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stream_hacks to main #2

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skeh merged 8 commits from stream_hacks into main 2024-12-11 03:22:13 +00:00
Conversation 0 Commits 8 Files Changed 8 +32 -8
2 changed files with 32 additions and 8 deletions
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6
ovtk_track/transform/solve/mediapipe/__init__.py
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@ -44,6 +44,12 @@ body_map = {
LANDMARK_TYPES.KNEE | LANDMARK_TYPES.LEFT: [25],
LANDMARK_TYPES.KNEE | LANDMARK_TYPES.RIGHT: [26],
LANDMARK_TYPES.ANKLE | LANDMARK_TYPES.LEFT: [27],
LANDMARK_TYPES.ANKLE | LANDMARK_TYPES.RIGHT: [28],
LANDMARK_TYPES.ANKLE | LANDMARK_TYPES.LEFT: [27],
LANDMARK_TYPES.ANKLE | LANDMARK_TYPES.RIGHT: [28],
}
# SEE YEAH THESE MAKE SENSE GOOGLE WHAT THE HELL

26
ovtk_track/transform/solve/skel_from_3d_landmarks.py
View File

@ -130,16 +130,34 @@ class Process(TransformProcess):
joints[JOINT_TYPES.HEAD] = head_joint
if landmarks.has(LANDMARK_TYPES.SHOULDER):
shoulder_l = Landmarks.to_numpy(landmarks[LANDMARK_TYPES.SHOULDER | LANDMARK_TYPES.LEFT]).mean(axis=0)
shoulder_r = Landmarks.to_numpy(landmarks[LANDMARK_TYPES.SHOULDER | LANDMARK_TYPES.RIGHT]).mean(axis=0)
joints[JOINT_TYPES.SHOULDER_L] = Joint(Point3d(*shoulder_l), Quaternion.identity())
joints[JOINT_TYPES.SHOULDER_R] = Joint(Point3d(*shoulder_r), Quaternion.identity())
if landmarks.has(LANDMARK_TYPES.ELBOW):
elbow_l = Landmarks.to_numpy(landmarks[LANDMARK_TYPES.ELBOW | LANDMARK_TYPES.LEFT]).mean(axis=0)
elbow_r = Landmarks.to_numpy(landmarks[LANDMARK_TYPES.ELBOW | LANDMARK_TYPES.RIGHT]).mean(axis=0)
joints[JOINT_TYPES.ELBOW_L] = Joint(Point3d(*elbow_l), Quaternion.identity())
joints[JOINT_TYPES.ELBOW_R] = Joint(Point3d(*elbow_r), Quaternion.identity())
if landmarks.has(LANDMARK_TYPES.HIP):
hips = Landmarks.to_numpy(landmarks[LANDMARK_TYPES.HIP]).mean(axis=0)
joints[JOINT_TYPES.HIPS] = Joint(Point3d(*hips), Quaternion.identity())
# Synthizise other joints from existing data
if not joints.get(JOINT_TYPES.CHEST) and joints.get(JOINT_TYPES.HEAD):
if not joints.get(JOINT_TYPES.CHEST):
if landmarks.has(LANDMARK_TYPES.SHOULDER) and landmarks.has(LANDMARK_TYPES.HIP):
chest = Landmarks.to_numpy(landmarks[LANDMARK_TYPES.SHOULDER, LANDMARK_TYPES.HIP]).mean(axis=0)
joints[JOINT_TYPES.CHEST] = Joint(Point3d(*chest), Quaternion.identity())
elif joints.get(JOINT_TYPES.HEAD):
chest_center = joints[JOINT_TYPES.HEAD].pos.as_np()
chest_center = np.power(chest_center, 3) / (1e3 + np.power(chest_center, 2))
chest_center -= [0, 100, 0]
chest_rot = Quaternion.identity().slerp(joints[JOINT_TYPES.HEAD].rot, 0.1)
chest_joint = Joint(Point3d(*chest_center), chest_rot)
joints[JOINT_TYPES.CHEST] = chest_joint
joints[JOINT_TYPES.CHEST] = Joint(Point3d(*chest_center), chest_rot)
skeleton = Skeleton(joints)