Copied whole body and skelda scripts.
This commit is contained in:
Daniel
417
scripts/test_skelda_dataset.py
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417
scripts/test_skelda_dataset.py
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import json
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import os
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import time
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import cv2
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import matplotlib
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import numpy as np
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import tqdm
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import test_triangulate
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import triangulate_poses
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import utils_2d_pose
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from skelda import evals, utils_pose
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# ==================================================================================================
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# dataset_use = "panoptic"
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dataset_use = "human36m"
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# dataset_use = "mvor"
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# dataset_use = "shelf"
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# dataset_use = "campus"
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# dataset_use = "ikeaasm"
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# dataset_use = "tsinghua"
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# dataset_use = "human36m_wb"
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datasets = {
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"panoptic": {
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"path": "/datasets/panoptic/skelda/test.json",
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"cams": ["00_03", "00_06", "00_12", "00_13", "00_23"],
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"take_interval": 3,
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"use_scenes": ["160906_pizza1", "160422_haggling1", "160906_ian5"],
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},
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"human36m": {
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"path": "/datasets/human36m/skelda/pose_test.json",
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"take_interval": 5,
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},
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"mvor": {
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"path": "/datasets/mvor/skelda/all.json",
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"take_interval": 1,
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"with_depth": False,
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},
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"ikeaasm": {
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"path": "/datasets/ikeaasm/skelda/test.json",
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"take_interval": 2,
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},
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"campus": {
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"path": "/datasets/campus/skelda/test.json",
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"take_interval": 1,
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},
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"shelf": {
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"path": "/datasets/shelf/skelda/test.json",
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"take_interval": 1,
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},
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"tsinghua": {
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"path": "/datasets/tsinghua/skelda/test.json",
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"take_interval": 3,
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},
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"human36m_wb": {
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"path": "/datasets/human36m/skelda/wb/test.json",
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"take_interval": 100,
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},
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}
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joint_names_2d = test_triangulate.joint_names_2d
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joint_names_3d = list(joint_names_2d)
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eval_joints = [
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"head",
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"shoulder_left",
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"shoulder_right",
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"elbow_left",
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"elbow_right",
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"wrist_left",
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"wrist_right",
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"hip_left",
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"hip_right",
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"knee_left",
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"knee_right",
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"ankle_left",
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"ankle_right",
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]
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if dataset_use in ["human36m", "panoptic"]:
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eval_joints[eval_joints.index("head")] = "nose"
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if dataset_use.endswith("_wb"):
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# eval_joints[eval_joints.index("head")] = "nose"
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eval_joints = list(joint_names_2d)
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# output_dir = "/SimplePoseTriangulation/data/testoutput/"
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output_dir = ""
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# ==================================================================================================
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def load_json(path: str):
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with open(path, "r", encoding="utf-8") as file:
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data = json.load(file)
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return data
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# ==================================================================================================
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def load_labels(dataset: dict):
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"""Load labels by dataset description"""
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if "panoptic" in dataset:
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labels = load_json(dataset["panoptic"]["path"])
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labels = [lb for i, lb in enumerate(labels) if i % 1500 < 90]
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# Filter by maximum number of persons
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labels = [l for l in labels if len(l["bodies3D"]) <= 10]
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# Filter scenes
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if "use_scenes" in dataset["panoptic"]:
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labels = [
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l for l in labels if l["scene"] in dataset["panoptic"]["use_scenes"]
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]
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# Filter cameras
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if not "cameras_depth" in labels[0]:
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for label in labels:
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for i, cam in reversed(list(enumerate(label["cameras"]))):
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if cam["name"] not in dataset["panoptic"]["cams"]:
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label["cameras"].pop(i)
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label["imgpaths"].pop(i)
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elif "human36m" in dataset:
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labels = load_json(dataset["human36m"]["path"])
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labels = [lb for lb in labels if lb["subject"] == "S9"]
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labels = [lb for i, lb in enumerate(labels) if i % 4000 < 150]
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for label in labels:
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label.pop("action")
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label.pop("frame")
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elif "mvor" in dataset:
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labels = load_json(dataset["mvor"]["path"])
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# Rename keys
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for label in labels:
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label["cameras_color"] = label["cameras"]
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label["imgpaths_color"] = label["imgpaths"]
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elif "ikeaasm" in dataset:
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labels = load_json(dataset["ikeaasm"]["path"])
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labels = [lb for i, lb in enumerate(labels) if i % 300 < 72]
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elif "shelf" in dataset:
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labels = load_json(dataset["shelf"]["path"])
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labels = [lb for lb in labels if "test" in lb["splits"]]
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elif "campus" in dataset:
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labels = load_json(dataset["campus"]["path"])
