def estimate_real_time(self, gender, filename):
pyRender = libRender.pyRenderMesh()
mat_size = (64, 27)
if torch.cuda.is_available():
# Use for GPU
GPU = True
dtype = torch.cuda.FloatTensor
print '######################### CUDA is available! #############################'
else:
# Use for CPU
GPU = False
dtype = torch.FloatTensor
print '############################## USING CPU #################################'
import convnet as convnet
from torch.autograd import Variable
if GPU == True:
model = torch.load(filename)
model = model.cuda()
else:
model = torch.load(filename, map_location='cpu')
while not rospy.is_shutdown():
pmat = np.fliplr(np.flipud(np.clip(self.pressure.reshape(mat_size)*5.0, a_min=0, a_max=100)))
pmat = gaussian_filter(pmat, sigma= 0.5)
pmat_stack = PreprocessingLib().preprocessing_create_pressure_angle_stack_realtime(pmat, self.bedangle, mat_size)
pmat_stack = torch.Tensor(pmat_stack)
images_up_non_tensor = np.array(PreprocessingLib().preprocessing_pressure_map_upsample(pmat_stack.numpy(), multiple=2))
images_up = Variable(torch.Tensor(images_up_non_tensor).type(dtype), requires_grad=False)
betas_est, root_shift_est, angles_est = model.forward_kinematic_angles_realtime(images_up)
print betas_est, root_shift_est, angles_est
angles_est = angles_est.reshape(72)
for idx in range(10):
#print shape_pose_vol[0][idx]
self.m.betas[idx] = betas_est[idx]
for idx in range(72):
self.m.pose[idx] = angles_est[idx]
init_root = np.array(self.m.pose[0:3])+0.000001
init_rootR = libKinematics.matrix_from_dir_cos_angles(init_root)
root_rot = libKinematics.eulerAnglesToRotationMatrix([np.pi, 0.0, np.pi/2])
#print root_rot
trans_root = libKinematics.dir_cos_angles_from_matrix(np.matmul(root_rot, init_rootR))
self.m.pose[0] = trans_root[0]
self.m.pose[1] = trans_root[1]
self.m.pose[2] = trans_root[2]
#print self.m.J_transformed[1, :], self.m.J_transformed[4, :]
# self.m.pose[51] = selection_r
pyRender.mesh_render_pose_bed(self.m, root_shift_est, self.point_cloud_array, self.pc_isnew, pmat, self.markers, self.bedangle)
self.point_cloud_array = None
def __init__(self, testing_database_file_f, testing_database_file_m, opt):
'''Opens the specified pickle files to get the combined dataset:
This dataset is a dictionary of pressure maps with the corresponding
3d position and orientation of the markers associated with it.'''
# change this to 'direct' when you are doing baseline methods
self.CTRL_PNL = {}
self.CTRL_PNL['batch_size'] = 1
self.CTRL_PNL['loss_vector_type'] = opt.losstype
self.CTRL_PNL['verbose'] = opt.verbose
self.opt = opt
self.CTRL_PNL['num_epochs'] = 101
self.CTRL_PNL['incl_inter'] = True
self.CTRL_PNL['shuffle'] = False
self.CTRL_PNL['incl_ht_wt_channels'] = True
self.CTRL_PNL['incl_pmat_cntct_input'] = True
self.CTRL_PNL['num_input_channels'] = 3
self.CTRL_PNL['GPU'] = GPU
self.CTRL_PNL['dtype'] = dtype
self.CTRL_PNL['repeat_real_data_ct'] = 1
self.CTRL_PNL['regr_angles'] = 1
self.CTRL_PNL['depth_map_labels'] = False
self.CTRL_PNL['depth_map_labels_test'] = False
self.CTRL_PNL['depth_map_output'] = True
self.CTRL_PNL['depth_map_input_est'] = False #do this if we're working in a two-part regression
self.CTRL_PNL['precomp_net1'] = False
if self.CTRL_PNL['precomp_net1'] == True:
self.CTRL_PNL['depth_map_input_est'] = True
self.CTRL_PNL['adjust_ang_from_est'] = self.CTRL_PNL['depth_map_input_est'] #holds betas and root same as prior estimate
self.CTRL_PNL['clip_sobel'] = True
self.CTRL_PNL['clip_betas'] = True
self.CTRL_PNL['mesh_bottom_dist'] = True
if opt.losstype == 'direct':
self.CTRL_PNL['depth_map_labels'] = False
self.CTRL_PNL['depth_map_output'] = False
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
self.CTRL_PNL['num_input_channels'] += 1
if self.CTRL_PNL['depth_map_input_est'] == True: #for a two part regression
self.CTRL_PNL['num_input_channels'] += 3
self.CTRL_PNL['num_input_channels_batch0'] = np.copy(self.CTRL_PNL['num_input_channels'])
if self.CTRL_PNL['incl_ht_wt_channels'] == True:
self.CTRL_PNL['num_input_channels'] += 2
self.CTRL_PNL['filepath_prefix'] = '/home/henry/'
self.CTRL_PNL['aws'] = False
self.CTRL_PNL['lock_root'] = False
# change this to 'direct' when you are doing baseline methods
self.CTRL_PNL_COR = self.CTRL_PNL.copy()
self.CTRL_PNL_COR['depth_map_output'] = True
self.CTRL_PNL_COR['depth_map_input_est'] = True
self.CTRL_PNL_COR['adjust_ang_from_est'] = True
self.CTRL_PNL_COR['incl_ht_wt_channels'] = True
self.CTRL_PNL_COR['incl_pmat_cntct_input'] = True
self.CTRL_PNL_COR['num_input_channels'] = 3
if self.CTRL_PNL_COR['incl_pmat_cntct_input'] == True:
self.CTRL_PNL_COR['num_input_channels'] += 1
if self.CTRL_PNL_COR['depth_map_input_est'] == True: #for a two part regression
self.CTRL_PNL_COR['num_input_channels'] += 3
self.CTRL_PNL_COR['num_input_channels_batch0'] = np.copy(self.CTRL_PNL['num_input_channels'])
if self.CTRL_PNL_COR['incl_ht_wt_channels'] == True:
self.CTRL_PNL_COR['num_input_channels'] += 2
self.mat_size = (NUMOFTAXELS_X, NUMOFTAXELS_Y)
self.output_size_train = (NUMOFOUTPUTNODES_TRAIN, NUMOFOUTPUTDIMS)
self.output_size_val = (NUMOFOUTPUTNODES_TEST, NUMOFOUTPUTDIMS)
self.parents = np.array([4294967295, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 9, 9, 12, 13, 14, 16, 17, 18, 19, 20, 21]).astype(np.int32)
#################################### PREP TESTING ##########################################
#load testing synth data
dat_f_synth = TensorPrepLib().load_files_to_database(testing_database_file_f, 'synth')
dat_m_synth = TensorPrepLib().load_files_to_database(testing_database_file_m, 'synth')
dat_f_real = TensorPrepLib().load_files_to_database(testing_database_file_f, 'real')
dat_m_real = TensorPrepLib().load_files_to_database(testing_database_file_m, 'real')
self.test_x_flat = [] # Initialize the testing pressure mat list
self.test_x_flat = TensorPrepLib().prep_images(self.test_x_flat, dat_f_synth, dat_m_synth, num_repeats = 1)
self.test_x_flat = list(np.clip(np.array(self.test_x_flat) * 5.0, a_min=0, a_max=100))
self.test_x_flat = TensorPrepLib().prep_images(self.test_x_flat, dat_f_real, dat_m_real, num_repeats = self.CTRL_PNL['repeat_real_data_ct'])
self.test_x_flat = PreprocessingLib().preprocessing_blur_images(self.test_x_flat, self.mat_size, sigma=0.5)
if len(self.test_x_flat) == 0: print("NO testing DATA INCLUDED")
self.test_a_flat = [] # Initialize the testing pressure mat angle list
self.test_a_flat = TensorPrepLib().prep_angles(self.test_a_flat, dat_f_synth, dat_m_real, num_repeats = 1)
self.test_a_flat = TensorPrepLib().prep_angles(self.test_a_flat, dat_f_real, dat_m_real, num_repeats = self.CTRL_PNL['repeat_real_data_ct'])
if self.CTRL_PNL['depth_map_labels'] == True:
self.depth_contact_maps = [] #Initialize the precomputed depth and contact maps
self.depth_contact_maps = TensorPrepLib().prep_depth_contact(self.depth_contact_maps, dat_f_synth, dat_m_synth, num_repeats = 1)
else:
self.depth_contact_maps = None
test_xa = PreprocessingLib().preprocessing_create_pressure_angle_stack(self.test_x_flat,
self.test_a_flat,
self.CTRL_PNL['incl_inter'], self.mat_size,
self.CTRL_PNL['clip_sobel'],
self.CTRL_PNL['verbose'])
test_xa = TensorPrepLib().append_input_depth_contact(np.array(test_xa),
include_pmat_contact = self.CTRL_PNL_COR['incl_pmat_cntct_input'],
mesh_depth_contact_maps = self.depth_contact_maps,
include_mesh_depth_contact = self.CTRL_PNL['depth_map_labels'])
self.test_x_tensor = torch.Tensor(test_xa)
self.test_y_flat = [] # Initialize the testing ground truth list
self.test_y_flat = TensorPrepLib().prep_labels(self.test_y_flat, dat_f_synth, num_repeats = 1,
z_adj = -0.075, gender = "f", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'])
self.test_y_flat = TensorPrepLib().prep_labels(self.test_y_flat, dat_m_synth, num_repeats = 1,
z_adj = -0.075, gender = "m", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'])
self.test_y_flat = TensorPrepLib().prep_labels(self.test_y_flat, dat_f_real, num_repeats = self.CTRL_PNL['repeat_real_data_ct'],
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'])
self.test_y_flat = TensorPrepLib().prep_labels(self.test_y_flat, dat_m_real, num_repeats = self.CTRL_PNL['repeat_real_data_ct'],
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'])
self.test_y_tensor = torch.Tensor(self.test_y_flat)
print self.test_x_tensor.shape, 'Input testing tensor shape'
print self.test_y_tensor.shape, 'Output testing tensor shape'
def __init__(self, testing_database_file_f, testing_database_file_m, opt, filename):
'''Opens the specified pickle files to get the combined dataset:
This dataset is a dictionary of pressure maps with the corresponding
3d position and orientation of the markers associated with it.'''
# change this to 'direct' when you are doing baseline methods
self.CTRL_PNL = {}
self.CTRL_PNL['batch_size'] = 64
self.CTRL_PNL['loss_vector_type'] = opt.losstype
self.CTRL_PNL['verbose'] = opt.verbose
self.opt = opt
self.CTRL_PNL['num_epochs'] = 101
self.CTRL_PNL['incl_inter'] = True
self.CTRL_PNL['shuffle'] = False
self.CTRL_PNL['incl_ht_wt_channels'] = True
self.CTRL_PNL['incl_pmat_cntct_input'] = True
self.CTRL_PNL['lock_root'] = False
self.CTRL_PNL['num_input_channels'] = 3
self.CTRL_PNL['GPU'] = GPU
self.CTRL_PNL['dtype'] = dtype
self.CTRL_PNL['repeat_real_data_ct'] = 1
self.CTRL_PNL['regr_angles'] = 1
self.CTRL_PNL['depth_map_labels'] = False
self.CTRL_PNL['dropout'] = False
self.CTRL_PNL['depth_map_labels_test'] = True #can only be true is we have 100% synth for testing
self.CTRL_PNL['depth_map_output'] = True
self.CTRL_PNL['depth_map_input_est'] = False #do this if we're working in a two-part regression
self.CTRL_PNL['adjust_ang_from_est'] = self.CTRL_PNL['depth_map_input_est'] #holds betas and root same as prior estimate
self.CTRL_PNL['clip_sobel'] = True
self.CTRL_PNL['clip_betas'] = True
self.CTRL_PNL['mesh_bottom_dist'] = True
self.CTRL_PNL['full_body_rot'] = True
self.CTRL_PNL['all_tanh_activ'] = True
self.CTRL_PNL['normalize_input'] = True
self.CTRL_PNL['L2_contact'] = True
self.CTRL_PNL['pmat_mult'] = int(5)
self.CTRL_PNL['cal_noise'] = True
self.CTRL_PNL['double_network_size'] = False
self.CTRL_PNL['first_pass'] = True
self.filename = filename
if opt.losstype == 'direct':
self.CTRL_PNL['depth_map_labels'] = False
self.CTRL_PNL['depth_map_output'] = False
if self.CTRL_PNL['cal_noise'] == True:
self.CTRL_PNL['incl_pmat_cntct_input'] = False #if there's calibration noise we need to recompute this every batch
self.CTRL_PNL['clip_sobel'] = False
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
self.CTRL_PNL['num_input_channels'] += 1
if self.CTRL_PNL['depth_map_input_est'] == True: #for a two part regression
self.CTRL_PNL['num_input_channels'] += 3
self.CTRL_PNL['num_input_channels_batch0'] = np.copy(self.CTRL_PNL['num_input_channels'])
if self.CTRL_PNL['incl_ht_wt_channels'] == True:
self.CTRL_PNL['num_input_channels'] += 2
if self.CTRL_PNL['cal_noise'] == True:
self.CTRL_PNL['num_input_channels'] += 1
pmat_std_from_mult = ['N/A', 11.70153502792190, 19.90905848383454, 23.07018866032369, 0.0, 25.50538629767412]
if self.CTRL_PNL['cal_noise'] == False:
sobel_std_from_mult = ['N/A', 29.80360490415032, 33.33532963163579, 34.14427844692501, 0.0, 34.86393494050921]
else:
sobel_std_from_mult = ['N/A', 45.61635847182483, 77.74920396659292, 88.89398421073700, 0.0, 97.90075708182506]
self.CTRL_PNL['norm_std_coeffs'] = [1./41.80684362163343, #contact
1./16.69545796387731, #pos est depth
1./45.08513083167194, #neg est depth
1./43.55800622930469, #cm est
1./pmat_std_from_mult[int(self.CTRL_PNL['pmat_mult'])], #pmat x5
1./sobel_std_from_mult[int(self.CTRL_PNL['pmat_mult'])], #pmat sobel
1./1.0, #bed height mat
1./1.0, #OUTPUT DO NOTHING
1./1.0, #OUTPUT DO NOTHING
1. / 30.216647403350, #weight
1. / 14.629298141231] #height
if self.opt.aws == True:
self.CTRL_PNL['filepath_prefix'] = '/home/ubuntu/'
else:
self.CTRL_PNL['filepath_prefix'] = '/home/henry/'
#self.CTRL_PNL['filepath_prefix'] = '/media/henry/multimodal_data_2/'
if self.CTRL_PNL['depth_map_output'] == True: #we need all the vertices if we're going to regress the depth maps
self.verts_list = "all"
else:
self.verts_list = [1325, 336, 1032, 4515, 1374, 4848, 1739, 5209, 1960, 5423]
print self.CTRL_PNL['num_epochs'], 'NUM EPOCHS!'
