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for arrow in skeleton_rec_list:
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vis.remove_geometry(arrow)
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for arrow in skeleton_input_list:
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vis.remove_geometry(arrow)
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for sphere in foot_sphere_rec_list:
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vis.remove_geometry(sphere)
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####################################### render results #############################
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if args.render:
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img_save_path_mesh_skel_rec = os.path.join(args.render_save_path, 'mesh_skel')
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img_save_path_mesh_noisy = os.path.join(args.render_save_path, 'input')
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os.makedirs(img_save_path_mesh_skel_rec) if not os.path.exists(img_save_path_mesh_skel_rec) else None
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os.makedirs(img_save_path_mesh_noisy) if not os.path.exists(img_save_path_mesh_noisy) else None
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H, W = 1080, 1920
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########## read kinect color camera intrinsics
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if args.dataset == 'egobody':
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with open(os.path.join(args.dataset_root, 'kinect_cam_params', 'kinect_{}'.format(view), 'Color.json'), 'r') as f:
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color_cam = json.load(f)
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elif args.dataset == 'prox':
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with open(os.path.join(args.dataset_root, 'calibration', 'Color.json'), 'r') as f:
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color_cam = json.load(f)
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[f_x, f_y] = color_cam['f']
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[c_x, c_y] = color_cam['c']
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camera, camera_pose, light = create_render_cam(cam_x=c_x, cam_y=c_y, fx=f_x, fy=f_y)
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if args.dataset == 'egobody':
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rgb_img_root = os.path.join(args.dataset_root, 'kinect_color', recording_name, view)
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elif args.dataset == 'prox':
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rgb_img_root = os.path.join(args.dataset_root, 'recordings', recording_name, 'Color')
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rgb_frame_list = os.listdir(rgb_img_root)
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rgb_frame_list = sorted(rgb_frame_list)
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img_frame_idx = 0 # 0
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print('[INFO] saving images...')
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for bs in tqdm(range(0, n_seq, 1)):
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for t in range(0, clip_len_rec, 1):
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if args.dataset == 'egobody':
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img_path = os.path.join(rgb_img_root, frame_name_list[bs, t] + '.jpg')
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elif args.dataset == 'prox':
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img_path = os.path.join(rgb_img_root, rgb_frame_list[img_frame_idx])
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cur_img = cv2.imread(img_path)
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cur_img = cur_img[:, :, ::-1]
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if args.dataset == 'prox':
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cur_img = cv2.undistort(cur_img.copy(), np.asarray(color_cam['camera_mtx']), np.asarray(color_cam['k']))
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cur_img = cv2.flip(cur_img, 1)
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########## read joint visibility mask
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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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########## create pyrender scenes
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scene_rec_body = create_pyrender_scene(camera, camera_pose, light)
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scene_noisy_body = create_pyrender_scene(camera, camera_pose, light)
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scene_rec_skel = create_pyrender_scene(camera, camera_pose, light)
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scene_noisy_skel = create_pyrender_scene(camera, camera_pose, light)
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################### add body mesh
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body_mesh_rec = create_pyrender_mesh(verts=smpl_verts_rec_list[bs, t], faces=smplx_neutral.faces, trans=cam2world, material=material_body_rec_vis)
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body_mesh_input = create_pyrender_mesh(verts=smpl_verts_input_list[bs, t], faces=smplx_neutral.faces, trans=cam2world, material=material_body_noisy)
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scene_rec_body.add(body_mesh_rec, 'mesh')
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scene_noisy_body.add(body_mesh_input, 'mesh')
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################## add body skeleton
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skeleton_mesh_rec_list = create_pyrender_skel(joints=rec_ric_data_rec_list_from_smpl[bs, t], add_trans=np.linalg.inv(cam2world),
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mask_scheme='video', mask_joint_id=cur_mask_joint_id,
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add_contact=True, contact_lbl=contact_lbl_rec_list[bs, t])
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for mesh in skeleton_mesh_rec_list:
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scene_rec_skel.add(mesh, 'pred_joint')
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################## render images
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r = pyrender.OffscreenRenderer(viewport_width=W, viewport_height=H, point_size=1.0)
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####### render: pred body
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img_rec_body = render_img(r, scene_rec_body, alpha=0.9)
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img_rec_skel = render_img(r, scene_rec_skel, alpha=1.0)
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render_img_input = render_img_overlay(r, scene_noisy_body, cur_img)
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render_img_rec = pil_img.fromarray((cur_img).astype(np.uint8))
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render_img_rec.paste(img_rec_body, (0, 0), img_rec_body)
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render_img_rec.paste(img_rec_skel, (0, 0), img_rec_skel)
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if args.dataset == 'egobody':
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render_img_input.save(os.path.join(img_save_path_mesh_noisy, frame_name_list[bs, t] + '.jpg'))
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render_img_rec.save(os.path.join(img_save_path_mesh_skel_rec, frame_name_list[bs, t] + '.jpg'))
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elif args.dataset == 'prox':
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render_img_input.save(os.path.join(img_save_path_mesh_noisy, rgb_frame_list[img_frame_idx]))
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render_img_rec.save(os.path.join(img_save_path_mesh_skel_rec, rgb_frame_list[img_frame_idx]))
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img_frame_idx += 1
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########################################### final metrics ###############################################
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for recording_name in test_recording_name_list:
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skating_list[recording_name] = np.concatenate(skating_list[recording_name], axis=0)
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acc_list[recording_name] = np.concatenate(acc_list[recording_name], axis=0)
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if args.dataset == 'egobody':
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acc_error_list[recording_name] = np.concatenate(acc_error_list[recording_name], axis=0)
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joint_mask_list[recording_name] = np.concatenate(joint_mask_list[recording_name], axis=0)
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gmpjpe_list[recording_name] = np.concatenate(gmpjpe_list[recording_name], axis=0)
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mpjpe_list[recording_name] = np.concatenate(mpjpe_list[recording_name], axis=0)
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mpjpe_list_vis[recording_name] = np.concatenate(mpjpe_list_vis[recording_name], axis=0)
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mpjpe_list_occ[recording_name] = np.concatenate(mpjpe_list_occ[recording_name], axis=0)
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ground_pene_freq_list[recording_name] = np.concatenate(ground_pene_freq_list[recording_name], axis=0)
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