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labels = [lb for lb in labels if "test" in lb["splits"]]
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elif "tsinghua" in dataset:
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labels = load_json(dataset["tsinghua"]["path"])
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labels = [lb for lb in labels if "test" in lb["splits"]]
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labels = [lb for i, lb in enumerate(labels) if i % 800 < 90]
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for label in labels:
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label["bodyids"] = list(range(len(label["bodies3D"])))
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elif "human36m_wb" in dataset:
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labels = load_json(dataset["human36m_wb"]["path"])
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else:
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raise ValueError("Dataset not available")
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# Optionally drop samples to speed up train/eval
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if "take_interval" in dataset:
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take_interval = dataset["take_interval"]
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if take_interval > 1:
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labels = [l for i, l in enumerate(labels) if i % take_interval == 0]
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# Filter joints
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fj_func = lambda x: utils_pose.filter_joints_3d(x, eval_joints)
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labels = list(map(fj_func, labels))
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return labels
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# ==================================================================================================
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def add_extra_joints(poses3D, poses2D, joint_names_3d):
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# Update "head" joint as average of "ear" joints
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idx_h = joint_names_3d.index("head")
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idx_el = joint_names_3d.index("ear_left")
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idx_er = joint_names_3d.index("ear_right")
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for i in range(len(poses3D)):
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if poses3D[i, idx_h, 3] == 0:
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ear_left = poses3D[i, idx_el]
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ear_right = poses3D[i, idx_er]
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if ear_left[3] > 0.1 and ear_right[3] > 0.1:
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head = (ear_left + ear_right) / 2
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head[3] = min(ear_left[3], ear_right[3])
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poses3D[i, idx_h] = head
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for j in range(len(poses2D)):
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ear_left = poses2D[j][i, idx_el]
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ear_right = poses2D[j][i, idx_er]
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if ear_left[2] > 0.1 and ear_right[2] > 0.1:
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head = (ear_left + ear_right) / 2
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head[2] = min(ear_left[2], ear_right[2])
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poses2D[j][i, idx_h] = head
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return poses3D, poses2D
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# ==================================================================================================
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def add_missing_joints(poses3D, joint_names_3d):
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"""Replace missing joints with their nearest adjacent joints"""
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adjacents = {
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"hip_right": ["hip_middle", "hip_left"],
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"hip_left": ["hip_middle", "hip_right"],
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"knee_right": ["hip_right", "knee_left"],
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"knee_left": ["hip_left", "knee_right"],
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"ankle_right": ["knee_right", "ankle_left"],
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"ankle_left": ["knee_left", "ankle_right"],
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"shoulder_right": ["shoulder_middle", "shoulder_left"],
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"shoulder_left": ["shoulder_middle", "shoulder_right"],
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"elbow_right": ["shoulder_right", "hip_right"],
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"elbow_left": ["shoulder_left", "hip_left"],
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"wrist_right": ["elbow_right"],
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"wrist_left": ["elbow_left"],
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"nose": ["shoulder_middle", "shoulder_right", "shoulder_left"],
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"head": ["shoulder_middle", "shoulder_right", "shoulder_left"],
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"foot_*_left_*": ["ankle_left"],
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"foot_*_right_*": ["ankle_right"],
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"face_*": ["nose"],
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"hand_*_left_*": ["wrist_left"],
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"hand_*_right_*": ["wrist_right"],
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}
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for i in range(len(poses3D)):
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valid_joints = np.where(poses3D[i, :, 3] > 0.1)[0]
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body_center = np.mean(poses3D[i, valid_joints, :3], axis=0)
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for j in range(len(joint_names_3d)):
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adname = ""
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if joint_names_3d[j][0:5] == "foot_" and "_left" in joint_names_3d[j]:
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adname = "foot_*_left_*"
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elif joint_names_3d[j][0:5] == "foot_" and "_right" in joint_names_3d[j]:
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adname = "foot_*_right_*"
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elif joint_names_3d[j][0:5] == "face_":
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adname = "face_*"
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elif joint_names_3d[j][0:5] == "hand_" and "_left" in joint_names_3d[j]:
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adname = "hand_*_left_*"
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elif joint_names_3d[j][0:5] == "hand_" and "_right" in joint_names_3d[j]:
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adname = "hand_*_right_*"
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elif joint_names_3d[j] in adjacents:
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adname = joint_names_3d[j]
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if adname == "":
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continue
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if poses3D[i, j, 3] == 0:
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if joint_names_3d[j] in adjacents or joint_names_3d[j][0:5] in [
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"foot_",
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"face_",
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"hand_",
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]:
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adjacent_joints = [
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poses3D[i, joint_names_3d.index(a), :]
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for a in adjacents[adname]
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]
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adjacent_joints = [a[0:3] for a in adjacent_joints if a[3] > 0.1]
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if len(adjacent_joints) > 0:
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poses3D[i, j, :3] = np.mean(adjacent_joints, axis=0)
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else:
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poses3D[i, j, :3] = body_center
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else:
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poses3D[i, j, :3] = body_center
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poses3D[i, j, 3] = 0.1
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return poses3D
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# ==================================================================================================
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def main():
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global joint_names_3d, eval_joints
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whole_body = test_triangulate.whole_body
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if any((whole_body[k] for k in whole_body)):
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kpt_model = utils_2d_pose.load_wb_model()
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else:
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kpt_model = utils_2d_pose.load_model()
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# Manually set matplotlib backend
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try:
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matplotlib.use("TkAgg")
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except ImportError:
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print("WARNING: Using headless mode, no visualizations will be shown.")