# Entire pressure dataset with coordinates in world frame
self.save_name = '_' + opt.losstype + \
'_synth_32000' + \
'_' + str(self.CTRL_PNL['batch_size']) + 'b' + \
'_' + str(self.CTRL_PNL['num_epochs']) + 'e' + \
'_x' + str(self.CTRL_PNL['pmat_mult']) + 'pmult'
if self.CTRL_PNL['depth_map_labels'] == True:
self.save_name += '_' + str(self.opt.j_d_ratio) + 'rtojtdpth'
if self.CTRL_PNL['depth_map_input_est'] == True:
self.save_name += '_depthestin'
if self.CTRL_PNL['adjust_ang_from_est'] == True:
self.save_name += '_angleadj'
if self.CTRL_PNL['all_tanh_activ'] == True:
self.save_name += '_alltanh'
if self.CTRL_PNL['L2_contact'] == True:
self.save_name += '_l2cnt'
if self.CTRL_PNL['cal_noise'] == True:
self.save_name += '_calnoise'
# self.save_name = '_' + opt.losstype+'_real_s9_alltest_' + str(self.CTRL_PNL['batch_size']) + 'b_'# + str(self.CTRL_PNL['num_epochs']) + 'e'
print 'appending to', 'train' + self.save_name
self.train_val_losses = {}
self.train_val_losses['train' + self.save_name] = []
self.train_val_losses['val' + self.save_name] = []
self.train_val_losses['epoch' + self.save_name] = []
self.mat_size = (NUMOFTAXELS_X, NUMOFTAXELS_Y)
self.output_size_train = (NUMOFOUTPUTNODES_TRAIN, NUMOFOUTPUTDIMS)
self.output_size_val = (NUMOFOUTPUTNODES_TEST, NUMOFOUTPUTDIMS)
self.parents = np.array([4294967295, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 9, 9, 12, 13, 14, 16, 17, 18, 19, 20, 21]).astype(np.int32)
#################################### PREP TESTING DATA ##########################################
# load in the test file
test_dat_f_synth = TensorPrepLib().load_files_to_database(testing_database_file_f, 'synth')
test_dat_m_synth = TensorPrepLib().load_files_to_database(testing_database_file_m, 'synth')
test_dat_f_real = TensorPrepLib().load_files_to_database(testing_database_file_f, 'real')
test_dat_m_real = TensorPrepLib().load_files_to_database(testing_database_file_m, 'real')
for possible_dat in [test_dat_f_synth, test_dat_m_synth, test_dat_f_real, test_dat_m_real]:
if possible_dat is not None:
self.dat = possible_dat
self.dat['mdm_est'] = []
self.dat['cm_est'] = []
self.dat['angles_est'] = []
self.dat['root_xyz_est'] = []
self.dat['betas_est'] = []
self.dat['root_atan2_est'] = []
self.test_x_flat = [] # Initialize the testing pressure mat list
self.test_x_flat = TensorPrepLib().prep_images(self.test_x_flat, test_dat_f_synth, test_dat_m_synth, num_repeats = 1)
self.test_x_flat = list(np.clip(np.array(self.test_x_flat) * float(self.CTRL_PNL['pmat_mult']), a_min=0, a_max=100))
self.test_x_flat = TensorPrepLib().prep_images(self.test_x_flat, test_dat_f_real, test_dat_m_real, num_repeats = 1)
if self.CTRL_PNL['cal_noise'] == False:
self.test_x_flat = PreprocessingLib().preprocessing_blur_images(self.test_x_flat, self.mat_size, sigma=0.5)
if len(self.test_x_flat) == 0: print("NO TESTING DATA INCLUDED")
self.test_a_flat = [] # Initialize the testing pressure mat angle listhave
self.test_a_flat = TensorPrepLib().prep_angles(self.test_a_flat, test_dat_f_synth, test_dat_m_synth, num_repeats = 1)
self.test_a_flat = TensorPrepLib().prep_angles(self.test_a_flat, test_dat_f_real, test_dat_m_real, num_repeats = 1)
if self.CTRL_PNL['depth_map_labels_test'] == True:
self.depth_contact_maps = [] #Initialize the precomputed depth and contact maps. only synth has this label.
self.depth_contact_maps = TensorPrepLib().prep_depth_contact(self.depth_contact_maps, test_dat_f_synth, test_dat_m_synth, num_repeats = 1)
else:
self.depth_contact_maps = None
if self.CTRL_PNL['depth_map_input_est'] == True:
self.depth_contact_maps_input_est = [] #Initialize the precomputed depth and contact map input estimates
self.depth_contact_maps_input_est = TensorPrepLib().prep_depth_contact_input_est(self.depth_contact_maps_input_est,
test_dat_f_synth, test_dat_m_synth, num_repeats = 1)
self.depth_contact_maps_input_est = TensorPrepLib().prep_depth_contact_input_est(self.depth_contact_maps_input_est,
test_dat_f_real, test_dat_m_real, num_repeats = 1)
else:
self.depth_contact_maps_input_est = None
print np.shape(self.test_x_flat), np.shape(self.test_a_flat)
test_xa = PreprocessingLib().preprocessing_create_pressure_angle_stack(self.test_x_flat,
self.test_a_flat,
self.mat_size,
self.CTRL_PNL)
test_xa = TensorPrepLib().append_input_depth_contact(np.array(test_xa),
CTRL_PNL = self.CTRL_PNL,
mesh_depth_contact_maps_input_est = self.depth_contact_maps_input_est,
mesh_depth_contact_maps = self.depth_contact_maps)
#normalize the input
if self.CTRL_PNL['normalize_input'] == True:
test_xa = TensorPrepLib().normalize_network_input(test_xa, self.CTRL_PNL)
self.test_x_tensor = torch.Tensor(test_xa)
test_y_flat = [] # Initialize the ground truth listhave
test_y_flat = TensorPrepLib().prep_labels(test_y_flat, test_dat_f_synth, num_repeats = 1,
z_adj = -0.075, gender = "f", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot = self.CTRL_PNL['full_body_rot'])
test_y_flat = TensorPrepLib().prep_labels(test_y_flat, test_dat_m_synth, num_repeats = 1,
z_adj = -0.075, gender = "m", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot = self.CTRL_PNL['full_body_rot'])
test_y_flat = TensorPrepLib().prep_labels(test_y_flat, test_dat_f_real, num_repeats = 1,
z_adj = 0.0, gender = "f", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot = self.CTRL_PNL['full_body_rot'])
test_y_flat = TensorPrepLib().prep_labels(test_y_flat, test_dat_m_real, num_repeats = 1,
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot = self.CTRL_PNL['full_body_rot'])
if self.CTRL_PNL['normalize_input'] == True:
test_y_flat = TensorPrepLib().normalize_wt_ht(test_y_flat, self.CTRL_PNL)
self.test_y_tensor = torch.Tensor(test_y_flat)
print self.test_x_tensor.shape, 'Input testing tensor shape'
print self.test_y_tensor.shape, 'Output testing tensor shape'
def unpackage_batch_kin_pass(self, batch, is_training, model, CTRL_PNL):
#print batch[0].size(), 'batch 0 input'
#print torch.max(batch[0][0, 0, :]), torch.max(batch[0][0, 1, :]), torch.max(batch[0][0, 2, :]), torch.max(batch[0][0, 3, :])
INPUT_DICT = {}
adj_ext_idx = 0
# 0:72: positions.
batch.append(batch[1][:, 72:82]) # betas
batch.append(batch[1][:, 82:154]) # angles
batch.append(batch[1][:, 154:157]) # root pos
batch.append(batch[1][:, 157:159]) # gender switch
batch.append(batch[1][:, 159]) # synth vs real switch
batch.append(batch[1][:, 160:161]) # mass, kg
batch.append(batch[1][:, 161:162]) # height, kg
if CTRL_PNL['adjust_ang_from_est'] == True:
adj_ext_idx += 3
batch.append(batch[1][:, 162:172]) #betas est
batch.append(batch[1][:, 172:244]) #angles est
batch.append(batch[1][:, 244:247]) #root pos est
if CTRL_PNL['full_body_rot'] == True:
adj_ext_idx += 1
batch.append(batch[1][:, 247:253]) #root atan2 est
#print "appended root", batch[-1], batch[12]
extra_smpl_angles = batch[10]
extra_targets = batch[11]
else:
extra_smpl_angles = None
extra_targets = None
if CTRL_PNL['depth_map_labels'] == True:
if CTRL_PNL['depth_map_labels_test'] == True or is_training == True:
batch.append(
batch[0][:, CTRL_PNL['num_input_channels_batch0'], :, :]
) #mesh depth matrix
batch.append(batch[0][:,
CTRL_PNL['num_input_channels_batch0'] +
1, :, :]) #mesh contact matrix
#cut off batch 0 so we don't have depth or contact on the input
batch[0] = batch[
0][:, 0:CTRL_PNL['num_input_channels_batch0'], :, :]
print "CLIPPING BATCH 0"
#print batch[0].size(), 'batch 0 shape'
# cut it off so batch[2] is only the xyz marker targets
batch[1] = batch[1][:, 0:72]
#if is_training == True: #only do augmentation for real data that is in training mode
# batch[0], batch[1], extra_targets, extra_smpl_angles = SyntheticLib().synthetic_master(batch[0], batch[1], batch[6],
# num_images_manip = (CTRL_PNL['num_input_channels_batch0']-1),
# flip=True, shift=True, scale=False,
# include_inter=CTRL_PNL['incl_inter'],
# loss_vector_type=CTRL_PNL['loss_vector_type'],
# extra_targets=extra_targets,
# extra_smpl_angles = extra_smpl_angles)
images_up_non_tensor = np.array(batch[0].numpy())
INPUT_DICT['batch_images'] = np.copy(images_up_non_tensor)
#here perform synthetic calibration noise over pmat and sobel filtered pmat.
