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