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print("Loading dataset ...")
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labels = load_labels(
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{
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dataset_use: datasets[dataset_use],
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"take_interval": datasets[dataset_use]["take_interval"],
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}
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)
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# Print a dataset sample for debugging
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print(labels[0])
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print("\nRunning predictions ...")
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all_poses = []
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all_ids = []
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all_paths = []
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times = []
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for label in tqdm.tqdm(labels):
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images_2d = []
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try:
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start = time.time()
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for i in range(len(label["imgpaths"])):
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imgpath = label["imgpaths"][i]
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img = test_triangulate.load_image(imgpath)
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images_2d.append(img)
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print("IMG time:", time.time() - start)
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except cv2.error:
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print("One of the paths not found:", label["imgpaths"])
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continue
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if dataset_use == "human36m":
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for i in range(len(images_2d)):
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# Since the images don't have the same shape, rescale some of them
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img = images_2d[i]
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ishape = img.shape
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if ishape != (1000, 1000, 3):
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cam = label["cameras"][i]
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cam["K"][1][1] = cam["K"][1][1] * (1000 / ishape[0])
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cam["K"][1][2] = cam["K"][1][2] * (1000 / ishape[0])
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cam["K"][0][0] = cam["K"][0][0] * (1000 / ishape[1])
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cam["K"][0][2] = cam["K"][0][2] * (1000 / ishape[1])
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images_2d[i] = cv2.resize(img, (1000, 1000))
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roomparams = {
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"room_size": label["room_size"],
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"room_center": label["room_center"],
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}
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start = time.time()
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poses_2d = utils_2d_pose.get_2d_pose(kpt_model, images_2d)
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poses_2d = test_triangulate.update_keypoints(poses_2d, joint_names_2d)
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time_2d = time.time() - start
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print("2D time:", time_2d)
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start = time.time()
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if sum(np.sum(p) for p in poses_2d) == 0:
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poses3D = np.zeros([1, len(joint_names_3d), 4])
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poses2D = np.zeros([len(images_2d), 1, len(joint_names_3d), 3])
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else:
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poses3D = triangulate_poses.get_3d_pose(poses_2d, label["cameras"], joint_names_2d)
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poses2D = []
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for cam in label["cameras"]:
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poses_2d, _ = utils_pose.project_poses(poses3D, cam)
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poses2D.append(poses_2d)
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poses3D, poses2D = add_extra_joints(poses3D, poses2D, joint_names_3d)
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poses3D, poses2D = test_triangulate.filter_poses(
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poses3D,
|
||||||
|
poses2D,
|
||||||
|
roomparams,
|
||||||
|
joint_names_3d,
|
||||||
|
drop_few_limbs=(dataset_use != "mvor"),
|
||||||
|
)
|
||||||
|
poses3D = add_missing_joints(poses3D, joint_names_3d)
|
||||||
|
|
||||||
|
time_3d = time.time() - start
|
||||||
|
print("3D time:", time_3d)
|
||||||
|
|
||||||
|
all_poses.append(poses3D)
|
||||||
|
all_ids.append(label["id"])
|
||||||
|
all_paths.append(label["imgpaths"])
|
||||||
|
times.append((time_2d, time_3d))
|
||||||
|
|
||||||
|
warmup_iters = 10
|
||||||
|
if len(times) > warmup_iters:
|
||||||
|
times = times[warmup_iters:]
|
||||||
|
avg_time_2d = np.mean([t[0] for t in times])
|
||||||
|
avg_time_3d = np.mean([t[1] for t in times])
|
||||||
|
tstats = {
|
||||||
|
"avg_time_2d": avg_time_2d,
|
||||||
|
"avg_time_3d": avg_time_3d,
|
||||||
|
"avg_fps": 1.0 / (avg_time_2d + avg_time_3d),
|
||||||
|
}
|
||||||
|
print("\nMetrics:")
|
||||||
|
print(json.dumps(tstats, indent=2))
|
||||||
|
|
||||||
|
_ = evals.mpjpe.run_eval(
|
||||||
|
labels,
|
||||||
|
all_poses,
|
||||||
|
all_ids,
|
||||||
|
joint_names_net=joint_names_3d,
|
||||||
|
joint_names_use=eval_joints,
|
||||||
|
save_error_imgs=output_dir,
|
||||||
|
)
|
||||||
|
_ = evals.pcp.run_eval(
|
||||||
|
labels,
|
||||||
|
all_poses,
|
||||||
|
all_ids,
|
||||||
|
joint_names_net=joint_names_3d,
|
||||||
|
joint_names_use=eval_joints,
|
||||||
|
replace_head_with_nose=True,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
# ==================================================================================================
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
@ -16,6 +16,11 @@ from skelda import utils_pose
|
|||||||
|
|
||||||
filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
|
filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
|
||||||
test_img_dir = filepath + "../data/"
|
test_img_dir = filepath + "../data/"
|
||||||
|
whole_body = {
|
||||||
|
"foots": False,
|
||||||
|
"face": False,
|
||||||
|
"hands": False,
|
||||||
|
}
|
||||||
|
|
||||||
joint_names_2d = [
|
joint_names_2d = [
|
||||||
"nose",
|
"nose",
|
||||||
@ -36,6 +41,137 @@ joint_names_2d = [
|
|||||||
"ankle_left",
|
"ankle_left",
|
||||||
"ankle_right",
|
"ankle_right",
|
||||||
]
|
]
|
||||||
|
if whole_body["foots"]:
|
||||||
|
joint_names_2d.extend(
|
||||||
|
[
|
||||||
|
"foot_toe_big_left",
|
||||||
|
"foot_toe_small_left",
|
||||||
|
"foot_heel_left",
|
||||||
|
"foot_toe_big_right",
|
||||||
|
"foot_toe_small_right",
|
||||||
|
"foot_heel_right",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
if whole_body["face"]:
|
||||||
|
joint_names_2d.extend(
|
||||||
|
[
|
||||||
|
"face_jaw_right_1",
|
||||||
|
"face_jaw_right_2",
|
||||||
|
"face_jaw_right_3",
|
||||||
|
"face_jaw_right_4",
|
||||||
|
"face_jaw_right_5",
|
||||||
|
"face_jaw_right_6",
|
||||||
|
"face_jaw_right_7",
|
||||||
|
"face_jaw_right_8",
|
||||||
|
"face_jaw_middle",
|
||||||
|
"face_jaw_left_1",
|
||||||
|
"face_jaw_left_2",
|
||||||
|
"face_jaw_left_3",
|
||||||