if CTRL_PNL['cal_noise'] == True:
images_up_non_tensor = PreprocessingLib(
).preprocessing_add_calibration_noise(
images_up_non_tensor,
pmat_chan_idx=(CTRL_PNL['num_input_channels_batch0'] - 3),
norm_std_coeffs=CTRL_PNL['norm_std_coeffs'],
is_training=is_training)
#print np.shape(images_up_non_tensor)
images_up_non_tensor = PreprocessingLib(
).preprocessing_pressure_map_upsample(images_up_non_tensor, multiple=2)
if is_training == True: #only add noise to training images
if CTRL_PNL['cal_noise'] == False:
images_up_non_tensor = PreprocessingLib(
).preprocessing_add_image_noise(
np.array(images_up_non_tensor),
pmat_chan_idx=(CTRL_PNL['num_input_channels_batch0'] - 3),
norm_std_coeffs=CTRL_PNL['norm_std_coeffs'])
else:
images_up_non_tensor = PreprocessingLib(
).preprocessing_add_image_noise(
np.array(images_up_non_tensor),
pmat_chan_idx=(CTRL_PNL['num_input_channels_batch0'] - 2),
norm_std_coeffs=CTRL_PNL['norm_std_coeffs'])
images_up = Variable(torch.Tensor(images_up_non_tensor).type(
CTRL_PNL['dtype']),
requires_grad=False)
if CTRL_PNL['incl_ht_wt_channels'] == True: #make images full of stuff
weight_input = torch.ones(
(images_up.size()[0], images_up.size()[2] *
images_up.size()[3])).type(CTRL_PNL['dtype'])
weight_input *= batch[7].type(CTRL_PNL['dtype'])
weight_input = weight_input.view(
(images_up.size()[0], 1, images_up.size()[2],
images_up.size()[3]))
height_input = torch.ones(
(images_up.size()[0], images_up.size()[2] *
images_up.size()[3])).type(CTRL_PNL['dtype'])
height_input *= batch[8].type(CTRL_PNL['dtype'])
height_input = height_input.view(
(images_up.size()[0], 1, images_up.size()[2],
images_up.size()[3]))
images_up = torch.cat((images_up, weight_input, height_input), 1)
targets, betas = Variable(batch[1].type(CTRL_PNL['dtype']), requires_grad=False), \
Variable(batch[2].type(CTRL_PNL['dtype']), requires_grad=False)
angles_gt = Variable(batch[3].type(CTRL_PNL['dtype']),
requires_grad=is_training)
root_shift = Variable(batch[4].type(CTRL_PNL['dtype']),
requires_grad=is_training)
gender_switch = Variable(batch[5].type(CTRL_PNL['dtype']),
requires_grad=is_training)
synth_real_switch = Variable(batch[6].type(CTRL_PNL['dtype']),
requires_grad=is_training)
OUTPUT_EST_DICT = {}
if CTRL_PNL['adjust_ang_from_est'] == True:
OUTPUT_EST_DICT['betas'] = Variable(batch[9].type(
CTRL_PNL['dtype']),
requires_grad=is_training)
OUTPUT_EST_DICT['angles'] = Variable(extra_smpl_angles.type(
CTRL_PNL['dtype']),
requires_grad=is_training)
OUTPUT_EST_DICT['root_shift'] = Variable(extra_targets.type(
CTRL_PNL['dtype']),
requires_grad=is_training)
if CTRL_PNL['full_body_rot'] == True:
OUTPUT_EST_DICT['root_atan2'] = Variable(
batch[12].type(CTRL_PNL['dtype']),
requires_grad=is_training)
if CTRL_PNL['depth_map_labels'] == True:
if CTRL_PNL['depth_map_labels_test'] == True or is_training == True:
INPUT_DICT['batch_mdm'] = batch[9 + adj_ext_idx].type(
CTRL_PNL['dtype'])
INPUT_DICT['batch_cm'] = batch[10 + adj_ext_idx].type(
CTRL_PNL['dtype'])
else:
INPUT_DICT['batch_mdm'] = None
INPUT_DICT['batch_cm'] = None
print images_up.size()
#print torch.max(images_up[0, 0, :]), torch.max(images_up[0, 1, :]), torch.max(images_up[0, 2, :]), torch.max(images_up[0, 3, :]), torch.max(images_up[0, 4, :]), torch.max(images_up[0, 5, :]),
scores, OUTPUT_DICT = model.forward_kinematic_angles(
images=images_up,
gender_switch=gender_switch,
synth_real_switch=synth_real_switch,
CTRL_PNL=CTRL_PNL,
OUTPUT_EST_DICT=OUTPUT_EST_DICT,
targets=targets,
is_training=is_training,
betas=betas,
angles_gt=angles_gt,
root_shift=root_shift,
) # scores is a variable with 27 for 10 euclidean errors and 17 lengths in meters. targets est is a numpy array in mm.
#scores, targets_est_np, targets_est_reduced_np, betas_est_np = model.forward_kinematic_angles(images_up,
# gender_switch,
# synth_real_switch,
# targets,
# is_training,
# betas,
# angles_gt,
# root_shift,
# False)
#OUTPUT_DICT = {}
#OUTPUT_DICT['batch_targets_est'] = targets_est_np
#OUTPUT_DICT['batch_betas_est'] = betas_est_np
#INPUT_DICT['batch_images'] = images_up.data
INPUT_DICT['batch_targets'] = targets.data
return scores, INPUT_DICT, OUTPUT_DICT
def estimate_real_time(self, filename1, filename2 = None):
pyRender = libRender.pyRenderMesh()
mat_size = (64, 27)
from unpack_batch_lib import UnpackBatchLib
if torch.cuda.is_available():
# Use for GPU
GPU = True
dtype = torch.cuda.FloatTensor
print '######################### CUDA is available! #############################'
else:
# Use for CPU
GPU = False
dtype = torch.FloatTensor
print '############################## USING CPU #################################'
from torch.autograd import Variable
if GPU == True:
for i in range(0, 8):
try:
model = torch.load(filename1, map_location={'cuda:'+str(i):'cuda:0'})
model = model.cuda().eval()
break
except:
pass
if filename2 is not None:
for i in range(0, 8):
try:
model2 = torch.load(filename2, map_location={'cuda:'+str(i):'cuda:0'})
model2 = model2.cuda().eval()
break
except:
pass
else:
model2 = None
else:
model = torch.load(filename1, map_location='cpu').eval()
if filename2 is not None:
model2 = torch.load(filename2, map_location='cpu').eval()
else:
model2 = None
pub = rospy.Publisher('meshTopic', MeshAttr)
#rospy.init_node('talker', anonymous=False)
while not rospy.is_shutdown():
pmat = np.fliplr(np.flipud(np.clip(self.pressure.reshape(mat_size)*float(self.CTRL_PNL['pmat_mult']*4), a_min=0, a_max=100)))
#pmat = np.fliplr(np.flipud(np.clip(self.pressure.reshape(mat_size)*float(1), a_min=0, a_max=100)))
#print "max is : ", np.max(pmat)
#print "sum is : ", np.sum(pmat)
if self.CTRL_PNL['cal_noise'] == False:
pmat = gaussian_filter(pmat, sigma= 0.5)
pmat_stack = PreprocessingLib().preprocessing_create_pressure_angle_stack_realtime(pmat, self.bedangle, mat_size)
if self.CTRL_PNL['cal_noise'] == False:
pmat_stack = np.clip(pmat_stack, a_min=0, a_max=100)
pmat_stack = np.array(pmat_stack)
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
pmat_contact = np.copy(pmat_stack[:, 0:1, :, :])
pmat_contact[pmat_contact > 0] = 100
pmat_stack = np.concatenate((pmat_contact, pmat_stack), axis = 1)
weight_input = WEIGHT_LBS/2.20462
height_input = (HEIGHT_IN*0.0254 - 1)*100
batch1 = np.zeros((1, 162))
if GENDER == 'f':
batch1[:, 157] += 1
elif GENDER == 'm':
batch1[:, 158] += 1
batch1[:, 160] += weight_input
batch1[:, 161] += height_input
if self.CTRL_PNL['normalize_input'] == True:
self.CTRL_PNL['depth_map_input_est'] = False
pmat_stack = self.TPL.normalize_network_input(pmat_stack, self.CTRL_PNL)
batch1 = self.TPL.normalize_wt_ht(batch1, self.CTRL_PNL)
pmat_stack = torch.Tensor(pmat_stack)
batch1 = torch.Tensor(batch1)
batch = []
batch.append(pmat_stack)
batch.append(batch1)
self.CTRL_PNL['adjust_ang_from_est'] = False
scores, INPUT_DICT, OUTPUT_DICT = UnpackBatchLib().unpackage_batch_kin_pass(batch, False, model, self.CTRL_PNL)
self.CTRL_PNL['first_pass'] = False
mdm_est_pos = OUTPUT_DICT['batch_mdm_est'].clone().unsqueeze(1) / 16.69545796387731
mdm_est_neg = OUTPUT_DICT['batch_mdm_est'].clone().unsqueeze(1) / 45.08513083167194
mdm_est_pos[mdm_est_pos < 0] = 0
mdm_est_neg[mdm_est_neg > 0] = 0
mdm_est_neg *= -1
cm_est = OUTPUT_DICT['batch_cm_est'].clone().unsqueeze(1) * 100 / 43.55800622930469
#1. / 16.69545796387731, # pos est depth
#1. / 45.08513083167194, # neg est depth
#1. / 43.55800622930469, # cm est
if model2 is not None:
batch_cor = []
batch_cor.append(torch.cat((pmat_stack[:, 0:1, :, :],
mdm_est_pos.type(torch.FloatTensor),
mdm_est_neg.type(torch.FloatTensor),
cm_est.type(torch.FloatTensor),
pmat_stack[:, 1:, :, :]), dim=1))
if self.CTRL_PNL['full_body_rot'] == False:
batch_cor.append(torch.cat((batch1,
OUTPUT_DICT['batch_betas_est'].cpu(),
OUTPUT_DICT['batch_angles_est'].cpu(),
OUTPUT_DICT['batch_root_xyz_est'].cpu()), dim = 1))
elif self.CTRL_PNL['full_body_rot'] == True:
batch_cor.append(torch.cat((batch1,
OUTPUT_DICT['batch_betas_est'].cpu(),
OUTPUT_DICT['batch_angles_est'].cpu(),
OUTPUT_DICT['batch_root_xyz_est'].cpu(),
OUTPUT_DICT['batch_root_atan2_est'].cpu()), dim = 1))
self.CTRL_PNL['adjust_ang_from_est'] = True
scores, INPUT_DICT, OUTPUT_DICT = UnpackBatchLib().unpackage_batch_kin_pass(batch_cor, False, model2, self.CTRL_PNL)
betas_est = np.squeeze(OUTPUT_DICT['batch_betas_est_post_clip'].cpu().numpy())
angles_est = np.squeeze(OUTPUT_DICT['batch_angles_est_post_clip'])
root_shift_est = np.squeeze(OUTPUT_DICT['batch_root_xyz_est_post_clip'].cpu().numpy())
#print betas_est.shape, root_shift_est.shape, angles_est.shape
#print betas_est, root_shift_est, angles_est
angles_est = angles_est.reshape(72)
for idx in range(10):
#print shape_pose_vol[0][idx]
self.m.betas[idx] = betas_est[idx]
for idx in range(72):
self.m.pose[idx] = angles_est[idx]
init_root = np.array(self.m.pose[0:3])+0.000001
init_rootR = libKinematics.matrix_from_dir_cos_angles(init_root)
root_rot = libKinematics.eulerAnglesToRotationMatrix([np.pi, 0.0, np.pi/2])
#print root_rot
trans_root = libKinematics.dir_cos_angles_from_matrix(np.matmul(root_rot, init_rootR))
self.m.pose[0] = trans_root[0]
self.m.pose[1] = trans_root[1]
self.m.pose[2] = trans_root[2]
#print self.m.J_transformed[1, :], self.m.J_transformed[4, :]
# self.m.pose[51] = selection_r
print self.m.r
#print OUTPUT_DICT['verts']
pyRender.mesh_render_pose_bed_orig(self.m, root_shift_est, self.point_cloud_array, self.pc_isnew, pmat, self.markers, self.bedangle)
self.point_cloud_array = None
def __init__(self, training_database_file_f, training_database_file_m):
#if this is your first time looking at the code don't pay much attention to this __init__ function.
