroup']
stabilizedPointResiduals = _data['stabilizedPointResiduals']
stabilizedFrames = _data['stabilizedFrames']
print 'numFrames = %d' % len(stabilizedFrames)
print 'number of labelled points %d' % np.sum(stabilizedPointToGroup != -1)
print 'RMS of labelled points %fmm' % np.sqrt(
np.mean(
stabilizedPointResiduals[np.where(stabilizedPointToGroup != -1)]))
first_time_only = True
print stabilizedPointToGroup
num_groups = max(stabilizedPointToGroup) + 1
stabilized_groups = [
np.where(stabilizedPointToGroup == gi)[0] for gi in range(num_groups)
]
if first_time_only:
if True: # tighten the fit
# thresh = [10,10,9,9] #,10,10,9,7,9,9,6,9,9,9,]
thresh = [
thresholdDistance, thresholdDistance, thresholdDistance - 1,
thresholdDistance - 1, thresholdDistance - 2,
thresholdDistance - 2
]
# thresh = [20, 20, 19, 19, 10, 10, 9, 9]
for t in thresh:
#stabilizedPointToGroup[badPoint] = -1 # unlabel
RTs = ASFReader.stabilizeAssignment(data,
stabilizedPointToGroup)
stabilizedPointToGroup, stabilizedPointResiduals, stabilizedFrames = ASFReader.assignAndStabilize(
data, RTs, thresholdDistance=float(t)**2)
print 'number of labelled points %d' % np.sum(
stabilizedPointToGroup != -1)
print 'RMS of labelled points %fmm' % np.sqrt(
np.mean(stabilizedPointResiduals[np.where(
stabilizedPointToGroup != -1)]))
else:
RTs = ASFReader.stabilizeAssignment(data, stabilizedPointToGroup)
stabilizedPointToGroup, stabilizedPointResiduals, stabilizedFrames = ASFReader.assignAndStabilize(
data, RTs, thresholdDistance=10.**2)
global animJoints, stablePointsGroups, displayFrames, groupRepresentatives
stablePointsData = ASFReader.sharedStablePoints(RTs, threshold=3.**2)
stablePointsGroups = [sp[0] for sp in stablePointsData]
stablePoints = np.array([sp[2] for sp in stablePointsData],
dtype=np.float32)
print 'num stable points', len(stablePoints)
def residual(gi, leaf_indices, RTs):
'''given a group and a list of attachment points, choose the best attachment point and return the residual.'''
tmp = [(ASFReader.transform_pair_residual(RTs[gi], RTs[gj]), gj)
for gj in leaf_indices]
return min(tmp)
# make a skeleton from stabilizedPointToGroup
root_group = 0
leaf_nodes = set([root_group])
skel_group_indices = [root_group]
skel_joint_parents = [-1]
groups = set(range(stabilizedPointToGroup.max() + 1))
groups.remove(root_group)
RTs = ASFReader.stabilizeAssignment(data, stabilizedPointToGroup)
joints = []
joints.append(np.mean(data[0, stabilized_groups[root_group]], axis=0))
bones = []
bones.append([])
G = np.eye(3, 4, dtype=np.float32)
G[:, 3] = np.mean(data[0, stabilized_groups[root_group]], axis=0)
Gs = [G]
while groups:
residuals = [(residual(gi, leaf_nodes, RTs), gi) for gi in groups]
(((res, O), parent), group) = min(residuals)
groups.remove(group)
leaf_nodes.add(group)
skel_group_indices.append(group)
pi = skel_group_indices.index(parent)
skel_joint_parents.append(pi)
joint_world = np.float32(O)
joints.append(joint_world)
bones.append([np.mean(data[0, stabilized_groups[group]], axis=0) - O])
bones[pi].append(joint_world - joints[pi])
print group, parent
G = np.eye(3, 4, dtype=np.float32)
G[:, 3] = O
Gs.append(G)
print skel_group_indices
print skel_joint_parents
numJoints = len(skel_joint_parents)
jointNames = map(str, skel_group_indices)
jointIndex = dict(zip(jointNames, range(len(jointNames))))
jointParents = skel_joint_parents
jointChans = [0, 1, 2] + [3, 4, 5] * numJoints
jointChanSplits = [0, 3, 6]
for x in range(numJoints - 1):
jointChanSplits.append(jointChanSplits[-1])
jointChanSplits.append(jointChanSplits[-1] + 3)
dofNames = [
jointNames[ji] +
[':tx', ':ty', ':tz', ':rx', ':ry', ':rz'][jointChans[di]]
for ji in range(numJoints)
for di in range(jointChanSplits[2 * ji], jointChanSplits[2 * ji + 2])
]