|
"face_jaw_left_4",
|
||||||
|
"face_jaw_left_5",
|
||||||
|
"face_jaw_left_6",
|
||||||
|
"face_jaw_left_7",
|
||||||
|
"face_jaw_left_8",
|
||||||
|
"face_eyebrow_right_1",
|
||||||
|
"face_eyebrow_right_2",
|
||||||
|
"face_eyebrow_right_3",
|
||||||
|
"face_eyebrow_right_4",
|
||||||
|
"face_eyebrow_right_5",
|
||||||
|
"face_eyebrow_left_1",
|
||||||
|
"face_eyebrow_left_2",
|
||||||
|
"face_eyebrow_left_3",
|
||||||
|
"face_eyebrow_left_4",
|
||||||
|
"face_eyebrow_left_5",
|
||||||
|
"face_nose_1",
|
||||||
|
"face_nose_2",
|
||||||
|
"face_nose_3",
|
||||||
|
"face_nose_4",
|
||||||
|
"face_nose_5",
|
||||||
|
"face_nose_6",
|
||||||
|
"face_nose_7",
|
||||||
|
"face_nose_8",
|
||||||
|
"face_nose_9",
|
||||||
|
"face_eye_right_1",
|
||||||
|
"face_eye_right_2",
|
||||||
|
"face_eye_right_3",
|
||||||
|
"face_eye_right_4",
|
||||||
|
"face_eye_right_5",
|
||||||
|
"face_eye_right_6",
|
||||||
|
"face_eye_left_1",
|
||||||
|
"face_eye_left_2",
|
||||||
|
"face_eye_left_3",
|
||||||
|
"face_eye_left_4",
|
||||||
|
"face_eye_left_5",
|
||||||
|
"face_eye_left_6",
|
||||||
|
"face_mouth_1",
|
||||||
|
"face_mouth_2",
|
||||||
|
"face_mouth_3",
|
||||||
|
"face_mouth_4",
|
||||||
|
"face_mouth_5",
|
||||||
|
"face_mouth_6",
|
||||||
|
"face_mouth_7",
|
||||||
|
"face_mouth_8",
|
||||||
|
"face_mouth_9",
|
||||||
|
"face_mouth_10",
|
||||||
|
"face_mouth_11",
|
||||||
|
"face_mouth_12",
|
||||||
|
"face_mouth_13",
|
||||||
|
"face_mouth_14",
|
||||||
|
"face_mouth_15",
|
||||||
|
"face_mouth_16",
|
||||||
|
"face_mouth_17",
|
||||||
|
"face_mouth_18",
|
||||||
|
"face_mouth_19",
|
||||||
|
"face_mouth_20",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
if whole_body["hands"]:
|
||||||
|
joint_names_2d.extend(
|
||||||
|
[
|
||||||
|
"hand_wrist_left",
|
||||||
|
"hand_finger_thumb_left_1",
|
||||||
|
"hand_finger_thumb_left_2",
|
||||||
|
"hand_finger_thumb_left_3",
|
||||||
|
"hand_finger_thumb_left_4",
|
||||||
|
"hand_finger_index_left_1",
|
||||||
|
"hand_finger_index_left_2",
|
||||||
|
"hand_finger_index_left_3",
|
||||||
|
"hand_finger_index_left_4",
|
||||||
|
"hand_finger_middle_left_1",
|
||||||
|
"hand_finger_middle_left_2",
|
||||||
|
"hand_finger_middle_left_3",
|
||||||
|
"hand_finger_middle_left_4",
|
||||||
|
"hand_finger_ring_left_1",
|
||||||
|
"hand_finger_ring_left_2",
|
||||||
|
"hand_finger_ring_left_3",
|
||||||
|
"hand_finger_ring_left_4",
|
||||||
|
"hand_finger_pinky_left_1",
|
||||||
|
"hand_finger_pinky_left_2",
|
||||||
|
"hand_finger_pinky_left_3",
|
||||||
|
"hand_finger_pinky_left_4",
|
||||||
|
"hand_wrist_right",
|
||||||
|
"hand_finger_thumb_right_1",
|
||||||
|
"hand_finger_thumb_right_2",
|
||||||
|
"hand_finger_thumb_right_3",
|
||||||
|
"hand_finger_thumb_right_4",
|
||||||
|
"hand_finger_index_right_1",
|
||||||
|
"hand_finger_index_right_2",
|
||||||
|
"hand_finger_index_right_3",
|
||||||
|
"hand_finger_index_right_4",
|
||||||
|
"hand_finger_middle_right_1",
|
||||||
|
"hand_finger_middle_right_2",
|
||||||
|
"hand_finger_middle_right_3",
|
||||||
|
"hand_finger_middle_right_4",
|
||||||
|
"hand_finger_ring_right_1",
|
||||||
|
"hand_finger_ring_right_2",
|
||||||
|
"hand_finger_ring_right_3",
|
||||||
|
"hand_finger_ring_right_4",
|
||||||
|
"hand_finger_pinky_right_1",
|
||||||
|
"hand_finger_pinky_right_2",
|
||||||
|
"hand_finger_pinky_right_3",
|
||||||
|
"hand_finger_pinky_right_4",
|
||||||
|
]
|
||||||
|
)
|
||||||
joint_names_2d.extend(
|
joint_names_2d.extend(
|
||||||
[
|
[
|
||||||
"hip_middle",
|
"hip_middle",
|
||||||
@ -249,6 +385,9 @@ def update_keypoints(poses_2d: list, joint_names: List[str]) -> list:
|
|||||||
|
|
||||||
|
|
||||||
def main():
|
def main():
|
||||||
|
if any((whole_body[k] for k in whole_body)):
|
||||||
|
kpt_model = utils_2d_pose.load_wb_model()
|
||||||
|
else:
|
||||||
kpt_model = utils_2d_pose.load_model()
|
kpt_model = utils_2d_pose.load_model()
|
||||||
|
|
||||||
# Manually set matplotlib backend
|
# Manually set matplotlib backend
|
||||||
|
|||||||
Reference in New Issue
Block a user