#it's all just boilerplate for loading in the synthetic data
self.CTRL_PNL = {}
self.CTRL_PNL['loss_vector_type'] = 'anglesDC'
self.CTRL_PNL['verbose'] = False
self.CTRL_PNL['batch_size'] = 1
self.CTRL_PNL['num_epochs'] = 100
self.CTRL_PNL['incl_inter'] = True
self.CTRL_PNL['shuffle'] = False
self.CTRL_PNL['incl_ht_wt_channels'] = False
self.CTRL_PNL['incl_pmat_cntct_input'] = True
self.CTRL_PNL['dropout'] = False
self.CTRL_PNL['lock_root'] = False
self.CTRL_PNL['num_input_channels'] = 3
self.CTRL_PNL['GPU'] = False
repeat_real_data_ct = 3
self.CTRL_PNL['regr_angles'] = False
self.CTRL_PNL['aws'] = False
self.CTRL_PNL[
'depth_map_labels'] = True #can only be true if we have 100% synthetic data for training
self.CTRL_PNL[
'depth_map_labels_test'] = True #can only be true is we have 100% synth for testing
self.CTRL_PNL['depth_map_output'] = self.CTRL_PNL['depth_map_labels']
self.CTRL_PNL[
'depth_map_input_est'] = False #do this if we're working in a two-part regression
self.CTRL_PNL['adjust_ang_from_est'] = self.CTRL_PNL[
'depth_map_input_est'] #holds betas and root same as prior estimate
self.CTRL_PNL['clip_sobel'] = True
self.CTRL_PNL['clip_betas'] = True
self.CTRL_PNL['mesh_bottom_dist'] = True
self.CTRL_PNL['full_body_rot'] = True
self.CTRL_PNL['normalize_input'] = True
self.CTRL_PNL['all_tanh_activ'] = True
self.CTRL_PNL['L2_contact'] = True
self.CTRL_PNL['pmat_mult'] = int(1)
self.CTRL_PNL['cal_noise'] = False
self.CTRL_PNL['double_network_size'] = False
self.CTRL_PNL['first_pass'] = True
self.weight_joints = 1.0 #self.opt.j_d_ratio*2
self.weight_depth_planes = (1 - 0.5) #*2
if self.CTRL_PNL['cal_noise'] == True:
self.CTRL_PNL[
'incl_pmat_cntct_input'] = False #if there's calibration noise we need to recompute this every batch
self.CTRL_PNL['clip_sobel'] = False
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
self.CTRL_PNL['num_input_channels'] += 1
if self.CTRL_PNL[
'depth_map_input_est'] == True: #for a two part regression
self.CTRL_PNL['num_input_channels'] += 3
self.CTRL_PNL['num_input_channels_batch0'] = np.copy(
self.CTRL_PNL['num_input_channels'])
if self.CTRL_PNL['incl_ht_wt_channels'] == True:
self.CTRL_PNL['num_input_channels'] += 2
if self.CTRL_PNL['cal_noise'] == True:
self.CTRL_PNL['num_input_channels'] += 1
pmat_std_from_mult = [
'N/A', 11.70153502792190, 19.90905848383454, 23.07018866032369,
0.0, 25.50538629767412
]
if self.CTRL_PNL['cal_noise'] == False:
sobel_std_from_mult = [
'N/A', 29.80360490415032, 33.33532963163579, 34.14427844692501,
0.0, 34.86393494050921
]
else:
sobel_std_from_mult = [
'N/A', 45.61635847182483, 77.74920396659292, 88.89398421073700,
0.0, 97.90075708182506
]
self.CTRL_PNL['norm_std_coeffs'] = [
1. / 41.80684362163343, #contact
1. / 16.69545796387731, #pos est depth
1. / 45.08513083167194, #neg est depth
1. / 43.55800622930469, #cm est
1. / pmat_std_from_mult[int(self.CTRL_PNL['pmat_mult'])], #pmat x5
1. /
sobel_std_from_mult[int(self.CTRL_PNL['pmat_mult'])], #pmat sobel
1. / 1.0, #bed height mat
1. / 1.0, #OUTPUT DO NOTHING
1. / 1.0, #OUTPUT DO NOTHING
1. / 30.216647403350, #weight
1. / 14.629298141231
] #height
self.CTRL_PNL['filepath_prefix'] = '/home/henry/'
#self.CTRL_PNL['filepath_prefix'] = '/media/henry/multimodal_data_2/'
if self.CTRL_PNL[
'depth_map_output'] == True: #we need all the vertices if we're going to regress the depth maps
self.verts_list = "all"
else:
self.verts_list = [
1325, 336, 1032, 4515, 1374, 4848, 1739, 5209, 1960, 5423
]
print self.CTRL_PNL['num_epochs'], 'NUM EPOCHS!'
# Entire pressure dataset with coordinates in world frame
self.mat_size = (NUMOFTAXELS_X, NUMOFTAXELS_Y)
#################################### PREP TRAINING DATA ##########################################
#load training ysnth data
dat_f_synth = TensorPrepLib().load_files_to_database(
training_database_file_f, 'synth')
dat_m_synth = TensorPrepLib().load_files_to_database(
training_database_file_m, 'synth')
self.train_x_flat = [] # Initialize the testing pressure mat list
self.train_x_flat = TensorPrepLib().prep_images(self.train_x_flat,
dat_f_synth,
dat_m_synth,
num_repeats=1)
self.train_x_flat = list(
np.clip(np.array(self.train_x_flat) *
float(self.CTRL_PNL['pmat_mult']),
a_min=0,
a_max=100))
if self.CTRL_PNL['cal_noise'] == False:
self.train_x_flat = PreprocessingLib().preprocessing_blur_images(
self.train_x_flat, self.mat_size, sigma=0.5)
if len(self.train_x_flat) == 0: print("NO TRAINING DATA INCLUDED")
self.train_a_flat = [
] # Initialize the training pressure mat angle list
self.train_a_flat = TensorPrepLib().prep_angles(self.train_a_flat,
dat_f_synth,
dat_m_synth,
num_repeats=1)
if self.CTRL_PNL['depth_map_labels'] == True:
self.depth_contact_maps = [
] #Initialize the precomputed depth and contact maps. only synth has this label.
self.depth_contact_maps = TensorPrepLib().prep_depth_contact(
self.depth_contact_maps,
dat_f_synth,
dat_m_synth,
num_repeats=1)
else:
self.depth_contact_maps = None
if self.CTRL_PNL['depth_map_input_est'] == True:
self.depth_contact_maps_input_est = [
] #Initialize the precomputed depth and contact map input estimates
self.depth_contact_maps_input_est = TensorPrepLib(
).prep_depth_contact_input_est(self.depth_contact_maps_input_est,
dat_f_synth,
dat_m_synth,
num_repeats=1)
else:
self.depth_contact_maps_input_est = None
#stack the bed height array on the pressure image as well as a sobel filtered image
train_xa = PreprocessingLib(
).preprocessing_create_pressure_angle_stack(self.train_x_flat,
self.train_a_flat,
self.mat_size,
self.CTRL_PNL)
#stack the depth and contact mesh images (and possibly a pmat contact image) together
train_xa = TensorPrepLib().append_input_depth_contact(
np.array(train_xa),
CTRL_PNL=self.CTRL_PNL,
mesh_depth_contact_maps_input_est=self.
depth_contact_maps_input_est,
mesh_depth_contact_maps=self.depth_contact_maps)
#normalize the input
if self.CTRL_PNL['normalize_input'] == True:
train_xa = TensorPrepLib().normalize_network_input(
train_xa, self.CTRL_PNL)
self.train_x_tensor = torch.Tensor(train_xa)
train_y_flat = [] # Initialize the training ground truth list
train_y_flat = TensorPrepLib().prep_labels(
train_y_flat,
dat_f_synth,
num_repeats=1,
z_adj=-0.075,
gender="f",
is_synth=True,
loss_vector_type=self.CTRL_PNL['loss_vector_type'],
initial_angle_est=self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
train_y_flat = TensorPrepLib().prep_labels(
train_y_flat,
dat_m_synth,
num_repeats=1,
z_adj=-0.075,
gender="m",
is_synth=True,
loss_vector_type=self.CTRL_PNL['loss_vector_type'],
initial_angle_est=self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
# normalize the height and weight
if self.CTRL_PNL['normalize_input'] == True:
train_y_flat = TensorPrepLib().normalize_wt_ht(
train_y_flat, self.CTRL_PNL)
self.train_y_tensor = torch.Tensor(train_y_flat)
self.train_dataset = torch.utils.data.TensorDataset(
self.train_x_tensor, self.train_y_tensor)
self.train_loader = torch.utils.data.DataLoader(
self.train_dataset,
self.CTRL_PNL['batch_size'],
shuffle=self.CTRL_PNL['shuffle'])
def unpackage_batch_dir_pass(self, batch, is_training, model, CTRL_PNL):
batch.append(batch[1][:, 159]) # synth vs real switch
batch.append(batch[1][:, 160:161]) # mass, kg
batch.append(batch[1][:, 161:162]) # height, kg
# cut it off so batch[2] is only the xyz marker targets
batch[1] = batch[1][:, 0:72]
if is_training == True:
batch[0], batch[1], _, _ = SyntheticLib().synthetic_master(
batch[0],
batch[1],
batch[2],
num_images_manip=(CTRL_PNL['num_input_channels_batch0'] - 1),
flip=False,
shift=True,
scale=False,
include_inter=CTRL_PNL['incl_inter'],
loss_vector_type=CTRL_PNL['loss_vector_type'])
images_up_non_tensor = PreprocessingLib(
).preprocessing_pressure_map_upsample(batch[0].numpy(), multiple=2)
if is_training == True: #only add noise to training images
images_up_non_tensor = PreprocessingLib(
).preprocessing_add_image_noise(
np.array(images_up_non_tensor),
pmat_chan_idx=(CTRL_PNL['num_input_channels_batch0'] - 3))
images_up = Variable(torch.Tensor(images_up_non_tensor).type(
CTRL_PNL['dtype']),
requires_grad=False)
if CTRL_PNL['incl_ht_wt_channels'] == True: #make images full of stuff
weight_input = torch.ones(
(images_up.size()[0], images_up.size()[2] *
images_up.size()[3])).type(CTRL_PNL['dtype'])
weight_input *= batch[3].type(CTRL_PNL['dtype'])
weight_input = weight_input.view(
(images_up.size()[0], 1, images_up.size()[2],
images_up.size()[3]))
height_input = torch.ones(
(images_up.size()[0], images_up.size()[2] *
images_up.size()[3])).type(CTRL_PNL['dtype'])
height_input *= batch[4].type(CTRL_PNL['dtype'])
height_input = height_input.view(
(images_up.size()[0], 1, images_up.size()[2],
images_up.size()[3]))
images_up = torch.cat((images_up, weight_input, height_input), 1)
images, targets = Variable(batch[0].type(CTRL_PNL['dtype']), requires_grad=False), \
Variable(batch[1].type(CTRL_PNL['dtype']), requires_grad=False)
scores, OUTPUT_DICT = model.forward_direct(images_up,
targets,
is_training=is_training)
INPUT_DICT = {}
INPUT_DICT['batch_images'] = images.data
INPUT_DICT['batch_targets'] = targets.data
return scores, INPUT_DICT, OUTPUT_DICT
def estimate_pose(self, pmat, bedangle, markers_c, model, model2):
mat_size = (64, 27)
pmat = np.fliplr(np.flipud(np.clip(pmat.reshape(MAT_SIZE)*float(self.CTRL_PNL['pmat_mult']), a_min=0, a_max=100)))
if self.CTRL_PNL['cal_noise'] == False:
pmat = gaussian_filter(pmat, sigma=1.0)
pmat_stack = PreprocessingLib().preprocessing_create_pressure_angle_stack_realtime(pmat, 0.0, mat_size)
if self.CTRL_PNL['cal_noise'] == False:
pmat_stack = np.clip(pmat_stack, a_min=0, a_max=100)
pmat_stack = np.array(pmat_stack)
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
pmat_contact = np.copy(pmat_stack[:, 0:1, :, :])
pmat_contact[pmat_contact > 0] = 100
pmat_stack = np.concatenate((pmat_contact, pmat_stack), axis=1)
weight_input = self.weight_lbs / 2.20462
height_input = (self.height_in * 0.0254 - 1) * 100
batch1 = np.zeros((1, 162))
if self.gender == 'f':
batch1[:, 157] += 1
elif self.gender == 'm':
batch1[:, 158] += 1
batch1[:, 160] += weight_input
batch1[:, 161] += height_input
if self.CTRL_PNL['normalize_input'] == True:
self.CTRL_PNL['depth_map_input_est'] = False
pmat_stack = self.TPL.normalize_network_input(pmat_stack, self.CTRL_PNL)
batch1 = self.TPL.normalize_wt_ht(batch1, self.CTRL_PNL)
pmat_stack = torch.Tensor(pmat_stack)
batch1 = torch.Tensor(batch1)
if DROPOUT == True:
pmat_stack = pmat_stack.repeat(25, 1, 1, 1)
batch1 = batch1.repeat(25, 1)
batch = []
batch.append(pmat_stack)
batch.append(batch1)
NUMOFOUTPUTDIMS = 3
NUMOFOUTPUTNODES_TRAIN = 24
self.output_size_train = (NUMOFOUTPUTNODES_TRAIN, NUMOFOUTPUTDIMS)
self.CTRL_PNL['adjust_ang_from_est'] = False
scores, INPUT_DICT, OUTPUT_DICT = UnpackBatchLib().unpackage_batch_kin_pass(batch, False, model, self.CTRL_PNL)
mdm_est_pos = OUTPUT_DICT['batch_mdm_est'].clone().unsqueeze(1) / 16.69545796387731
mdm_est_neg = OUTPUT_DICT['batch_mdm_est'].clone().unsqueeze(1) / 45.08513083167194
mdm_est_pos[mdm_est_pos < 0] = 0
mdm_est_neg[mdm_est_neg > 0] = 0
mdm_est_neg *= -1
cm_est = OUTPUT_DICT['batch_cm_est'].clone().unsqueeze(1) * 100 / 43.55800622930469
# 1. / 16.69545796387731, # pos est depth
# 1. / 45.08513083167194, # neg est depth
# 1. / 43.55800622930469, # cm est
sc_sample1 = OUTPUT_DICT['batch_targets_est'].clone()
sc_sample1 = sc_sample1[0, :].squeeze() / 1000
sc_sample1 = sc_sample1.view(self.output_size_train)
#print sc_sample1
if model2 is not None:
print "Using model 2"
batch_cor = []
batch_cor.append(torch.cat((pmat_stack[:, 0:1, :, :],
mdm_est_pos.type(torch.FloatTensor),
mdm_est_neg.type(torch.FloatTensor),
cm_est.type(torch.FloatTensor),
pmat_stack[:, 1:, :, :]), dim=1))
if self.CTRL_PNL['full_body_rot'] == False:
batch_cor.append(torch.cat((batch1,
OUTPUT_DICT['batch_betas_est'].cpu(),
OUTPUT_DICT['batch_angles_est'].cpu(),
