forked from HQU-gxy/camera-extrinsic-play
434 lines
14 KiB
TypeScript
434 lines
14 KiB
TypeScript
import { Grid, useBVH, useGLTF, CameraControls, AccumulativeShadows, OrbitControls, Stats } from '@react-three/drei'
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import { Camera, Canvas, useFrame, useThree, useLoader } from '@react-three/fiber'
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import * as THREE from 'three'
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import { FontLoader } from 'three/addons/loaders/FontLoader.js'
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import { TextGeometry } from 'three/addons/geometries/TextGeometry.js'
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import HelvetikerRegular from "three/examples/fonts/helvetiker_regular.typeface.json"
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import { useEffect, useRef, useState, JSX } from 'react'
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import POSE_3D_ from "./assets/result_ae_01_ae_08.json"
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// F, 133, 3
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const POSE_3D: Array<Array<[number, number, number]>> = POSE_3D_ as [number, number, number][][]
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const THREE_ADDONS = {
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FontLoader,
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TextGeometry,
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} as const
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// Create OpenCV to OpenGL conversion matrix
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// OpenCV: X right, Y down, Z forward
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// OpenGL: X right, Y up, Z backward
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const CV_TO_GL_MAT = new THREE.Matrix4().set(
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1, 0, 0, 0,
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0, -1, 0, 0,
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0, 0, -1, 0,
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0, 0, 0, 1
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)
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// Z-up to Y-up conversion matrix
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// Rotate -90 degrees around X axis to convert from Z-up to Y-up
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const Z_UP_TO_Y_UP = new THREE.Matrix4().set(
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-1, 0, 0, 0,
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0, 0, -1, 0,
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0, -1, 0, 0,
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0, 0, 0, 1
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)
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const Z_UP_TO_Y_UP_PRIME = new THREE.Matrix4().set(
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-1, 0, 0, 0,
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0, 0, 1, 0,
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0, -1, 0, 0,
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0, 0, 0, 1
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)
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// Color definitions for different body parts
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const COLOR_SPINE = new THREE.Color(138 / 255, 201 / 255, 38 / 255) // green, spine & head
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const COLOR_ARMS = new THREE.Color(255 / 255, 202 / 255, 58 / 255) // yellow, arms & shoulders
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const COLOR_LEGS = new THREE.Color(25 / 255, 130 / 255, 196 / 255) // blue, legs & hips
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const COLOR_FINGERS = new THREE.Color(255 / 255, 0, 0) // red, fingers
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const COLOR_FACE = new THREE.Color(255 / 255, 200 / 255, 0) // yellow, face
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const COLOR_FOOT = new THREE.Color(255 / 255, 128 / 255, 0) // orange, foot
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const COLOR_HEAD = new THREE.Color(255 / 255, 0, 255 / 255) // purple, head
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// Body bone connections
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const BODY_BONES = [
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// legs
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[15, 13], [13, 11], [16, 14], [14, 12], [11, 12], // legs
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[5, 11], [6, 12], [5, 6], // torso
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[5, 7], [7, 9], [6, 8], [8, 10], // arms
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[1, 2], [0, 1], [0, 2], [1, 3], [2, 4], // head
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[15, 17], [15, 18], [15, 19], // left foot
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[16, 20], [16, 21], [16, 22], // right foot
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]
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// Body bone colors
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const BODY_BONE_COLORS = [
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COLOR_LEGS, COLOR_LEGS, COLOR_LEGS, COLOR_LEGS, COLOR_LEGS,
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COLOR_SPINE, COLOR_SPINE, COLOR_SPINE,
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COLOR_ARMS, COLOR_ARMS, COLOR_ARMS, COLOR_ARMS,
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COLOR_HEAD, COLOR_HEAD, COLOR_HEAD, COLOR_HEAD, COLOR_HEAD,
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COLOR_FOOT, COLOR_FOOT, COLOR_FOOT,
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COLOR_FOOT, COLOR_FOOT, COLOR_FOOT,
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]
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// Hand bone connections (in pairs of [start, end] indices)
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const HAND_BONES = [
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// right hand
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[91, 92], [92, 93], [93, 94], [94, 95], // right thumb
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[91, 96], [96, 97], [97, 98], [98, 99], // right index
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[91, 100], [100, 101], [101, 102], [102, 103], // right middle
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[91, 104], [104, 105], [105, 106], [106, 107], // right ring
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[91, 108], [108, 109], [109, 110], [110, 111], // right pinky
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// left hand
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[112, 113], [113, 114], [114, 115], [115, 116], // left thumb
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[112, 117], [117, 118], [118, 119], [119, 120], // left index
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[112, 121], [121, 122], [122, 123], [123, 124], // left middle
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[112, 125], [125, 126], [126, 127], [127, 128], // left ring
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[112, 129], [129, 130], [130, 131], [131, 132] // left pinky
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]
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const DEFAULT_TRANSFORMATION_MATRIX = [
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1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, 1, 0,
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0, 0, 0, 1,
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]
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const DEFAULT_NEAR = 0.05
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const DEFAULT_FAR = 1
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const CAMERA_EXTRINSIC_MATRIX_MAP: Record<string, number[]> = {
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"AE_01": [
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0.2321047, -0.97264263, -0.0096808, -0.96323585, 0.06882254,
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0.02634936, -0.99728089, 0.03661007, 0.97025299, 0.23080732,
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0.07305554, 3.34933242, 0., 0., 0.,
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1.
