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if recording_name not in ground_pene_dist_list.keys():
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ground_pene_dist_list[recording_name] = []
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ground_pene_freq_list[recording_name] = []
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ground_pene_dist_list[recording_name].append(pene_dist)
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ground_pene_freq_list[recording_name].append(pene_freq)
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else:
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ground_pene_dist_list[recording_name].append(pene_dist)
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ground_pene_freq_list[recording_name].append(pene_freq)
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if args.visualize or args.render:
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############ get smplx vertices
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smpl_verts_rec_list = []
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joints_rec_list = []
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smpl_verts_input_list = []
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joints_input_list = []
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with torch.no_grad():
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for idx in tqdm(range(n_seq)):
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cur_total_dim = 0
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repr_dict_rec = {}
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repr_dict_input = {}
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for repr_name in repr_name_list:
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repr_dict_rec[repr_name] = motion_repr_rec_list[idx:(idx + 1), ..., cur_total_dim:(cur_total_dim + repr_dim_dict[repr_name])]
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repr_dict_rec[repr_name] = torch.from_numpy(repr_dict_rec[repr_name]).to(dist_util.dev())
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repr_dict_input[repr_name] = motion_repr_noisy_list[idx:(idx + 1), ..., cur_total_dim:(cur_total_dim + repr_dim_dict[repr_name])]
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repr_dict_input[repr_name] = torch.from_numpy(repr_dict_input[repr_name]).to(dist_util.dev())
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cur_total_dim += repr_dim_dict[repr_name]
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joints_rec, smpl_verts_rec = recover_from_repr_smpl(repr_dict_rec, recover_mode='smplx_params', smplx_model=smplx_neutral, return_verts=True, return_full_joints=True)
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joints_input, smpl_verts_input = recover_from_repr_smpl(repr_dict_input, recover_mode='smplx_params', smplx_model=smplx_neutral, return_verts=True, return_full_joints=True)
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smpl_verts_rec_list.append(smpl_verts_rec.detach().cpu().numpy())
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joints_rec_list.append(joints_rec.detach().cpu().numpy())
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smpl_verts_input_list.append(smpl_verts_input.detach().cpu().numpy())
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joints_input_list.append(joints_input.detach().cpu().numpy())
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smpl_verts_rec_list = np.concatenate(smpl_verts_rec_list, axis=0)
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joints_rec_list = np.concatenate(joints_rec_list, axis=0)
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smpl_verts_input_list = np.concatenate(smpl_verts_input_list, axis=0)
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joints_input_list = np.concatenate(joints_input_list, axis=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_verts_scene_coord = points_coord_trans(smpl_verts_rec_list[seq_idx].reshape(-1, 3), np.linalg.inv(trans_scene2cano_list[seq_idx]))
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smpl_verts_rec_list[seq_idx] = cur_verts_scene_coord.reshape(clip_len_rec, -1, 3)
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cur_joints_scene_coord = points_coord_trans(joints_rec_list[seq_idx].reshape(-1, 3), np.linalg.inv(trans_scene2cano_list[seq_idx]))
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joints_rec_list[seq_idx] = cur_joints_scene_coord.reshape(clip_len_rec, -1, 3)
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cur_verts_scene_coord = points_coord_trans(smpl_verts_input_list[seq_idx].reshape(-1, 3), np.linalg.inv(trans_scene2cano_list[seq_idx]))
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smpl_verts_input_list[seq_idx] = cur_verts_scene_coord.reshape(clip_len_rec, -1, 3)
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cur_joints_scene_coord = points_coord_trans(joints_input_list[seq_idx].reshape(-1, 3), np.linalg.inv(trans_scene2cano_list[seq_idx]))
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joints_input_list[seq_idx] = cur_joints_scene_coord.reshape(clip_len_rec, -1, 3)
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####################################### visualization #############################
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if args.visualize:
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for bs in range(0, n_seq, 1):
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if bs % args.vis_interval == 0:
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for t in range(0, clip_len_rec, 1):
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################################# body skeletons
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cur_joint_mask_vis = mask_joint_vis_list[bs, t] # [22]
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cur_mask_joint_id = np.where(cur_joint_mask_vis == 0)[0].tolist()
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skeleton_input_list = vis_skeleton(joints=joints_input_list[bs, t], limbs=LIMBS_BODY_SMPL,
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mask_scheme='video', cur_mask_joint_id=cur_mask_joint_id,
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color_occ=[0, 128 / 255, 0], color_vis=[0, 128 / 255, 0])
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skeleton_rec_list = vis_skeleton(joints=joints_rec_list[bs, t], limbs=LIMBS_BODY_SMPL,
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mask_scheme='video', cur_mask_joint_id=cur_mask_joint_id)
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################################# foot contact labels
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foot_sphere_rec_list = vis_foot_contact(joints=joints_rec_list[bs, t], contact_lbl=contact_lbl_rec_list[bs, t])
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################################# body mesh
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body_mesh_rec = o3d.geometry.TriangleMesh()
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body_mesh_rec.vertices = o3d.utility.Vector3dVector(smpl_verts_rec_list[bs, t])
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body_mesh_rec.triangles = o3d.utility.Vector3iVector(smplx_neutral.faces)
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body_mesh_rec.compute_vertex_normals()
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body_mesh_rec.paint_uniform_color(COLOR_VIS_O3D)
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body_mesh_input = o3d.geometry.TriangleMesh()
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body_mesh_input.vertices = o3d.utility.Vector3dVector(smpl_verts_input_list[bs, t])
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body_mesh_input.triangles = o3d.utility.Vector3iVector(smplx_neutral.faces)
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body_mesh_input.compute_vertex_normals()
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body_mesh_input.paint_uniform_color([0, 128 / 255, 0])
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if args.vis_option == 'mesh':
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vis.add_geometry(body_mesh_rec)
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vis.add_geometry(body_mesh_input)
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if args.vis_option == 'skeleton':
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for arrow in skeleton_rec_list:
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vis.add_geometry(arrow)
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for arrow in skeleton_input_list:
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vis.add_geometry(arrow)
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for sphere in foot_sphere_rec_list:
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vis.add_geometry(sphere)
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ctr = vis.get_view_control()
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cam_param = ctr.convert_to_pinhole_camera_parameters()
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cam_param = update_cam(cam_param, cam2world)
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ctr.convert_from_pinhole_camera_parameters(cam_param)
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vis.poll_events()
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vis.update_renderer()
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# time.sleep(0.03)
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if args.vis_option == 'mesh':
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vis.remove_geometry(body_mesh_rec)
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vis.remove_geometry(body_mesh_input)
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if args.vis_option == 'skeleton':
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