OUTPUT_DICT['batch_root_xyz_est'].cpu()), dim=1))
elif self.CTRL_PNL['full_body_rot'] == True:
batch_cor.append(torch.cat((batch1,
OUTPUT_DICT['batch_betas_est'].cpu(),
OUTPUT_DICT['batch_angles_est'].cpu(),
OUTPUT_DICT['batch_root_xyz_est'].cpu(),
OUTPUT_DICT['batch_root_atan2_est'].cpu()), dim=1))
self.CTRL_PNL['adjust_ang_from_est'] = True
scores, INPUT_DICT, OUTPUT_DICT = UnpackBatchLib().unpackage_batch_kin_pass(batch_cor, False, model2,
self.CTRL_PNL)
# print betas_est, root_shift_est, angles_est
if self.CTRL_PNL['dropout'] == True:
print OUTPUT_DICT['verts'].shape
smpl_verts = np.mean(OUTPUT_DICT['verts'], axis = 0)
dropout_variance = np.std(OUTPUT_DICT['verts'], axis=0)
dropout_variance = np.linalg.norm(dropout_variance, axis = 1)
else:
smpl_verts = OUTPUT_DICT['verts'][0, :, :]
dropout_variance = None
smpl_verts = np.concatenate((smpl_verts[:, 1:2] - 0.286 + 0.0143, smpl_verts[:, 0:1] - 0.286 + 0.0143, 2*0.075 -smpl_verts[:, 2:3]), axis = 1)
smpl_faces = np.array(self.m.f)
pc_autofil_red = self.trim_pc_sides() #this is the point cloud
q = OUTPUT_DICT['batch_mdm_est'].data.numpy().reshape(OUTPUT_DICT['batch_mdm_est'].size()[0], 64, 27) * -1
q = np.mean(q, axis = 0)
camera_point = [1.09898028, 0.46441343, -1.53]
if SHOW_SMPL_EST == False:
smpl_verts *= 0.001
#print smpl_verts
viz_type = "3D"
if viz_type == "2D":
from visualization_lib import VisualizationLib
if model2 is not None:
self.im_sample = INPUT_DICT['batch_images'][0, 4:,:].squeeze() * 20. # normalizing_std_constants[4]*5. #pmat
else:
self.im_sample = INPUT_DICT['batch_images'][0, 1:,:].squeeze() * 20. # normalizing_std_constants[4]*5. #pmat
self.im_sample_ext = INPUT_DICT['batch_images'][0, 0:, :].squeeze() * 20. # normalizing_std_constants[0] #pmat contact
# self.im_sample_ext2 = INPUT_DICT['batch_images'][im_display_idx, 2:, :].squeeze()*20.#normalizing_std_constants[4] #sobel
self.im_sample_ext3 = OUTPUT_DICT['batch_mdm_est'][0, :, :].squeeze().unsqueeze(0) * -1 # est depth output
# print scores[0, 10:16], 'scores of body rot'
# print self.im_sample.size(), self.im_sample_ext.size(), self.im_sample_ext2.size(), self.im_sample_ext3.size()
# self.publish_depth_marker_array(self.im_sample_ext3)
self.tar_sample = INPUT_DICT['batch_targets']
self.tar_sample = self.tar_sample[0, :].squeeze() / 1000
sc_sample = OUTPUT_DICT['batch_targets_est'].clone()
sc_sample = sc_sample[0, :].squeeze() / 1000
sc_sample = sc_sample.view(self.output_size_train)
VisualizationLib().visualize_pressure_map(self.im_sample, sc_sample1, sc_sample,
# self.im_sample_ext, None, None,
self.im_sample_ext3, None, None, #, self.tar_sample_val, self.sc_sample_val,
block=False)
time.sleep(4)
elif viz_type == "3D":
#render everything
#self.pyRender.render_mesh_pc_bed_pyrender_everything(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = pc_autofil_red, pmat = pmat, smpl_render_points = False,
# markers = None, dropout_variance = dropout_variance)
#render in 3D pyrender with pressure mat
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = None, pmat = pmat, smpl_render_points = False,
# facing_cam_only=False, viz_type = None,
# markers = None, segment_limbs=False)
#render in 3D pyrender with segmented limbs
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = None, pmat = None, smpl_render_points = False,
# facing_cam_only=False, viz_type = None,
# markers = None, segment_limbs=True)
#render the error of point cloud points relative to verts
#self.Render.eval_dist_render_open3d(smpl_verts, smpl_faces, pc_autofil_red, viz_type = 'pc_error',
# camera_point = camera_point, segment_limbs=False)
self.Render.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
pc = pc_autofil_red, pmat = None, smpl_render_points = False,
facing_cam_only=True, viz_type = 'pc_error',
markers = None, segment_limbs=False)
#render the error of verts relative to point cloud points
#self.Render.eval_dist_render_open3d(smpl_verts, smpl_faces, pc_autofil_red, viz_type = 'mesh_error',
# camera_point = camera_point, segment_limbs=False)
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = pc_autofil_red, pmat = None, smpl_render_points = False,
# facing_cam_only=True, viz_type = 'mesh_error',
# markers = None, segment_limbs=False)
time.sleep(1)
self.point_cloud_array = None
def estimate_pose(self, pmat, bedangle, markers_c, tf_corners,
camera_alpha_vert, camera_alpha_horiz, h, kinect_rot_cw):
mat_size = (64, 27)
pmat = np.fliplr(
np.flipud(
np.clip(pmat.reshape(MAT_SIZE) * float(5), a_min=0,
a_max=100)))
if self.CTRL_PNL['cal_noise'] == False:
pmat = gaussian_filter(pmat, sigma=0.5)
pmat_stack = PreprocessingLib(
).preprocessing_create_pressure_angle_stack_realtime(
pmat, 0.0, mat_size)
if self.CTRL_PNL['cal_noise'] == False:
pmat_stack = np.clip(pmat_stack, a_min=0, a_max=100)
pmat_stack = np.array(pmat_stack)
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
pmat_contact = np.copy(pmat_stack[:, 0:1, :, :])
pmat_contact[pmat_contact > 0] = 100
pmat_stack = np.concatenate((pmat_contact, pmat_stack), axis=1)
weight_input = self.weight_lbs / 2.20462
height_input = (self.height_in * 0.0254 - 1) * 100
batch1 = np.zeros((1, 162))
if self.gender == 'f':
batch1[:, 157] += 1
elif self.gender == 'm':
batch1[:, 158] += 1
batch1[:, 160] += weight_input
batch1[:, 161] += height_input
if self.CTRL_PNL['normalize_input'] == True:
self.CTRL_PNL['depth_map_input_est'] = False
pmat_stack = self.TPL.normalize_network_input(
pmat_stack, self.CTRL_PNL)
batch1 = self.TPL.normalize_wt_ht(batch1, self.CTRL_PNL)
pmat_stack = torch.Tensor(pmat_stack)
batch1 = torch.Tensor(batch1)
if DROPOUT == True:
pmat_stack = pmat_stack.repeat(25, 1, 1, 1)
batch1 = batch1.repeat(25, 1)
batch = []
batch.append(pmat_stack)
batch.append(batch1)
NUMOFOUTPUTDIMS = 3
NUMOFOUTPUTNODES_TRAIN = 24
self.output_size_train = (NUMOFOUTPUTNODES_TRAIN, NUMOFOUTPUTDIMS)
dropout_variance = None
smpl_verts = np.concatenate(
(self.ALL_VERTS[:, 1:2] + 0.0143 + 32 * 0.0286 + .286,
self.ALL_VERTS[:, 0:1] + 0.0143 + 13.5 * 0.0286,
-self.ALL_VERTS[:, 2:3]),
axis=1)
smpl_faces = np.array(self.m.f)
pc_autofil_red = self.trim_pc_sides(
tf_corners, camera_alpha_vert, camera_alpha_horiz, h,
kinect_rot_cw) #this is the point cloud
camera_point = [1.09898028, 0.46441343, -CAM_BED_DIST]
if SHOW_SMPL_EST == False:
smpl_verts *= 0.001
#print smpl_verts
print np.min(smpl_verts[:, 0]), np.max(smpl_verts[:, 0])
print np.min(smpl_verts[:, 1]), np.max(smpl_verts[:, 1])
print np.min(smpl_verts[:, 2]), np.max(smpl_verts[:, 2])
#render everything
self.RESULTS_DICT = self.pyRender.render_mesh_pc_bed_pyrender_everything(
smpl_verts,
smpl_faces,
camera_point,
bedangle,
self.RESULTS_DICT,
pc=pc_autofil_red,
pmat=pmat,
smpl_render_points=False,
markers=[[0.0, 0.0, 0.0], [0.0, 1.5, 0.0], [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0]],
dropout_variance=dropout_variance)
#render in 3D pyrender with pressure mat
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = None, pmat = pmat, smpl_render_points = False,
# facing_cam_only=False, viz_type = None,
# markers = None, segment_limbs=False)
#render in 3D pyrender with segmented limbs
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = None, pmat = None, smpl_render_points = False,
# facing_cam_only=False, viz_type = None,
# markers = None, segment_limbs=True)
#render the error of point cloud points relative to verts
#self.Render.eval_dist_render_open3d(smpl_verts, smpl_faces, pc_autofil_red, viz_type = 'pc_error',
# camera_point = camera_point, segment_limbs=False)
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = pc_autofil_red, pmat = None, smpl_render_points = False,
# facing_cam_only=True, viz_type = 'pc_error',
# markers = None, segment_limbs=False)
#render the error of verts relative to point cloud points
#self.Render.eval_dist_render_open3d(smpl_verts, smpl_faces, pc_autofil_red, viz_type = 'mesh_error',
# camera_point = camera_point, segment_limbs=False)
#self.pyRender.render_mesh_pc_bed_pyrender(smpl_verts, smpl_faces, camera_point, bedangle,
# pc = pc_autofil_red, pmat = None, smpl_render_points = False,
# facing_cam_only=True, viz_type = 'mesh_error',
# markers = None, segment_limbs=False)
time.sleep(1)
self.point_cloud_array = None
def estimate_real_time(self, filename1, filename2=None):
pyRender = libRender.pyRenderMesh()
mat_size = (64, 27)
import sys
# insert at 1, 0 is the script path (or '' in REPL)
sys.path.insert(1, '../sim_camera_resting_scene/lib_py')
sys.path.insert(1, '../sim_camera_resting_scene/DPNet')
from unpack_batch_lib_br import UnpackBatchLib
import convnet_br as convnet
if torch.cuda.is_available():
# Use for GPU
GPU = True
dtype = torch.cuda.FloatTensor
print '######################### CUDA is available! #############################'
else:
# Use for CPU
GPU = False
dtype = torch.FloatTensor
print '############################## USING CPU #################################'
from torch.autograd import Variable
model = torch.load(filename1)
if GPU == True:
for i in range(0, 8):
try:
model = torch.load(
filename1, map_location={'cuda:' + str(i): 'cuda:0'})
model = model.cuda().eval()
break
except:
pass
if filename2 is not None:
for i in range(0, 8):
try:
model2 = torch.load(
filename2,
map_location={'cuda:' + str(i): 'cuda:0'})
model2 = model2.cuda().eval()
break
except:
pass
else:
model2 = None
else:
model = torch.load(filename1, map_location='cpu').eval()
if filename2 is not None:
model2 = torch.load(filename2, map_location='cpu').eval()
else:
model2 = None
pub = rospy.Publisher('meshTopic', MeshAttr)
#rospy.init_node('talker', anonymous=False)
while not rospy.is_shutdown():
#pmat = np.fliplr(np.flipud(np.clip(self.pressure.reshape(mat_size)*float(self.CTRL_PNL['pmat_mult']*4), a_min=0, a_max=100)))
pmat = np.fliplr(
np.flipud(
np.clip(self.pressure.reshape(mat_size) * float(4),
a_min=0,
a_max=100)))
#print "max is : ", np.max(pmat)
#print "sum is : ", np.sum(pmat)
if self.CTRL_PNL['cal_noise'] == False:
pmat = gaussian_filter(pmat, sigma=0.5)
pmat_stack = PreprocessingLib(
).preprocessing_create_pressure_angle_stack_realtime(
pmat, self.bedangle, mat_size, return_height=False)
print np.shape(pmat_stack)
if self.CTRL_PNL['cal_noise'] == False:
pmat_stack = np.clip(pmat_stack, a_min=0, a_max=100)
pmat_stack = np.array(pmat_stack)
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
pmat_contact = np.copy(pmat_stack[:, 0:1, :, :])
pmat_contact[pmat_contact > 0] = 100
pmat_stack = np.concatenate((pmat_contact, pmat_stack), axis=1)
weight_input = WEIGHT_LBS / 2.20462
height_input = (HEIGHT_IN * 0.0254 - 1) * 100
batch1 = np.zeros((1, 162))
if GENDER == 'f':
batch1[:, 157] += 1
elif GENDER == 'm':
batch1[:, 158] += 1
batch1[:, 160] += weight_input
batch1[:, 161] += height_input
if self.CTRL_PNL['normalize_std'] == True:
self.CTRL_PNL['depth_map_input_est'] = False
pmat_stack = self.TPL.normalize_network_input(
pmat_stack, self.CTRL_PNL)
batch1 = self.TPL.normalize_wt_ht(batch1, self.CTRL_PNL)
pmat_std_from_mult = [
'N/A', 11.70153502792190, 19.90905848383454, 23.07018866032369,
0.0, 25.50538629767412
]
if self.CTRL_PNL['cal_noise'] == False:
sobel_std_from_mult = [
'N/A', 29.80360490415032, 33.33532963163579,
34.14427844692501, 0.0, 34.86393494050921
]
else:
sobel_std_from_mult = [
'N/A', 45.61635847182483, 77.74920396659292,
88.89398421073700, 0.0, 97.90075708182506
]
self.CTRL_PNL['norm_std_coeffs'] = [
1. / 41.80684362163343, # contact
1. / 45.08513083167194, # neg est depth
1. / 43.55800622930469, # cm est
1. /
pmat_std_from_mult[int(self.CTRL_PNL['pmat_mult'])], # pmat x5
1. / sobel_std_from_mult[int(
self.CTRL_PNL['pmat_mult'])], # pmat sobel
1. / 1.0, # OUTPUT DO NOTHING
1. / 1.0, # OUTPUT DO NOTHING
1. / 30.216647403350, # weight
1. / 14.629298141231
] # height
if self.CTRL_PNL['normalize_std'] == False:
for i in range(9):
self.CTRL_PNL['norm_std_coeffs'][i] *= 0.