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],
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"AE_1A": [
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0.93194049, -0.35571886, -0.07036343, -0.92123075, 0.01084819,
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0.22131041, -0.97514308, 0.24922173, 0.36244895, 0.908012,
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0.21010704, 4.87284891, 0., 0., 0.,
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1.
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],
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"AE_08": [
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0.66806102, -0.74355508, -0.02864123, -1.10173496, 0.05931037,
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0.09157787, -0.99403007, 0.26760438, 0.74173901, 0.66237402,
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0.10528013, 6.92372493, 0., 0., 0.,
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1.
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]
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} as const
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const CAMERA_INTRINSIC_MATRIX_MAP: Record<string, number[]> = {
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"AE_01": [
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1806.82137617, 0., 1230.53175624, 0.,
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1809.75580378, 766.36204406, 0., 0.,
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1.
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],
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"AE_1A": [
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3467.39715751, 0., 1000.62548655, 0.,
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3473.7168112, 831.64048503, 0., 0.,
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1.
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],
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"AE_08": [
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2785.43931794, 0., 1254.98272372, 0.,
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2788.10437965, 738.82985324, 0., 0.,
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1.
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]
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} as const
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const IMAGE_WIDTH = 2560
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const IMAGE_HEIGHT = 1440
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const intrinsicToFov = (intrinsic: number[], image_size: { width: number, height: number }) => {
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console.assert(intrinsic.length === 9, "intrinsic must be a 3x3 matrix")
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const fx = intrinsic[0]
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const fy = intrinsic[4]
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const cx = intrinsic[2]
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const cy = intrinsic[5]
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// in degrees
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const fov_x = 2 * Math.atan(image_size.width / (2 * fx)) * (180 / Math.PI)
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const fov_y = 2 * Math.atan(image_size.height / (2 * fy)) * (180 / Math.PI)
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return { fov_x, fov_y }
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}
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const Scene = () => {
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function Floor() {
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return (
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<mesh rotation-x={-Math.PI / 2} position-y={-0.5} receiveShadow>
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<planeGeometry args={[15, 15]} />
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<meshStandardMaterial color="#ccc" />
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</mesh>
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)
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}
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const Axes = () => {
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return <axesHelper args={[15]} />
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}
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interface CameraViewFromExtrinsicProps {
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extrinsic: number[] | THREE.Matrix4
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aspect?: number
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name?: string
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near?: number
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far?: number
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fov?: number
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textSize?: number
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}
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// https://threejs.org/docs/#examples/en/loaders/FontLoader
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// https://www.ilyameerovich.com/simple-3d-text-meshes-in-three-js/
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const CameraViewFromExtrinsic = ({ extrinsic, name, near, far, fov, textSize, aspect }: CameraViewFromExtrinsicProps) => {
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let Rt: THREE.Matrix4
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if (extrinsic instanceof THREE.Matrix4) {
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Rt = extrinsic
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} else if (Array.isArray(extrinsic)) {
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console.assert(extrinsic.length === 16, "extrinsic must be a 4x4 matrix")
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Rt = new THREE.Matrix4()
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// @ts-expect-error 16 elements
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Rt.set(...extrinsic)
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} else {
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throw new Error("extrinsic must be a 4x4 matrix or an array of 16 elements")
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}
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const font = new FontLoader().parse(HelvetikerRegular)
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const camera = new THREE.PerspectiveCamera(fov ?? 60, aspect ?? 4 / 3, near ?? DEFAULT_NEAR, far ?? DEFAULT_FAR)
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const helper = <cameraHelper args={[camera]} />
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camera.applyMatrix4(Rt)
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const textRef = useRef<THREE.Mesh>(null)
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const { camera: viewCamera } = useThree()
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useFrame(() => {
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if (textRef.current) {
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textRef.current.lookAt(viewCamera.position)
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}
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})
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let text: JSX.Element | null = null
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if (name) {
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const geo = new THREE_ADDONS.TextGeometry(name ?? "", { font, size: textSize ?? 0.1, depth: 0.001 })
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const position = new THREE.Vector3()
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position.setFromMatrixPosition(Rt)
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text = (
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<mesh ref={textRef} position={position}>
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<primitive object={geo} />
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<meshStandardMaterial color="black" />