numDofs = len(dofNames)
def mult_inv(Gs_pi, Gs_gi):
# Gs_pi^-1 Gs_gi = Ls_gi
R = np.linalg.inv(Gs_pi[:3, :3])
ret = np.dot(R, Gs_gi)
ret[:, 3] -= np.dot(R, Gs_pi[:, 3])
return ret
Ls = np.float32([
mult_inv(Gs[pi], Gs[gi]) if pi != -1 else Gs[gi]
for gi, pi in enumerate(skel_joint_parents)
])
Bs = bones
print map(len, Bs)
markerParents = [
skel_group_indices.index(gi) for gi in stabilizedPointToGroup
if gi != -1
]
markerNames = [('%d' % pi) for pi, gi in enumerate(stabilizedPointToGroup)
if gi != -1]
labelNames = [('%d' % pointLabels[pi])
for pi, gi in enumerate(stabilizedPointToGroup) if gi != -1]
markerOffsets = [
np.dot(Gs[skel_group_indices.index(gi)][:3, :3].T,
data[0][pi] - Gs[skel_group_indices.index(gi)][:3, 3])
for pi, gi in enumerate(stabilizedPointToGroup) if gi != -1
]
skel_dict = {
'name': 'skeleton',
'numJoints': int(numJoints),
'jointNames': jointNames, # list of strings
'jointIndex': jointIndex, # dict of string:int
'jointParents': np.int32(jointParents),
'jointChans': np.int32(jointChans), # 0 to 5 : tx,ty,tz,rx,ry,rz
'jointChanSplits': np.int32(jointChanSplits),
'chanNames': dofNames, # list of strings
'chanValues': np.zeros(numDofs, dtype=np.float32),
'numChans': int(numDofs),
'Bs': Bs,
'Ls': np.float32(Ls),
'Gs': np.float32(Gs),
'markerParents': np.int32(markerParents),
'markerNames': markerNames,
'markerOffsets': np.float32(markerOffsets),
'markerWeights': np.ones(len(markerNames), dtype=np.float32),
'rootMat': np.eye(3, 4, dtype=np.float32),
'labelNames': labelNames
}
if graph_out_fn is not None and labelGraphThreshold != -1:
print 'Generating labelling graph...'
from GCore import Label as GLabel
c3d_data = c3d_frames[goodFrames, :, :][:, goodPoints, :][:, :, :]
c3d_data = c3d_data[::stepSize, :, :]
# graph = GLabel.graph_from_c3ds(skel_dict, markerNames, c3d_data, threshold=3)
graph = GLabel.graph_from_c3ds(skel_dict,
markerNames,
c3d_data,
threshold=labelGraphThreshold)
IO.save(graph_out_fn, {'/root/graph': {'label_graph': graph}})
print 'Labelling graph saved to:', graph_out_fn
if skel_out_fn is not None: IO.save(skel_out_fn, skel_dict)
def test_skeleton(sd):
'''TODO, write some code to verify that a dict actually is a skeleton.'''
assert isinstance(sd['name'], str), 'name key should be a string'
numJoints = sd['numJoints']
assert isinstance(numJoints, int), 'numJoints key should be an int'
animJoints = None
showStabilized = False
if showStabilized:
displayFrames = stabilizedFrames
pointToGroup = stabilizedPointToGroup
else: # show animated
displayFrames = frames #c3d_frames[:,:,:3]
displayLabels = pointLabels
if first_time_only: # generate the file
framesRTs = ASFReader.stabilizeAssignment(displayFrames,
stabilizedPointToGroup)
IO.save(
os.path.join(tempDir, 'tmp90-28.IO'), {
'framesRTs': framesRTs,
'stabilizedPointToGroup': stabilizedPointToGroup,
'stablePoints': stablePoints,
'stablePointsGroups': stablePointsGroups
})
for k, v in IO.load(os.path.join(tempDir,
'tmp90-28.IO'))[1].iteritems():
locals()[k] = v
animJoints = ASFReader.unstabilize(stablePoints,
framesRTs[stablePointsGroups])
print 'animJoints shape', animJoints.shape
pointToGroup = -np.ones(displayFrames.shape[1], dtype=np.int32)
print goodPoints.shape, pointToGroup.shape, stabilizedPointToGroup.shape
pointToGroup = stabilizedPointToGroup
#pointToGroup[goodPoints] = stabilizedPointToGroup # for displayFrames = c3d_frames[:,:,:3]
groupRepresentatives = ASFReader.groupRepresentatives(
data, stabilizedPointToGroup)
numJoints = len(stablePoints)
boneEdges = np.array(range(2 * numJoints), dtype=np.int32)
boneVertices = np.zeros((numJoints * 2, 3), dtype=np.float32)
boneVertices[::2] = stablePoints
boneVertices[1::2] = displayFrames[
0, groupRepresentatives[stablePointsGroups]]
#import cv2