self.CTRL_PNL['norm_std_coeffs'][i] += 1.
pmat_stack = torch.Tensor(pmat_stack)
batch1 = torch.Tensor(batch1)
batch = []
batch.append(pmat_stack)
batch.append(batch1)
self.CTRL_PNL['adjust_ang_from_est'] = False
self.CTRL_PNL['recon_map_output'] = True
print self.CTRL_PNL['num_input_channels'], batch[0].size(
), 'inputs and batch size'
scores, INPUT_DICT, OUTPUT_DICT = UnpackBatchLib().unpack_batch(
batch, False, model, self.CTRL_PNL)
self.CTRL_PNL['first_pass'] = False
mdm_est_pos = OUTPUT_DICT['batch_mdm_est'].clone().unsqueeze(
1) #/ 16.69545796387731
mdm_est_neg = OUTPUT_DICT['batch_mdm_est'].clone().unsqueeze(
1) #/ 45.08513083167194
mdm_est_pos[mdm_est_pos < 0] = 0
mdm_est_neg[mdm_est_neg > 0] = 0
mdm_est_neg *= -1
cm_est = OUTPUT_DICT['batch_cm_est'].clone().unsqueeze(
1) * 100 #/ 43.55800622930469
#1. / 16.69545796387731, # pos est depth
#1. / 45.08513083167194, # neg est depth
#1. / 43.55800622930469, # cm est
if model2 is not None:
batch_cor = []
batch_cor.append(
torch.cat(
(pmat_stack[:, 0:1, :, :],
mdm_est_neg.type(
torch.FloatTensor), cm_est.type(
torch.FloatTensor), pmat_stack[:, 1:, :, :]),
dim=1))
if self.CTRL_PNL['full_body_rot'] == False:
batch_cor.append(
torch.cat(
(batch1, OUTPUT_DICT['batch_betas_est'].cpu(),
OUTPUT_DICT['batch_angles_est'].cpu(),
OUTPUT_DICT['batch_root_xyz_est'].cpu()),
dim=1))
elif self.CTRL_PNL['full_body_rot'] == True:
batch_cor.append(
torch.cat(
(batch1, OUTPUT_DICT['batch_betas_est'].cpu(),
OUTPUT_DICT['batch_angles_est'].cpu(),
OUTPUT_DICT['batch_root_xyz_est'].cpu(),
OUTPUT_DICT['batch_root_atan2_est'].cpu()),
dim=1))
self.CTRL_PNL['adjust_ang_from_est'] = True
self.CTRL_PNL['recon_map_output'] = True
scores, INPUT_DICT, OUTPUT_DICT = UnpackBatchLib(
).unpack_batch(batch_cor, False, model2, self.CTRL_PNL)
betas_est = np.squeeze(
OUTPUT_DICT['batch_betas_est_post_clip'].cpu().numpy())
angles_est = np.squeeze(OUTPUT_DICT['batch_angles_est_post_clip'])
root_shift_est = np.squeeze(
OUTPUT_DICT['batch_root_xyz_est_post_clip'].cpu().numpy())
#print betas_est.shape, root_shift_est.shape, angles_est.shape
#print betas_est, root_shift_est, angles_est
angles_est = angles_est.reshape(72)
for idx in range(10):
#print shape_pose_vol[0][idx]
self.m.betas[idx] = betas_est[idx]
for idx in range(72):
self.m.pose[idx] = angles_est[idx]
init_root = np.array(self.m.pose[0:3]) + 0.000001
init_rootR = libKinematics.matrix_from_dir_cos_angles(init_root)
root_rot = libKinematics.eulerAnglesToRotationMatrix(
[np.pi, 0.0, np.pi / 2])
#print root_rot
trans_root = libKinematics.dir_cos_angles_from_matrix(
np.matmul(root_rot, init_rootR))
self.m.pose[0] = trans_root[0]
self.m.pose[1] = trans_root[1]
self.m.pose[2] = trans_root[2]
#print self.m.J_transformed[1, :], self.m.J_transformed[4, :]
# self.m.pose[51] = selection_r
print self.m.r
#print OUTPUT_DICT['verts']
pyRender.mesh_render_pose_bed_orig(self.m, root_shift_est,
self.point_cloud_array,
self.pc_isnew, pmat * 4,
self.markers, self.bedangle)
self.point_cloud_array = None
def __init__(self, training_database_file_f, training_database_file_m, opt):
'''Opens the specified pickle files to get the combined dataset:
This dataset is a dictionary of pressure maps with the corresponding
3d position and orientation of the markers associated with it.'''
# change this to 'direct' when you are doing baseline methods
self.CTRL_PNL = {}
self.CTRL_PNL['loss_vector_type'] = opt.losstype
self.CTRL_PNL['verbose'] = opt.verbose
self.opt = opt
self.CTRL_PNL['batch_size'] = 128
self.CTRL_PNL['num_epochs'] = 201
self.CTRL_PNL['incl_inter'] = True
self.CTRL_PNL['shuffle'] = True
self.CTRL_PNL['incl_ht_wt_channels'] = True
self.CTRL_PNL['incl_pmat_cntct_input'] = True
self.CTRL_PNL['lock_root'] = False
self.CTRL_PNL['num_input_channels'] = 3
self.CTRL_PNL['GPU'] = GPU
self.CTRL_PNL['dtype'] = dtype
repeat_real_data_ct = 3
self.CTRL_PNL['regr_angles'] = False
self.CTRL_PNL['aws'] = False
self.CTRL_PNL['depth_map_labels'] = True #can only be true if we have 100% synthetic data for training
self.CTRL_PNL['depth_map_labels_test'] = True #can only be true is we have 100% synth for testing
self.CTRL_PNL['depth_map_output'] = self.CTRL_PNL['depth_map_labels']
self.CTRL_PNL['depth_map_input_est'] = False #do this if we're working in a two-part regression
self.CTRL_PNL['adjust_ang_from_est'] = self.CTRL_PNL['depth_map_input_est'] #holds betas and root same as prior estimate
self.CTRL_PNL['clip_sobel'] = True
self.CTRL_PNL['clip_betas'] = True
self.CTRL_PNL['mesh_bottom_dist'] = True
self.CTRL_PNL['full_body_rot'] = True
self.CTRL_PNL['normalize_input'] = True
self.CTRL_PNL['all_tanh_activ'] = False
self.CTRL_PNL['L2_contact'] = False
self.CTRL_PNL['pmat_mult'] = int(3)
self.CTRL_PNL['cal_noise'] = True
if opt.losstype == 'direct':
self.CTRL_PNL['depth_map_labels'] = False
self.CTRL_PNL['depth_map_output'] = False
if self.CTRL_PNL['cal_noise'] == True:
#self.CTRL_PNL['pmat_mult'] = int(1)
#self.CTRL_PNL['incl_pmat_cntct_input'] = False #if there's calibration noise we need to recompute this every batch
self.CTRL_PNL['clip_sobel'] = False
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
self.CTRL_PNL['num_input_channels'] += 1
if self.CTRL_PNL['depth_map_input_est'] == True: #for a two part regression
self.CTRL_PNL['num_input_channels'] += 3
self.CTRL_PNL['num_input_channels_batch0'] = np.copy(self.CTRL_PNL['num_input_channels'])
if self.CTRL_PNL['incl_ht_wt_channels'] == True:
self.CTRL_PNL['num_input_channels'] += 2
if self.CTRL_PNL['cal_noise'] == True:
self.CTRL_PNL['num_input_channels'] += 1
self.CTRL_PNL['filepath_prefix'] = '/home/henry/'
if self.CTRL_PNL['depth_map_output'] == True: #we need all the vertices if we're going to regress the depth maps
self.verts_list = "all"
else:
self.verts_list = [1325, 336, 1032, 4515, 1374, 4848, 1739, 5209, 1960, 5423]
print self.CTRL_PNL['num_epochs'], 'NUM EPOCHS!'