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</mesh>
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)
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}
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return (
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<group>
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{text}
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<primitive object={camera} />
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{helper}
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</group>
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)
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}
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const preProcessExtrinsic = (extrinsic: number[] | THREE.Matrix4) => {
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let Rt: THREE.Matrix4
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if (extrinsic instanceof THREE.Matrix4) {
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Rt = extrinsic
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} else if (Array.isArray(extrinsic)) {
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console.assert(extrinsic.length === 16, "extrinsic must be a 4x4 matrix")
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Rt = new THREE.Matrix4()
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// @ts-expect-error 16 elements
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Rt.set(...extrinsic)
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} else {
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throw new Error("extrinsic must be a 4x4 matrix or an array of 16 elements")
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}
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// Then handle OpenCV to OpenGL camera convention
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const cameraCvt = CV_TO_GL_MAT.clone()
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// Convert from Z-up to Y-up first (this affects world coordinates)
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const worldCvt = Z_UP_TO_Y_UP.clone()
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// Final transformation:
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// 1. Convert world from Z-up to Y-up
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// 2. Apply the camera transform
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// 3. Convert camera coordinates from OpenCV to OpenGL
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const final = new THREE.Matrix4()
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final
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.multiply(cameraCvt)
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.multiply(Rt)
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.multiply(worldCvt)
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// Invert to get the camera-to-world transform
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final.invert()
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return final
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}
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interface Human3DSkeletonProps {
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startFrame?: number
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jointRadius?: number
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boneRadius?: number
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showJoints?: boolean
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showBones?: boolean
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frameRate?: number
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}
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const Human3DSkeleton = ({
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startFrame = 0,
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jointRadius = 0.01,
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boneRadius = 0.005,
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showJoints = true,
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showBones = true,
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frameRate = 30
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}: Human3DSkeletonProps) => {
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const [frameIndex, setFrameIndex] = useState(startFrame)
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const totalFrames = POSE_3D.length
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// Use frame to animate through the skeleton poses
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useFrame((state, delta) => {
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// Calculate next frame based on desired frame rate and delta time
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setFrameIndex(prevFrame => {
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// Calculate next frame
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const nextFrame = prevFrame + frameRate * delta
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// Loop back to start if we reach the end
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return nextFrame >= totalFrames ? 0 : nextFrame
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})
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})
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// Get the current frame joints - use Math.floor to get the nearest frame
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const currentFrame = Math.floor(frameIndex) % totalFrames
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const joints = POSE_3D[currentFrame]
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// Function to get appropriate color for a joint index
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const getJointColor = (idx: number) => {
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// Face joints (23-90)
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if (idx >= 23 && idx <= 90) return COLOR_FACE
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// Hand joints (91-132)
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if (idx >= 91 && idx <= 132) return COLOR_FINGERS
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// Foot joints (17-22)
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if (idx >= 17 && idx <= 22) return COLOR_FOOT
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// Head (0-4)
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if (idx <= 4) return COLOR_HEAD
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// Arms (5-10)
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if (idx >= 5 && idx <= 10) return COLOR_ARMS
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// Legs (11-16)
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if (idx >= 11 && idx <= 16) return COLOR_LEGS
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// Default
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return COLOR_SPINE
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}
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// Transform a joint position using the coordinate system conversion
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const transformJointPosition = (j: [number, number, number]) => {
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const [x, y, z] = j
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const V = new THREE.Vector3(x, y, z)
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const worldCvt = Z_UP_TO_Y_UP_PRIME.clone()
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V.applyMatrix4(worldCvt)
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return V
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}
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// Create the joint spheres
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const jointMeshes = showJoints ? joints.map((j, idx) => {
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const position = transformJointPosition(j)
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const color = getJointColor(idx)
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return (
