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4beddc5e6d
Author | SHA1 | Date |
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Derek | 4beddc5e6d | |
Derek | 92044fa866 |
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@ -1,4 +1,5 @@
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import cv2
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import matplotlib.pyplot as plt
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from . import OutputProcess
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from ovtk_track import types
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@ -14,7 +15,10 @@ class Process(OutputProcess):
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super().__init__(*args)
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def setup(self):
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pass
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self.fig = plt.figure()
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self.axes = self.fig.add_subplot(projection='3d')
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self.axes.view_init(15, 0, vertical_axis='y')
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plt.show(block=False)
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def send(self):
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landmarks = self._inputs['landmarks'].get_nowait()
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@ -31,8 +35,15 @@ class Process(OutputProcess):
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landmarks.draw(image, frame, label=False, color=(130, 130, 130))
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if skeleton is not None:
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skeleton.draw(image, frame)
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skeleton.draw(self.axes)
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cv2.imshow("face", frame)
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plt.draw()
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# event loops
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plt.pause(0.0001)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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raise KeyboardInterrupt('User requested stop')
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for artist in plt.gca().lines + plt.gca().collections:
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artist.remove()
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@ -74,6 +74,17 @@ class Process(TransformProcess):
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joints[JOINT_TYPES.HEAD] = head_joint
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# Synthizise other joints from existing data
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if not joints.get(JOINT_TYPES.CHEST) and joints.get(JOINT_TYPES.HEAD):
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chest_center = joints[JOINT_TYPES.HEAD].pos.as_np()
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chest_center = np.power(chest_center, 3) / (1e3 + np.power(chest_center, 2))
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chest_center -= [0, 100, 0]
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chest_rot = Quaternion.identity().slerp(joints[JOINT_TYPES.HEAD].rot, 0.1)
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chest_joint = Joint(Point3d(*chest_center), chest_rot)
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joints[JOINT_TYPES.CHEST] = chest_joint
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skeleton = Skeleton(joints)
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self._outputs['skel'].send(skeleton)
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@ -1,7 +1,7 @@
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from dataclasses import dataclass
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import numpy as np
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from scipy.spatial.transform import Rotation
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from scipy.spatial.transform import Rotation, Slerp
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from .Type import Type
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@ -12,6 +12,10 @@ class Quaternion(Type):
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y: float
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z: float
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@classmethod
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def identity(cls):
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return cls(1, 0, 0, 0)
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def __mul__(self, q):
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if isinstance(q, self.__class__):
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product = self.as_np() * q.as_np()
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@ -45,6 +49,16 @@ class Quaternion(Type):
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def conjugate(self):
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return self.__class__(self.w, -self.x, -self.y, -self.z)
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def slerp(self, other, t):
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r = Rotation.from_quat([
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[self.x, self.y, self.z, self.w],
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[other.x, other.y, other.z, other.w],
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])
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slerp = Slerp([0, 1], r)
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x, y, z, w = slerp([t]).as_quat()[0]
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return self.__class__(w, x, y, z)
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def draw(self, canvas, origin):
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raise NotImplementedError()
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@ -2,8 +2,6 @@ from dataclasses import dataclass, field
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from enum import Enum
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import typing
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import cv2
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from .Type import Type
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from .Point3d import Point3d
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from .Quaternion import Quaternion
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@ -12,20 +10,26 @@ from .Quaternion import Quaternion
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class JOINT_TYPES(Enum):
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HEAD = 'head'
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CHEST = 'chest'
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HIPS = 'hips'
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SHOULDER_L = 'shoulder_l'
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ELBOW_L = 'elbow_l'
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WRIST_L = 'wrist_l'
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HIP_L = 'hip_l'
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KNEE_L = 'knee_l'
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FOOT_L = 'foot_l'
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WRIST_L = 'wrist_l'
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SHOULDER_R = 'shoulder_r'
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ELBOW_R = 'elbow_r'
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WRIST_R = 'wrist_r'
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HIP_R = 'hip_r'
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KNEE_R = 'knee_r'
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FOOT_R = 'foot_r'
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WRIST_R = 'wrist_r'
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default_colors = [
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[255, 0, 0], [0, 255, 0], [0, 0, 255],
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[255, 255, 0], [255, 0, 255], [0, 255, 255],
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[128, 255, 0], [255, 0, 128], [0, 255, 128],
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]
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@dataclass
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@ -48,14 +52,10 @@ class Skeleton(Type):
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# TODO: More intelegent merge
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return Skeleton(self.joints + other.joints)
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def draw(self, image, canvas, color=(255, 255, 255)):
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for i, joint in enumerate(self.joints.values()):
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x, y, z = joint.pos.project_to_image(image)
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if x > image.width or x < 0 or y > image.height or y < 0:
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continue
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cv2.circle(canvas, (x, y), 1, color, -1, cv2.LINE_AA)
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def draw(self, axes, colors=default_colors):
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xs, ys, zs = zip(*(joint.pos.as_np() for joint in self.joints.values()))
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color = [[v / 255 for v in color] for color in colors[:len(xs)]]
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axes.scatter(xs, ys, zs, c=color)
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def serialize(self):
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return {type.value: joint for type, joint in self.joints.items()}
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