# Entire pressure dataset with coordinates in world frame
self.save_name = '_' + opt.losstype + \
'_synth_32000' + \
'_' + str(self.CTRL_PNL['batch_size']) + 'b' + \
'_' + str(self.CTRL_PNL['num_epochs']) + 'e'
self.mat_size = (NUMOFTAXELS_X, NUMOFTAXELS_Y)
self.output_size_train = (NUMOFOUTPUTNODES_TRAIN, NUMOFOUTPUTDIMS)
self.output_size_val = (NUMOFOUTPUTNODES_TEST, NUMOFOUTPUTDIMS)
self.parents = np.array([4294967295, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 9, 9, 12, 13, 14, 16, 17, 18, 19, 20, 21]).astype(np.int32)
#################################### PREP TRAINING DATA ##########################################
#load training ysnth data
dat_f_synth = TensorPrepLib().load_files_to_database(training_database_file_f, 'synth')
dat_m_synth = TensorPrepLib().load_files_to_database(training_database_file_m, 'synth')
dat_f_real = TensorPrepLib().load_files_to_database(training_database_file_f, 'real')
dat_m_real = TensorPrepLib().load_files_to_database(training_database_file_m, 'real')
self.train_x_flat = [] # Initialize the testing pressure mat list
self.train_x_flat = TensorPrepLib().prep_images(self.train_x_flat, dat_f_synth, dat_m_synth, num_repeats = 1)
self.train_x_flat = list(np.clip(np.array(self.train_x_flat) * float(self.CTRL_PNL['pmat_mult']), a_min=0, a_max=100))
self.train_x_flat = TensorPrepLib().prep_images(self.train_x_flat, dat_f_real, dat_m_real, num_repeats = repeat_real_data_ct)
if self.CTRL_PNL['cal_noise'] == False:
self.train_x_flat = PreprocessingLib().preprocessing_blur_images(self.train_x_flat, self.mat_size, sigma=0.5)
if len(self.train_x_flat) == 0: print("NO TRAINING DATA INCLUDED")
self.train_a_flat = [] # Initialize the training pressure mat angle list
self.train_a_flat = TensorPrepLib().prep_angles(self.train_a_flat, dat_f_synth, dat_m_synth, num_repeats = 1)
self.train_a_flat = TensorPrepLib().prep_angles(self.train_a_flat, dat_f_real, dat_m_real, num_repeats = repeat_real_data_ct)
if self.CTRL_PNL['depth_map_labels'] == True:
self.depth_contact_maps = [] #Initialize the precomputed depth and contact maps. only synth has this label.
self.depth_contact_maps = TensorPrepLib().prep_depth_contact(self.depth_contact_maps, dat_f_synth, dat_m_synth, num_repeats = 1)
else:
self.depth_contact_maps = None
if self.CTRL_PNL['depth_map_input_est'] == True:
self.depth_contact_maps_input_est = [] #Initialize the precomputed depth and contact map input estimates
self.depth_contact_maps_input_est = TensorPrepLib().prep_depth_contact_input_est(self.depth_contact_maps_input_est,
dat_f_synth, dat_m_synth, num_repeats = 1)
self.depth_contact_maps_input_est = TensorPrepLib().prep_depth_contact_input_est(self.depth_contact_maps_input_est,
dat_f_real, dat_m_real, num_repeats = repeat_real_data_ct)
else:
self.depth_contact_maps_input_est = None
#self.CTRL_PNL['clip_sobel'] = False
#stack the bed height array on the pressure image as well as a sobel filtered image
train_xa = PreprocessingLib().preprocessing_create_pressure_angle_stack(self.train_x_flat,
self.train_a_flat,
self.mat_size,
self.CTRL_PNL)
#print np.shape(train_xa), 'shape@'
train_xa = np.array(train_xa)
if self.CTRL_PNL['cal_noise'] == True:
train_xa[:, 0, :, :] = np.array(PreprocessingLib().preprocessing_blur_images(list(np.array(train_xa)[:, 0, :, :]), self.mat_size, sigma=0.5)).reshape(-1, self.mat_size[0], self.mat_size[1])
train_xa[:, 1, :, :] = np.array(PreprocessingLib().preprocessing_blur_images(list(np.array(train_xa)[:, 1, :, :]), self.mat_size, sigma=0.5)).reshape(-1, self.mat_size[0], self.mat_size[1])
#stack the depth and contact mesh images (and possibly a pmat contact image) together
train_xa = TensorPrepLib().append_input_depth_contact(np.array(train_xa),
CTRL_PNL = self.CTRL_PNL,
mesh_depth_contact_maps_input_est = self.depth_contact_maps_input_est,
mesh_depth_contact_maps = self.depth_contact_maps)
self.train_x = train_xa
self.train_y_flat = [] # Initialize the training ground truth list
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_f_synth, num_repeats = 1,
z_adj = -0.075, gender = "f", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_m_synth, num_repeats = 1,
z_adj = -0.075, gender = "m", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_f_real, num_repeats = repeat_real_data_ct,
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_m_real, num_repeats = repeat_real_data_ct,
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
class PhysicalTrainer():
'''Gets the dictionary of pressure maps from the training database,
and will have API to do all sorts of training with it.'''
def __init__(self, training_database_file_f, training_database_file_m, opt):
'''Opens the specified pickle files to get the combined dataset:
This dataset is a dictionary of pressure maps with the corresponding
3d position and orientation of the markers associated with it.'''
# change this to 'direct' when you are doing baseline methods
self.CTRL_PNL = {}
self.CTRL_PNL['loss_vector_type'] = opt.losstype
self.CTRL_PNL['verbose'] = opt.verbose
self.opt = opt
self.CTRL_PNL['batch_size'] = 128
self.CTRL_PNL['num_epochs'] = 201
self.CTRL_PNL['incl_inter'] = True
self.CTRL_PNL['shuffle'] = True
self.CTRL_PNL['incl_ht_wt_channels'] = True
self.CTRL_PNL['incl_pmat_cntct_input'] = True
self.CTRL_PNL['lock_root'] = False
self.CTRL_PNL['num_input_channels'] = 3
self.CTRL_PNL['GPU'] = GPU
self.CTRL_PNL['dtype'] = dtype
repeat_real_data_ct = 3
self.CTRL_PNL['regr_angles'] = False
self.CTRL_PNL['aws'] = False
self.CTRL_PNL['depth_map_labels'] = True #can only be true if we have 100% synthetic data for training
self.CTRL_PNL['depth_map_labels_test'] = True #can only be true is we have 100% synth for testing
self.CTRL_PNL['depth_map_output'] = self.CTRL_PNL['depth_map_labels']
self.CTRL_PNL['depth_map_input_est'] = False #do this if we're working in a two-part regression
self.CTRL_PNL['adjust_ang_from_est'] = self.CTRL_PNL['depth_map_input_est'] #holds betas and root same as prior estimate
self.CTRL_PNL['clip_sobel'] = True
self.CTRL_PNL['clip_betas'] = True
self.CTRL_PNL['mesh_bottom_dist'] = True
self.CTRL_PNL['full_body_rot'] = True
self.CTRL_PNL['normalize_input'] = True
self.CTRL_PNL['all_tanh_activ'] = False
self.CTRL_PNL['L2_contact'] = False
self.CTRL_PNL['pmat_mult'] = int(3)
self.CTRL_PNL['cal_noise'] = True
if opt.losstype == 'direct':
self.CTRL_PNL['depth_map_labels'] = False
self.CTRL_PNL['depth_map_output'] = False
if self.CTRL_PNL['cal_noise'] == True:
#self.CTRL_PNL['pmat_mult'] = int(1)
#self.CTRL_PNL['incl_pmat_cntct_input'] = False #if there's calibration noise we need to recompute this every batch
self.CTRL_PNL['clip_sobel'] = False
if self.CTRL_PNL['incl_pmat_cntct_input'] == True:
self.CTRL_PNL['num_input_channels'] += 1
if self.CTRL_PNL['depth_map_input_est'] == True: #for a two part regression
self.CTRL_PNL['num_input_channels'] += 3
self.CTRL_PNL['num_input_channels_batch0'] = np.copy(self.CTRL_PNL['num_input_channels'])
if self.CTRL_PNL['incl_ht_wt_channels'] == True:
self.CTRL_PNL['num_input_channels'] += 2
if self.CTRL_PNL['cal_noise'] == True:
self.CTRL_PNL['num_input_channels'] += 1
self.CTRL_PNL['filepath_prefix'] = '/home/henry/'
if self.CTRL_PNL['depth_map_output'] == True: #we need all the vertices if we're going to regress the depth maps
self.verts_list = "all"
else:
self.verts_list = [1325, 336, 1032, 4515, 1374, 4848, 1739, 5209, 1960, 5423]
print self.CTRL_PNL['num_epochs'], 'NUM EPOCHS!'
# Entire pressure dataset with coordinates in world frame
self.save_name = '_' + opt.losstype + \
'_synth_32000' + \
'_' + str(self.CTRL_PNL['batch_size']) + 'b' + \
'_' + str(self.CTRL_PNL['num_epochs']) + 'e'
self.mat_size = (NUMOFTAXELS_X, NUMOFTAXELS_Y)
self.output_size_train = (NUMOFOUTPUTNODES_TRAIN, NUMOFOUTPUTDIMS)
self.output_size_val = (NUMOFOUTPUTNODES_TEST, NUMOFOUTPUTDIMS)
self.parents = np.array([4294967295, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 9, 9, 12, 13, 14, 16, 17, 18, 19, 20, 21]).astype(np.int32)
#################################### PREP TRAINING DATA ##########################################
#load training ysnth data
dat_f_synth = TensorPrepLib().load_files_to_database(training_database_file_f, 'synth')
dat_m_synth = TensorPrepLib().load_files_to_database(training_database_file_m, 'synth')
dat_f_real = TensorPrepLib().load_files_to_database(training_database_file_f, 'real')
dat_m_real = TensorPrepLib().load_files_to_database(training_database_file_m, 'real')
self.train_x_flat = [] # Initialize the testing pressure mat list
self.train_x_flat = TensorPrepLib().prep_images(self.train_x_flat, dat_f_synth, dat_m_synth, num_repeats = 1)
self.train_x_flat = list(np.clip(np.array(self.train_x_flat) * float(self.CTRL_PNL['pmat_mult']), a_min=0, a_max=100))
self.train_x_flat = TensorPrepLib().prep_images(self.train_x_flat, dat_f_real, dat_m_real, num_repeats = repeat_real_data_ct)
if self.CTRL_PNL['cal_noise'] == False:
self.train_x_flat = PreprocessingLib().preprocessing_blur_images(self.train_x_flat, self.mat_size, sigma=0.5)
if len(self.train_x_flat) == 0: print("NO TRAINING DATA INCLUDED")
self.train_a_flat = [] # Initialize the training pressure mat angle list
self.train_a_flat = TensorPrepLib().prep_angles(self.train_a_flat, dat_f_synth, dat_m_synth, num_repeats = 1)
self.train_a_flat = TensorPrepLib().prep_angles(self.train_a_flat, dat_f_real, dat_m_real, num_repeats = repeat_real_data_ct)
if self.CTRL_PNL['depth_map_labels'] == True:
self.depth_contact_maps = [] #Initialize the precomputed depth and contact maps. only synth has this label.
