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DARTset_utils.py
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DARTset_utils.py
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from typing import Union
import cv2
import numpy as np
import torch
from pytorch3d.transforms import (axis_angle_to_matrix, matrix_to_quaternion, quaternion_to_axis_angle)
class Compose:
def __init__(self, transforms: list):
"""Composes several transforms together. This transform does not
support torchscript.
Args:
transforms (list): (list of transform functions)
"""
self.transforms = transforms
def __call__(self, rotation: Union[torch.Tensor, np.ndarray], convention: str = 'xyz', **kwargs):
convention = convention.lower()
if not (set(convention) == set('xyz') and len(convention) == 3):
raise ValueError(f'Invalid convention {convention}.')
if isinstance(rotation, np.ndarray):
data_type = 'numpy'
rotation = torch.FloatTensor(rotation)
elif isinstance(rotation, torch.Tensor):
data_type = 'tensor'
else:
raise TypeError('Type of rotation should be torch.Tensor or numpy.ndarray')
for t in self.transforms:
if 'convention' in t.__code__.co_varnames:
rotation = t(rotation, convention.upper(), **kwargs)
else:
rotation = t(rotation, **kwargs)
if data_type == 'numpy':
rotation = rotation.detach().cpu().numpy()
return rotation
def aa_to_rotmat(axis_angle: Union[torch.Tensor, np.ndarray]) -> Union[torch.Tensor, np.ndarray]:
"""
Convert axis_angle to rotation matrixs.
Args:
axis_angle (Union[torch.Tensor, numpy.ndarray]): input shape
should be (..., 3). ndim of input is unlimited.
Returns:
Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3, 3).
"""
if axis_angle.shape[-1] != 3:
raise ValueError(f'Invalid input axis angles shape f{axis_angle.shape}.')
t = Compose([axis_angle_to_matrix])
return t(axis_angle)
def rotmat_to_aa(matrix: Union[torch.Tensor, np.ndarray]) -> Union[torch.Tensor, np.ndarray]:
"""Convert rotation matrixs to axis angles.
Args:
matrix (Union[torch.Tensor, numpy.ndarray]): input shape
should be (..., 3, 3). ndim of input is unlimited.
convention (str, optional): Convention string of three letters
from {“x”, “y”, and “z”}. Defaults to 'xyz'.
Returns:
Union[torch.Tensor, numpy.ndarray]: shape would be (..., 3).
"""
if matrix.shape[-1] != 3 or matrix.shape[-2] != 3:
raise ValueError(f'Invalid rotation matrix shape f{matrix.shape}.')
t = Compose([matrix_to_quaternion, quaternion_to_axis_angle])
return t(matrix)
def fit_ortho_param(joints3d: np.ndarray, joints2d: np.ndarray) -> np.ndarray:
joints3d_xy = joints3d[:, :2] # (21, 2)
joints3d_xy = joints3d_xy.reshape(-1)[:, np.newaxis]
joints2d = joints2d.reshape(-1)[:, np.newaxis]
pad2 = np.array(range(joints2d.shape[0]))
pad2 = (pad2 % 2)[:, np.newaxis]
pad1 = 1 - pad2
jM = np.concatenate([joints3d_xy, pad1, pad2], axis=1) # (42, 3)
jMT = jM.transpose() # (3, 42)
jMTjM = np.matmul(jMT, jM)
jMTb = np.matmul(jMT, joints2d)
ortho_param = np.matmul(np.linalg.inv(jMTjM), jMTb)
ortho_param = ortho_param.reshape(-1)
return ortho_param # [f, tx, ty]
def ortho_project(points3d, ortho_cam):
x, y = points3d[:, 0], points3d[:, 1]
u = ortho_cam[0] * x + ortho_cam[1]
v = ortho_cam[0] * y + ortho_cam[2]
u_, v_ = u[:, np.newaxis], v[:, np.newaxis]
return np.concatenate([u_, v_], axis=1)
class COLOR_CONST():
colors = {
"colors": [228 / 255, 178 / 255, 148 / 255],
"light_pink": [0.9, 0.7, 0.7], # This is used to do no-3d
"light_blue": [102 / 255, 209 / 255, 243 / 255],
}
color_hand_joints = [
[1.0, 0.0, 0.0],
[0.0, 0.4, 0.0],
[0.0, 0.6, 0.0],
[0.0, 0.8, 0.0],
[0.0, 1.0, 0.0], # thumb
[0.0, 0.0, 0.6],
[0.0, 0.0, 1.0],
[0.2, 0.2, 1.0],
[0.4, 0.4, 1.0], # index
[0.0, 0.4, 0.4],
[0.0, 0.6, 0.6],
[0.0, 0.8, 0.8],
[0.0, 1.0, 1.0], # middle
[0.4, 0.4, 0.0],
[0.6, 0.6, 0.0],
[0.8, 0.8, 0.0],
[1.0, 1.0, 0.0], # ring
[0.4, 0.0, 0.4],
[0.6, 0.0, 0.6],
[0.8, 0.0, 0.8],
[1.0, 0.0, 1.0],
] # little
def plot_hand(image, coords_hw, vis=None, linewidth=3):
"""Plots a hand stick figure into a matplotlib figure."""
colors = np.array(COLOR_CONST.color_hand_joints)
colors = colors[:, ::-1]
# define connections and colors of the bones
bones = [
((0, 1), colors[1, :]),
((1, 2), colors[2, :]),
((2, 3), colors[3, :]),
((3, 4), colors[4, :]),
((0, 5), colors[5, :]),
((5, 6), colors[6, :]),
((6, 7), colors[7, :]),
((7, 8), colors[8, :]),
((0, 9), colors[9, :]),
((9, 10), colors[10, :]),
((10, 11), colors[11, :]),
((11, 12), colors[12, :]),
((0, 13), colors[13, :]),
((13, 14), colors[14, :]),
((14, 15), colors[15, :]),
((15, 16), colors[16, :]),
((0, 17), colors[17, :]),
((17, 18), colors[18, :]),
((18, 19), colors[19, :]),
((19, 20), colors[20, :]),
]
if vis is None:
vis = np.ones_like(coords_hw[:, 0]) == 1.0
for connection, color in bones:
if (vis[connection[0]] == False) or (vis[connection[1]] == False):
continue
coord1 = coords_hw[connection[0], :]
coord2 = coords_hw[connection[1], :]
c1x = int(coord1[0])
c1y = int(coord1[1])
c2x = int(coord2[0])
c2y = int(coord2[1])
cv2.line(image, (c1x, c1y), (c2x, c2y), color=color * 255, thickness=linewidth)
for i in range(coords_hw.shape[0]):
cx = int(coords_hw[i, 0])
cy = int(coords_hw[i, 1])
cv2.circle(image, (cx, cy), radius=2 * linewidth, thickness=-1, color=colors[i, :] * 255)
return image