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<mesh key={`joint-${idx}`} position={position}>
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<sphereGeometry args={[jointRadius, 16, 16]} />
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<meshStandardMaterial color={color} />
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</mesh>
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)
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}) : null
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// Create the bone cylinders
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const boneMeshes = showBones ? (
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<>
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{BODY_BONES.map((bone, idx) => {
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const [startIdx, endIdx] = bone
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if (startIdx >= joints.length || endIdx >= joints.length) return null
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const startPos = transformJointPosition(joints[startIdx])
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const endPos = transformJointPosition(joints[endIdx])
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const color = BODY_BONE_COLORS[idx]
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// Calculate midpoint and length
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const midpoint = new THREE.Vector3().addVectors(startPos, endPos).multiplyScalar(0.5)
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const length = startPos.distanceTo(endPos)
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// Calculate rotation
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const direction = new THREE.Vector3().subVectors(endPos, startPos).normalize()
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const quaternion = new THREE.Quaternion()
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const up = new THREE.Vector3(0, 1, 0)
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quaternion.setFromUnitVectors(up, direction)
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return (
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<mesh key={`bone-body-${idx}`} position={midpoint} quaternion={quaternion}>
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<cylinderGeometry args={[boneRadius, boneRadius, length, 8]} />
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<meshStandardMaterial color={color} />
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</mesh>
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)
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})}
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{HAND_BONES.map((bone, idx) => {
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const [startIdx, endIdx] = bone
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if (startIdx >= joints.length || endIdx >= joints.length) return null
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const startPos = transformJointPosition(joints[startIdx])
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const endPos = transformJointPosition(joints[endIdx])
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// Calculate midpoint and length
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const midpoint = new THREE.Vector3().addVectors(startPos, endPos).multiplyScalar(0.5)
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const length = startPos.distanceTo(endPos)
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// Calculate rotation
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const direction = new THREE.Vector3().subVectors(endPos, startPos).normalize()
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const quaternion = new THREE.Quaternion()
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const up = new THREE.Vector3(0, 1, 0)
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quaternion.setFromUnitVectors(up, direction)
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return (
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<mesh key={`bone-hand-${idx}`} position={midpoint} quaternion={quaternion}>
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<cylinderGeometry args={[boneRadius, boneRadius, length, 8]} />
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<meshStandardMaterial color={COLOR_FINGERS} />
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</mesh>
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)
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})}
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</>
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) : null
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return (
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<group>
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{jointMeshes}
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{boneMeshes}
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</group>
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)
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}
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const scene = (<group>
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{/* <OrbitControls /> */}
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<ambientLight intensity={0.05} />
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<directionalLight castShadow position={[3.3, 6, 4.4]} intensity={5} />
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{/* <Floor /> */}
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{Object.entries(CAMERA_EXTRINSIC_MATRIX_MAP).map(([key, value]) => {
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const intrinsic = CAMERA_INTRINSIC_MATRIX_MAP[key]
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const { fov_x, fov_y } = intrinsicToFov(intrinsic, { width: IMAGE_WIDTH, height: IMAGE_HEIGHT })
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// make the far reverse proportional to the fov
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const far = (1 / fov_x) * 20
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return <CameraViewFromExtrinsic key={key} name={`${key}(${fov_x.toFixed(1)})`} extrinsic={preProcessExtrinsic(value)} fov={fov_x} aspect={IMAGE_WIDTH / IMAGE_HEIGHT} far={far} />
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})}
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<Axes />
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<Human3DSkeleton jointRadius={0.005} boneRadius={0.0025} frameRate={24} />
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</group>)
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return (
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// Note that we don't need to import anything, All three.js objects will be treated
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// as native JSX elements, just like you can just write <div /> or <span /> in
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// regular ReactDOM. The general rule is that Fiber components are available under
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// the camel-case version of their name in three.js.
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<>
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<CameraControls />
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<Stats />
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{scene}
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</>
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)
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}
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function App() {
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return (
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<Canvas shadows style={{ background: "#e9e9e9", width: "100vw", height: "100vh" }}>
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<Scene />
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</Canvas>
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)
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}
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export default App
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