def __init__(self, resolution=(224, 224), orig_img=False, wireframe=False):
self.resolution = resolution
self.faces = get_smpl_faces()
self.orig_img = orig_img
self.wireframe = wireframe
self.renderer = pyrender.OffscreenRenderer(
viewport_width=self.resolution[0],
viewport_height=self.resolution[1],
point_size=1.0)
# set the scene
self.scene = pyrender.Scene(bg_color=[0.0, 0.0, 0.0, 0.0],
ambient_light=(0.3, 0.3, 0.3))
light = pyrender.PointLight(color=[1.0, 1.0, 1.0], intensity=1)
light_pose = np.eye(4)
light_pose[:3, 3] = [0, -1, 1]
self.scene.add(light, pose=light_pose)
light_pose[:3, 3] = [0, 1, 1]
self.scene.add(light, pose=light_pose)
light_pose[:3, 3] = [1, 1, 2]
self.scene.add(light, pose=light_pose)
def __init__(self, resolution=(224, 224), orig_img=False, wireframe=False):
# set renderer
self.resolution = resolution
self.renderer = pyrender.OffscreenRenderer(
viewport_width=self.resolution[0],
viewport_height=self.resolution[1],
point_size=3.0)
self.faces = get_smpl_faces()
self.orig_img = orig_img
self.wireframe = wireframe
self.scene = pyrender.Scene(bg_color=[0.0, 0.0, 0.0, 0.0], \
ambient_light=(0.3, 0.3, 0.3))
def render_image(img,
verts,
cam,
faces=None,
angle=None,
axis=None,
resolution=224,
output_fn=None):
if faces is None:
faces = get_smpl_faces()
mesh = trimesh.Trimesh(vertices=verts, faces=faces)
Rx = trimesh.transformations.rotation_matrix(math.radians(180), [1, 0, 0])
mesh.apply_transform(Rx)
if angle and axis:
R = trimesh.transformations.rotation_matrix(math.radians(angle), axis)
mesh.apply_transform(R)
if output_fn:
mesh.export(output_fn)
camera_translation = np.array(
[-cam[1], cam[2], 2 * 5000. / (img.shape[0] * cam[0] + 1e-9)])
np.save(output_fn.replace('.obj', '.npy'), camera_translation)
# Save the rotated mesh
# R = trimesh.transformations.rotation_matrix(math.radians(270), [0,1,0])
# rotated_mesh = mesh.copy()
# rotated_mesh.apply_transform(R)
# rotated_mesh.export(output_fn.replace('.obj', '_rot.obj'))
scene = pyrender.Scene(bg_color=[0.0, 0.0, 0.0, 0.0],
ambient_light=(0.3, 0.3, 0.3))
material = pyrender.MetallicRoughnessMaterial(metallicFactor=0.0,
alphaMode='OPAQUE',
baseColorFactor=(1.0, 1.0,
0.9, 1.0))
mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
scene.add(mesh, 'mesh')
camera_pose = np.eye(4)
camera = WeakPerspectiveCamera(scale=cam[0],
translation=cam[1:],
zfar=1000.)
scene.add(camera, pose=camera_pose)
light = pyrender.PointLight(color=[1.0, 1.0, 1.0], intensity=1)
light_pose = np.eye(4)
light_pose[:3, 3] = [0, -1, 1]
scene.add(light, pose=light_pose)
light_pose[:3, 3] = [0, 1, 1]
scene.add(light, pose=light_pose)
light_pose[:3, 3] = [1, 1, 2]
scene.add(light, pose=light_pose)
r = pyrender.OffscreenRenderer(viewport_width=resolution,
viewport_height=resolution,
point_size=1.0)
color, _ = r.render(scene, flags=pyrender.RenderFlags.RGBA)
# color = color[:, ::-1, :]
valid_mask = (color[:, :, -1] > 0)[:, :, np.newaxis]
output_img = color[:, :, :-1] * valid_mask + (1 - valid_mask) * img
image = output_img.astype(np.uint8)
text = f's: {cam[0]:.2f}, tx: {cam[1]:.2f}, ty: {cam[2]:.2f}'
cv2.putText(image, text, (5, 10), 0, 0.4, color=(0, 255, 0))
return image
def visualize_preds(image,
preds,
target=None,
target_exists=True,
dataset='common',
vis_hmr=False):
with torch.no_grad():
if isinstance(image, torch.Tensor):
image = torch2numpy(image)
# import random
# image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
# cv2.imwrite(f'sample_images/{random.randint(0,100)}.jpg', image)
pred_theta = preds['theta']
pred_camera = pred_theta[:3]
# pred_pose = pred_theta[3:75]
# pred_shape = pred_theta[75:]
pred_kp_2d = preds['kp_2d']
pred_verts = preds['verts']
if target_exists:
target_kp_2d = target['kp_2d']
pred_kp_2d = np.concatenate(
[pred_kp_2d, np.ones((pred_kp_2d.shape[0], 1))], axis=-1)
faces = get_smpl_faces()
pred_image = draw_skeleton(image.copy(), pred_kp_2d, dataset=dataset)
if target_exists:
if vis_hmr:
target_verts = target['verts']
target_cam = target['cam']
target_image = render_image(img=image.copy(),
verts=target_verts,
faces=faces,
cam=target_cam)
else:
target_image = draw_skeleton(image.copy(),
target_kp_2d,
dataset=dataset)
render = render_image(img=image.copy(),
verts=pred_verts,
faces=faces,
cam=pred_camera)
white_img = np.zeros_like(image)
render_side = render_image(img=white_img.copy(),
verts=pred_verts,
faces=faces,
cam=pred_camera,
angle=90,
axis=[0, 1, 0])
if target_exists:
result_image = np.hstack(
[image, pred_image, target_image, render, render_side])
else:
result_image = np.hstack([image, pred_image, render, render_side])
return result_image
