def fit_pose(frame, last_smpl, frustum, nohands, viz_rn):
if nohands:
faces = faces_no_hands(frame.smpl.f)
else:
faces = frame.smpl.f
dst_type = cv2.cv.CV_DIST_L2 if cv2.__version__[0] == '2' else cv2.DIST_L2
dist_i = cv2.distanceTransform(np.uint8(frame.mask * 255), dst_type, 5) - 1
dist_i[dist_i < 0] = 0
dist_i[dist_i > 50] = 50
dist_o = cv2.distanceTransform(255 - np.uint8(frame.mask * 255), dst_type,
5)
dist_o[dist_o > 50] = 50
rn_m = ColoredRenderer(camera=frame.camera,
v=frame.smpl,
f=faces,
vc=np.ones_like(frame.smpl),
frustum=frustum,
bgcolor=0,
num_channels=1)
E = {
'mask':
gaussian_pyramid(rn_m * dist_o * 100. + (1 - rn_m) * dist_i,
n_levels=4,
normalization='size') * 80.,
'2dpose':
GMOf(frame.pose_obj, 100),
'prior':
frame.pose_prior_obj * 4.,
'sp':
frame.collision_obj * 1e3,
}
if last_smpl is not None:
E['last_pose'] = GMOf(frame.smpl.pose - last_smpl.pose, 0.05) * 50.
E['last_trans'] = GMOf(frame.smpl.trans - last_smpl.trans, 0.05) * 50.
if nohands:
x0 = [
frame.smpl.pose[range(21) + range(27, 30) + range(36, 60)],
frame.smpl.trans
]
else:
x0 = [
frame.smpl.pose[range(21) + range(27, 30) + range(36, 72)],
frame.smpl.trans
]
ch.minimize(E,
x0,
method='dogleg',
options={
'e_3': .01,
},
callback=get_cb(viz_rn, frame))
def ray_objective(f, sigma, base_smpl, camera, vis_rn_b, vis_rn_m):
base_smpl.pose[:] = f.pose
camera.t[:] = f.trans
f.v_ids, f.rays_u = unpose_and_select_rays(f.rays, f.Vi, base_smpl,
vis_rn_b, vis_rn_m)
f.verts = base_smpl.v_shaped_personal[f.v_ids]
f.dist = distance_function(f.rays_u, f.verts)
return GMOf(f.dist, sigma)
def reinit_frame(frame, null_pose, nohands, viz_rn):
mylog("# reinit_frame")
if (np.sum(frame.pose_obj.r ** 2) > 625 or np.sum(frame.pose_prior_obj.r ** 2) > 75)\
and np.sum(frame.keypoints[[0, 2, 5, 8, 11], 2]) > 3.:
log.info('Tracking error too large. Re-init frame...')
x0 = [frame.smpl.pose[:3], frame.smpl.trans]
frame.smpl.pose[3:] = null_pose
if frame.keypoints[2, 0] > frame.keypoints[5, 0]:
frame.smpl.pose[0] = 0
frame.smpl.pose[2] = np.pi
E = {
'init_pose': frame.pose_obj[[0, 2, 5, 8, 11]],
}
ch.minimize(E,
x0,
method='dogleg',
options={
'e_3': .1,
},
callback=get_cb(viz_rn, frame))
E = {
'pose': GMOf(frame.pose_obj, 100),
'prior': frame.pose_prior_obj * 8.,
}
x0 = [frame.smpl.trans]
if nohands:
# x0.append(frame.smpl.pose[range(21) + range(27, 30) + range(36, 60)])
x0.append(frame.smpl.pose[list(range(21)) + list(range(27, 30)) +
list(range(36, 60))])
else:
# x0.append(frame.smpl.pose[range(21) + range(27, 30) + range(36, 72)])
x0.append(frame.smpl.pose[list(range(21)) + list(range(27, 30)) +
list(range(36, 72))])
ch.minimize(E,
x0,
method='dogleg',
options={
'e_3': .01,
},
callback=get_cb(viz_rn, frame))
def ray_face(f, sigma, base_smpl, camera, face_ids):
camera.t[:] = f.trans
f.v_ids, f.rays_u, w_idx = select_rays(f.face_rays, f.Vi, base_smpl,
face_ids)
f.verts = base_smpl.v_shaped_personal[f.v_ids]
f.dist = distance_function(f.rays_u, f.verts)
w = f.face_landmark[:, -1][w_idx].reshape(-1, 1)
x = GMOf(f.dist, sigma)
fina = x * w
return fina
# paper2