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trans_scene2cano_list = saved_data['trans_scene2cano_list']
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n_seq = len(rec_ric_data_noisy_list)
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clip_len_rec = rec_ric_data_noisy_list.shape[1]
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print('n_seq:', n_seq)
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print('clip_len_rec:', clip_len_rec)
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joints_gt_scene_coord_list = joints_gt_scene_coord_list[:, 0:clip_len_rec] if args.dataset == 'egobody' else None
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################ get contact lbls
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contact_lbl_rec_list = motion_repr_rec_list[:, :, -4:] # np, [n_seq, clip_len, 4]
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contact_lbl_rec_list[contact_lbl_rec_list > 0.5] = 1.0
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contact_lbl_rec_list[contact_lbl_rec_list <= 0.5] = 0.0
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################### transform back to scene coord
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for seq_idx in range(n_seq):
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cur_joints_scene_coord = points_coord_trans(rec_ric_data_noisy_list[seq_idx].reshape(-1, 3), np.linalg.inv(trans_scene2cano_list[seq_idx]))
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rec_ric_data_noisy_list[seq_idx] = cur_joints_scene_coord.reshape(clip_len_rec, 22, 3)
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cur_joints_scene_coord = points_coord_trans(rec_ric_data_rec_list_from_smpl[seq_idx].reshape(-1, 3), np.linalg.inv(trans_scene2cano_list[seq_idx]))
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rec_ric_data_rec_list_from_smpl[seq_idx] = cur_joints_scene_coord.reshape(clip_len_rec, 22, 3)
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############################### skating ratio
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thresh_height = 0.10
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thresh_vel = 0.10
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fps = 30
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foot_joint_index_list = [7, 10, 8, 11] # contact lbl dim order: 7, 10, 8, 11, left ankle, toe, right angle, toe
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joints_foot_rec = rec_ric_data_rec_list_from_smpl[:, :, foot_joint_index_list, :] # [n_seq, clip_len, 2, 3]
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if args.dataset == 'prox':
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# prox scene coord up axis is z
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ground_height = prox_floor_height[scene_name]
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joints_feet_horizon_vel_rec = np.linalg.norm(joints_foot_rec[:, 1:, :, [0, 1]] - joints_foot_rec[:, :-1, :, [0, 1]], axis=-1) * fps # [n_seq, clip_len, 2]
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joints_feet_height_rec = joints_foot_rec[:, 0:-1, :, 2] # [n_seq, clip_len, 2]
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elif args.dataset == 'egobody':
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# egobody scene coord up axis is y
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ground_height = egobody_floor_height[scene_name]
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joints_feet_horizon_vel_rec = np.linalg.norm(joints_foot_rec[:, 1:, :, [0, 2]] - joints_foot_rec[:, :-1, :, [0, 2]], axis=-1) * fps
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joints_feet_height_rec = joints_foot_rec[:, 0:-1, :, 1]
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joints_feet_height_rec = joints_feet_height_rec - ground_height
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skating_rec_left = (joints_feet_horizon_vel_rec[:, :, 0] > thresh_vel) * (joints_feet_horizon_vel_rec[:, :, 1] > thresh_vel) * \
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(joints_feet_height_rec[:, :, 0] < (thresh_height + 0.05)) * (joints_feet_height_rec[:, :, 1] < thresh_height)
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skating_rec_right = (joints_feet_horizon_vel_rec[:, :, 2] > thresh_vel) * (joints_feet_horizon_vel_rec[:, :, 3] > thresh_vel) * \
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(joints_feet_height_rec[:, :, 2] < (thresh_height + 0.05)) * (joints_feet_height_rec[:, :, 3] < thresh_height)
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skating_rec = skating_rec_left * skating_rec_right # [n_clip, 142]
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if recording_name not in skating_list.keys():
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skating_list[recording_name] = []
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skating_list[recording_name].append(skating_rec)
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else:
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skating_list[recording_name].append(skating_rec)
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########################### acceleration metrics
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acc_rec = (rec_ric_data_rec_list_from_smpl[:, 2:] - 2 * rec_ric_data_rec_list_from_smpl[:, 1:-1] + rec_ric_data_rec_list_from_smpl[:, :-2]) * (fps ** 2) # [n_clip, 141, 22, 3]
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if args.dataset == 'egobody':
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acc_gt = (joints_gt_scene_coord_list[:, 2:] - 2 * joints_gt_scene_coord_list[:, 1:-1] + joints_gt_scene_coord_list[:, :-2]) * (fps ** 2)
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acc_error = np.linalg.norm(acc_rec - acc_gt, axis=-1).mean(axis=-1)
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acc_rec = np.linalg.norm(acc_rec, axis=-1).mean(axis=-1) # [n_clip, 141]
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if recording_name not in acc_error_list.keys():
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acc_list[recording_name] = []
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acc_list[recording_name].append(acc_rec)
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if args.dataset == 'egobody':
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acc_error_list[recording_name] = []
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acc_error_list[recording_name].append(acc_error)
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else:
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acc_list[recording_name].append(acc_rec)
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acc_error_list[recording_name].append(acc_error) if args.dataset == 'egobody' else None
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########################### mpjpe metrics
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if args.dataset == 'egobody':
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if recording_name not in joint_mask_list.keys():
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joint_mask_list[recording_name] = []
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joint_mask_list[recording_name].append(mask_joint_vis_list)
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else:
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joint_mask_list[recording_name].append(mask_joint_vis_list)
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joints_mpjpe_global = np.linalg.norm(joints_gt_scene_coord_list - rec_ric_data_rec_list_from_smpl, axis=-1) # [n_seq, clip_len, 22]
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joints_mpjpe_local = np.linalg.norm((joints_gt_scene_coord_list - joints_gt_scene_coord_list[:, 0:clip_len_rec, [0]]) -
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(rec_ric_data_rec_list_from_smpl - rec_ric_data_rec_list_from_smpl[:, :, [0]]), axis=-1)
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joints_mpjpe_local_vis = joints_mpjpe_local * mask_joint_vis_list
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joints_mpjpe_local_invis = joints_mpjpe_local * (1 - mask_joint_vis_list)
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if recording_name not in gmpjpe_list.keys():
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gmpjpe_list[recording_name] = []
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gmpjpe_list[recording_name].append(joints_mpjpe_global)
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mpjpe_list[recording_name] = []
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mpjpe_list_vis[recording_name] = []
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mpjpe_list_occ[recording_name] = []
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mpjpe_list[recording_name].append(joints_mpjpe_local)
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mpjpe_list_vis[recording_name].append(joints_mpjpe_local_vis)
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mpjpe_list_occ[recording_name].append(joints_mpjpe_local_invis)
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else:
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gmpjpe_list[recording_name].append(joints_mpjpe_global)
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mpjpe_list[recording_name].append(joints_mpjpe_local)
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mpjpe_list_vis[recording_name].append(joints_mpjpe_local_vis)
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mpjpe_list_occ[recording_name].append(joints_mpjpe_local_invis)
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########################### ground penetration metrics
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if args.dataset == 'egobody':
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pene_dist = rec_ric_data_rec_list_from_smpl[:, :, [10, 11], 1] - ground_height # [n_clip, 143, 2]
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elif args.dataset == 'prox':
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pene_dist = rec_ric_data_rec_list_from_smpl[:, :, [10, 11], 2] - ground_height
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pene_freq = pene_dist < -0.05 # [clip_len]
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pene_freq = pene_freq.mean(axis=-1) # [n_clip, 143]
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pene_dist[pene_dist >= 0] = 0
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pene_dist = pene_dist.mean(axis=-1) # [n_clip, 143]
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