self.depth_contact_maps = TensorPrepLib().prep_depth_contact(self.depth_contact_maps, dat_f_synth, dat_m_synth, num_repeats = 1)
else:
self.depth_contact_maps = None
if self.CTRL_PNL['depth_map_input_est'] == True:
self.depth_contact_maps_input_est = [] #Initialize the precomputed depth and contact map input estimates
self.depth_contact_maps_input_est = TensorPrepLib().prep_depth_contact_input_est(self.depth_contact_maps_input_est,
dat_f_synth, dat_m_synth, num_repeats = 1)
self.depth_contact_maps_input_est = TensorPrepLib().prep_depth_contact_input_est(self.depth_contact_maps_input_est,
dat_f_real, dat_m_real, num_repeats = repeat_real_data_ct)
else:
self.depth_contact_maps_input_est = None
#self.CTRL_PNL['clip_sobel'] = False
#stack the bed height array on the pressure image as well as a sobel filtered image
train_xa = PreprocessingLib().preprocessing_create_pressure_angle_stack(self.train_x_flat,
self.train_a_flat,
self.mat_size,
self.CTRL_PNL)
#print np.shape(train_xa), 'shape@'
train_xa = np.array(train_xa)
if self.CTRL_PNL['cal_noise'] == True:
train_xa[:, 0, :, :] = np.array(PreprocessingLib().preprocessing_blur_images(list(np.array(train_xa)[:, 0, :, :]), self.mat_size, sigma=0.5)).reshape(-1, self.mat_size[0], self.mat_size[1])
train_xa[:, 1, :, :] = np.array(PreprocessingLib().preprocessing_blur_images(list(np.array(train_xa)[:, 1, :, :]), self.mat_size, sigma=0.5)).reshape(-1, self.mat_size[0], self.mat_size[1])
#stack the depth and contact mesh images (and possibly a pmat contact image) together
train_xa = TensorPrepLib().append_input_depth_contact(np.array(train_xa),
CTRL_PNL = self.CTRL_PNL,
mesh_depth_contact_maps_input_est = self.depth_contact_maps_input_est,
mesh_depth_contact_maps = self.depth_contact_maps)
self.train_x = train_xa
self.train_y_flat = [] # Initialize the training ground truth list
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_f_synth, num_repeats = 1,
z_adj = -0.075, gender = "f", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_m_synth, num_repeats = 1,
z_adj = -0.075, gender = "m", is_synth = True,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_f_real, num_repeats = repeat_real_data_ct,
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
self.train_y_flat = TensorPrepLib().prep_labels(self.train_y_flat, dat_m_real, num_repeats = repeat_real_data_ct,
z_adj = 0.0, gender = "m", is_synth = False,
loss_vector_type = self.CTRL_PNL['loss_vector_type'],
initial_angle_est = self.CTRL_PNL['adjust_ang_from_est'],
full_body_rot=self.CTRL_PNL['full_body_rot'])
def get_std_of_types(self):
self.train_y_flat = np.array(self.train_y_flat)
print(np.shape(self.train_y_flat), 'size of the training database output')
joint_positions = self.train_y_flat[:, 0:72].reshape(-1, 24, 3)/1000
#print joint_positions.shape
mean_joint_positions = np.mean(joint_positions, axis = 0)
joint_positions_rel_mean = joint_positions - mean_joint_positions
euclidean = np.linalg.norm(joint_positions_rel_mean, axis = 2)
#print euclidean.shape
std_of_euclidean = np.std(euclidean)
print std_of_euclidean, 'std of euclidean'
#print joint_positions[0, :, :]
#print joint_positions_rel_mean[0, :, :]
#print euclidean[0, :]
#print betas[0, :]
#print joint_angles[0, :]
#print mean_joint_angles
betas = self.train_y_flat[:, 72:82]
std_of_betas = np.std(betas)
print std_of_betas, 'std of betas'
#now get the std of the root joint in atan2
joints = self.train_y_flat[:, 82:82+72]
mean_joints = np.mean(joints, axis = 0)
joints_rel_mean = joints - mean_joints
std_of_joints = np.std(joints_rel_mean)
print std_of_joints, 'std joints'
#now get the std of the root joint in atan2
joint_atan2x = np.cos(self.train_y_flat[:, 82:85])
joint_atan2y = np.sin(self.train_y_flat[:, 82:85])
joint_atan2 = np.concatenate((joint_atan2x, joint_atan2y), axis = 1)
mean_joint_atan2 = np.mean(joint_atan2, axis = 0)
joint_atan2_rel_mean = joint_atan2 - mean_joint_atan2
std_of_joint_atan2 = np.std(joint_atan2_rel_mean)
print std_of_joint_atan2, 'std of atan2 full body rot'
#for i in range(72):
# print i, np.min(self.train_y_flat[:, 82+i]), np.max(self.train_y_flat[:, 82+i])
#now get the std of the depth matrix
depth_matrix_down = np.copy(self.train_x[:, 4])
depth_matrix_down[depth_matrix_down > 0] = 0
depth_matrix_down = np.abs(depth_matrix_down)
mean_depth_mats = np.mean(depth_matrix_down, axis = 0)
depth_matrix_rel_mean = depth_matrix_down - mean_depth_mats
std_of_depth_matrix_down = np.std(depth_matrix_rel_mean)
print std_of_depth_matrix_down, 'std of depth matrix'
#now get the std of the contact matrix
cntct_matrix_down = np.copy(self.train_x[:, 5])
cntct_matrix_down = np.abs(cntct_matrix_down)
mean_cntct_mats = np.mean(cntct_matrix_down, axis = 0)
cntct_matrix_rel_mean = cntct_matrix_down - mean_cntct_mats
std_of_cntct_matrix_down = np.std(cntct_matrix_rel_mean)
print std_of_cntct_matrix_down, 'std of cntct matrix'
#####################################################################
########DO NOT SUBTRACT THE MEAN##############
print "now computing standard dev of the input"
print np.shape(self.train_x)
weight_matrix = np.repeat(self.train_y_flat[:, 160:161], 64*27, axis=1).reshape(np.shape(self.train_y_flat)[0], 1, 64, 27)
height_matrix = np.repeat(self.train_y_flat[:, 161:162], 64*27, axis=1).reshape(np.shape(self.train_y_flat)[0], 1, 64, 27)
print 'got here'
print weight_matrix.shape, 'weight mat'
print height_matrix.shape, 'height mat'
print weight_matrix[0, :, 0:2, 0:2]
print height_matrix[0, :, 0:2, 0:2]
input_array = np.concatenate((self.train_x, weight_matrix, height_matrix), axis = 1)
print input_array[0, 6, 0:2, 0:2]
print input_array[0, 7, 0:2, 0:2]
print input_array.shape
if self.CTRL_PNL['depth_map_input_est'] == True:
input_types = ['pmat_contact ',
'mdm est pos ', 'mdm est neg ', 'cm est ',
'pmat x5 clipped', 'pmat sobel ', 'bed angle ',
'depth output ', 'contact output ',
'weight_matrix ', 'height_matrix ']
else:
input_types = ['pmat_contact ',
'pmat x5 clipped', 'pmat sobel ', 'bed angle ',
'depth output ', 'contact output ',
'weight_matrix ', 'height_matrix ']
for i in range(len(input_types)):
some_layer = np.copy(input_array[:, i, :, :])
mean_some_layer = np.mean(some_layer, axis = 0)
some_layer_rel_mean = some_layer - mean_some_layer
std_some_layer = np.std(some_layer_rel_mean, axis = 0)
mean_some_layer = np.mean(mean_some_layer)
std_some_layer = np.mean(std_some_layer)
print i, input_types[i], ' mean is: %.3f \t std is: %.14f \t min/max: %.3f, \t %.3f' %(mean_some_layer, std_some_layer, np.min(some_layer), np.max(some_layer))
num_epochs = self.num_epochs
hidden_dim = 12
kernel_size = 10
print "GOT HERE!!"
#synthetic joints STD: 0.1282715100608753
#synthetic betas STD: 1.7312621950698526
#synthetic angles STD: 0.2130542427733348
def get_bincount_ints_images(self):
self.train_x_flat = np.array(self.train_x_flat).astype(int)
print np.shape(self.train_x_flat), 'size of the training database'
num_images = np.shape(self.train_x_flat)[0]
self.train_x_flat = self.train_x_flat.flatten()
self.train_x_flat[self.train_x_flat > 100] = 100
#print self.train_x_flat[0:100]
bin_count = []
for i in range(0, 101):
bin_count.append(np.count_nonzero(self.train_x_flat == i))
bin_count = np.array(bin_count)
print bin_count
bin_count = bin_count/float(num_images)
import matplotlib.pyplot as plt
real = [9.32182891e+02, 2.41353293e+01, 2.22440547e+01, 2.01024808e+01,
1.84882806e+01, 1.74491018e+01, 1.66834902e+01, 1.54379812e+01,
1.45082121e+01, 1.36798118e+01, 1.33175364e+01, 1.25483319e+01,
1.20975192e+01, 1.20109495e+01, 1.15692900e+01, 1.09368691e+01,
1.09317365e+01, 1.05028229e+01, 1.02795552e+01, 9.92412318e+00,
8.99520958e+00, 8.80025663e+00, 8.40556031e+00, 8.03772455e+00,
7.69281437e+00, 7.30863986e+00, 6.95970915e+00, 6.62763045e+00,
6.35337896e+00, 6.11274594e+00, 5.87134303e+00, 5.63250642e+00,
5.39905902e+00, 5.11334474e+00, 4.94893071e+00, 4.92908469e+00,
4.62728828e+00, 4.45457656e+00, 4.35637297e+00, 4.24901625e+00,
3.91548332e+00, 3.83036784e+00, 3.63336185e+00, 3.66638152e+00,
3.56971771e+00, 3.41120616e+00, 3.39136014e+00, 3.25355004e+00,
3.23199316e+00, 3.17416595e+00, 3.11591104e+00, 3.09546621e+00,
3.02053037e+00, 2.89461078e+00, 2.95816938e+00, 2.94200171e+00,
2.85312233e+00, 2.82566296e+00, 2.68169376e+00, 2.67639008e+00,
2.62412318e+00, 2.51035073e+00, 2.48083832e+00, 2.38879384e+00,
2.39315654e+00, 2.35825492e+00, 2.32557742e+00, 2.23798118e+00,
2.26236099e+00, 2.23028229e+00, 2.20923867e+00, 2.13840890e+00,
2.14388366e+00 ,2.11608212e+00, 2.09324209e+00, 2.02095808e+00,
1.92814371e+00, 1.98785287e+00, 1.91676647e+00, 1.79811805e+00,
1.73370402e+00, 1.70384944e+00, 1.70940975e+00, 1.65089820e+00,
1.55705731e+00, 1.47305389e+00, 1.47596236e+00, 1.40795552e+00,
1.32814371e+00, 1.26595381e+00, 1.22309666e+00, 1.16133447e+00,
1.06261762e+00, 9.98374679e-01, 9.68434559e-01, 9.25919589e-01,
7.92044482e-01, 7.42857143e-01, 7.16595381e-01, 6.48759624e-01,
2.61242857e+02]
print bin_count
plt.plot(np.arange(0, 99), real[1:100], 'r.', label='real')
plt.plot(np.arange(0, 99), bin_count[1:100], 'b.', label='synth')
plt.ylabel('Taxel Force Count \n (force rounded to nearest whole #)')
plt.xlabel('Force (scale of 0 to 100)')
plt.legend()
plt.show()
def plot_bincounts(self):
real = [9.32182891e+02, 2.41353293e+01, 2.22440547e+01, 2.01024808e+01,
1.84882806e+01, 1.74491018e+01, 1.66834902e+01, 1.54379812e+01,
1.45082121e+01, 1.36798118e+01, 1.33175364e+01, 1.25483319e+01,
1.20975192e+01, 1.20109495e+01, 1.15692900e+01, 1.09368691e+01,
1.09317365e+01, 1.05028229e+01, 1.02795552e+01, 9.92412318e+00,
8.99520958e+00, 8.80025663e+00, 8.40556031e+00, 8.03772455e+00,
7.69281437e+00, 7.30863986e+00, 6.95970915e+00, 6.62763045e+00,
6.35337896e+00, 6.11274594e+00, 5.87134303e+00, 5.63250642e+00,
5.39905902e+00, 5.11334474e+00, 4.94893071e+00, 4.92908469e+00,
4.62728828e+00, 4.45457656e+00, 4.35637297e+00, 4.24901625e+00,
3.91548332e+00, 3.83036784e+00, 3.63336185e+00, 3.66638152e+00,
3.56971771e+00, 3.41120616e+00, 3.39136014e+00, 3.25355004e+00,
3.23199316e+00, 3.17416595e+00, 3.11591104e+00, 3.09546621e+00,
3.02053037e+00, 2.89461078e+00, 2.95816938e+00, 2.94200171e+00,
2.85312233e+00, 2.82566296e+00, 2.68169376e+00, 2.67639008e+00,
2.62412318e+00, 2.51035073e+00, 2.48083832e+00, 2.38879384e+00,
2.39315654e+00, 2.35825492e+00, 2.32557742e+00, 2.23798118e+00,
2.26236099e+00, 2.23028229e+00, 2.20923867e+00, 2.13840890e+00,
2.14388366e+00 ,2.11608212e+00, 2.09324209e+00, 2.02095808e+00,
1.92814371e+00, 1.98785287e+00, 1.91676647e+00, 1.79811805e+00,
1.73370402e+00, 1.70384944e+00, 1.70940975e+00, 1.65089820e+00,
1.55705731e+00, 1.47305389e+00, 1.47596236e+00, 1.40795552e+00,
1.32814371e+00, 1.26595381e+00, 1.22309666e+00, 1.16133447e+00,
1.06261762e+00, 9.98374679e-01, 9.68434559e-01, 9.25919589e-01,
7.92044482e-01, 7.42857143e-01, 7.16595381e-01, 6.48759624e-01,
2.61242857e+02]
synth = [1343.22232192, 4.07216977, 3.87526332, 3.73279629, 3.56068113,
3.46481236, 3.41259655, 3.32685106, 3.2357806 , 3.21613872,
3.15151752, 3.10880081, 3.08726691, 3.03938129, 3.03341266,
3.03470001, 2.98244519, 2.95613248, 2.90116642, 2.87887181,
2.87982757, 2.85770851, 2.84108996, 2.80812593, 2.75975267,
2.69887649, 2.64839666, 2.63983381, 2.59725365, 2.56867832,
2.53407584, 2.52746353, 2.47682765, 2.46282281, 2.4540064,
2.4299173 , 2.41727783, 2.38047125, 2.38825388, 2.34370367,
2.34918468, 2.31224155, 2.3065655 , 2.30047983, 2.27030506,
2.26591636, 2.25466178, 2.23172349, 2.22421393, 2.23084575,
2.18783647, 2.17234922, 2.19435125, 2.15159554, 2.14320824,
2.16341578, 2.12971054, 2.11356012, 2.12680424, 2.0678786,
2.10441211, 2.05186471, 2.08133729, 2.06109074, 2.0262932,
2.0886713 , 1.99847858, 1.97450651, 1.97667161, 1.96077475,
1.94228369, 1.92377311, 1.93130218, 1.91366935, 1.88341656,
1.87058204, 1.86783179, 1.85429508, 1.83785207, 1.8299134,
1.83151283, 1.81274869, 1.79724194, 1.7861434 , 1.7733479,
1.75464227, 1.74748381, 1.73125536, 1.74069595, 1.71299836,
1.69971522, 1.68054147, 1.65883202, 1.65775923, 1.6430717,
1.63571819, 1.60712335, 1.59345011, 1.59040727, 1.57058984,
138.61369665]
plt.plot(np.arange(0, 99), real[1:100], '-r', label='real')
plt.plot(np.arange(0, 99), synth[1:100], '-b', label='synth')
plt.ylabel('Taxel Force Count \n (force rounded to nearest whole #)')
plt.xlabel('Force (scale of 0 to 100)')
plt.legend()
plt.show()