#movie = cv2.VideoCapture(directory+movieFilename)
#frameOk, frameData = movie.read()
#global md
#md = {'buffer':frameData, 'height':frameData.shape[0], 'width':frameData.shape[1]}
global app, win, view, frame, points, joints, bones
app = QtGui.QApplication(sys.argv)
app.setStyle('plastique')
win = QtGui.QMainWindow()
win.setFocusPolicy(QtCore.Qt.StrongFocus) # get keyboard events
win.setWindowTitle('Imaginarium Skeleton Reconstruction Test %d' % cacheId)
panel = GViewer.QGLPanel()
view = panel.view
view.setMinimumWidth(640)
view.setMinimumHeight(480)
win.setCentralWidget(panel)
timelineDock = QtGui.QDockWidget('Timeline')
timeline = UI.QTimeline(win)
timeline.cb = setFrame
timeline.setRange(0, goodFrames[-1])
timelineDock.setWidget(timeline)
timelineDock.setFeatures(QtGui.QDockWidget.DockWidgetMovable
| QtGui.QDockWidget.DockWidgetFloatable)
frame = startFrame
view.addCamera(UI.QGLViewer.Camera('default'))
grid = GLGrid()
view.primitives.append(grid)
points = GLPoints3D(displayFrames[frame])
from colorsys import hsv_to_rgb
colorTable = np.array([
hsv_to_rgb((h * 0.618033988749895) % 1, 0.5, 0.95)
for h in xrange(max(pointToGroup) + 2)
],
dtype=np.float32)
colorTable[-1] = 0
points.colours = colorTable[pointToGroup]
#points.names = displayLabels
#points.pointSize = 3
view.primitives.append(points)
joints = GLPoints3D(stablePoints)
joints.names = map(str, xrange(len(stablePoints)))
view.primitives.append(joints)
bones = GLBones(boneVertices, boneEdges)
view.primitives.append(bones)
win.addDockWidget(QtCore.Qt.BottomDockWidgetArea, timelineDock)
win.show()
global md, img, g_detectingDots, g_readingMovie
md, img, g_detectingDots = None, None, False
g_readingMovie = False
if g_readingMovie:
md = MovieReader.open_file(os.path.join(directory, movieFilename))
img = np.frombuffer(md['vbuffer'],
dtype=np.uint8).reshape(md['vheight'],
md['vwidth'], 3)
view.setImageData(md['vbuffer'], md['vheight'], md['vwidth'], 3)
global allSkels
allSkels = []
app.connect(app, QtCore.SIGNAL('lastWindowClosed()'), app.quit)
sys.exit(app.exec_())
def cook(self, location, interface, attrs):
if not self.initialised: return
self.frame = interface.frame()
imgs = []
offset = attrs['offset'] if 'offset' in attrs else 0
stepSize = attrs['step'] if 'step' in attrs else 1
# Check if we are looking through a single active camera or not as that will be more efficient.
# Here we are not interested in knowing whether or not we found anything
activeCameraIdx = interface.attr('activeCameraIdx',
atLocation=interface.root(),
log=False)
if 'onlyActiveCamera' in attrs and attrs[
'onlyActiveCamera'] and activeCameraIdx is not None and activeCameraIdx != -1:
frameNum = max(
(self.frame + offset + self.timecodeOffsets[activeCameraIdx]) *
stepSize, 0)
md = self.movies[activeCameraIdx]
try:
MovieReader.readFrame(md,
seekFrame=frameNum,
playingAudio=False)
except:
self.logger.error(
'Could not read frame: %d for active camera %d' %
(self.frame, activeCameraIdx))
return
img = np.frombuffer(md['vbuffer'], dtype=np.uint8).reshape(
md['vheight'], md['vwidth'], 3)
imgs.append(img)
else:
# Process all cameras (slower but necessary for processes/Ops that need all the data)
for ci, md in enumerate(self.movies):
try:
frameNum = max(
(self.frame + offset + self.timecodeOffsets[ci]) *
stepSize, 0)
MovieReader.readFrame(md,
seekFrame=frameNum,
playingAudio=False)
img = np.frombuffer(md['vbuffer'], dtype=np.uint8).reshape(
md['vheight'], md['vwidth'], 3)
imgs.append(img)
except:
self.logger.error(
'Could not read frame: %d for camera %d' %
(self.frame, ci))
return
self.attrs['imgs'] = imgs
interface.createChild(interface.name(),
'cameras',
atLocation=interface.parentPath(),
attrs=self.attrs)
if self.timecode: interface.setAttr('timecode', self.timecode)