| from __future__ import print_function, unicode_literals |
| import numpy as np |
| import json |
| import os |
| import time |
| import skimage.io as io |
|
|
|
|
| """ General util functions. """ |
| def _assert_exist(p): |
| msg = 'File does not exists: %s' % p |
| assert os.path.exists(p), msg |
|
|
|
|
| def json_load(p): |
| _assert_exist(p) |
| with open(p, 'r') as fi: |
| d = json.load(fi) |
| return d |
|
|
| def projectPoints(xyz, K): |
| """ Project 3D coordinates into image space. """ |
| xyz = np.array(xyz) |
| K = np.array(K) |
| uv = np.matmul(K, xyz.T).T |
| return uv[:, :2] / uv[:, -1:] |
|
|
|
|
|
|
| """ Draw functions. """ |
| def plot_hand(axis, coords_hw, vis=None, color_fixed=None, linewidth='1', order='hw', draw_kp=True): |
| """ Plots a hand stick figure into a matplotlib figure. """ |
| if order == 'uv': |
| coords_hw = coords_hw[:, ::-1] |
|
|
| colors = np.array([[0.4, 0.4, 0.4], |
| [0.4, 0.0, 0.0], |
| [0.6, 0.0, 0.0], |
| [0.8, 0.0, 0.0], |
| [1.0, 0.0, 0.0], |
| [0.4, 0.4, 0.0], |
| [0.6, 0.6, 0.0], |
| [0.8, 0.8, 0.0], |
| [1.0, 1.0, 0.0], |
| [0.0, 0.4, 0.2], |
| [0.0, 0.6, 0.3], |
| [0.0, 0.8, 0.4], |
| [0.0, 1.0, 0.5], |
| [0.0, 0.2, 0.4], |
| [0.0, 0.3, 0.6], |
| [0.0, 0.4, 0.8], |
| [0.0, 0.5, 1.0], |
| [0.4, 0.0, 0.4], |
| [0.6, 0.0, 0.6], |
| [0.7, 0.0, 0.8], |
| [1.0, 0.0, 1.0]]) |
|
|
| colors = colors[:, ::-1] |
|
|
| |
| bones = [((0, 1), colors[1, :]), |
| ((1, 2), colors[2, :]), |
| ((2, 3), colors[3, :]), |
| ((3, 4), colors[4, :]), |
|
|
| ((0, 5), colors[5, :]), |
| ((5, 6), colors[6, :]), |
| ((6, 7), colors[7, :]), |
| ((7, 8), colors[8, :]), |
|
|
| ((0, 9), colors[9, :]), |
| ((9, 10), colors[10, :]), |
| ((10, 11), colors[11, :]), |
| ((11, 12), colors[12, :]), |
|
|
| ((0, 13), colors[13, :]), |
| ((13, 14), colors[14, :]), |
| ((14, 15), colors[15, :]), |
| ((15, 16), colors[16, :]), |
|
|
| ((0, 17), colors[17, :]), |
| ((17, 18), colors[18, :]), |
| ((18, 19), colors[19, :]), |
| ((19, 20), colors[20, :])] |
|
|
| if vis is None: |
| vis = np.ones_like(coords_hw[:, 0]) == 1.0 |
|
|
| for connection, color in bones: |
| if (vis[connection[0]] == False) or (vis[connection[1]] == False): |
| continue |
|
|
| coord1 = coords_hw[connection[0], :] |
| coord2 = coords_hw[connection[1], :] |
| coords = np.stack([coord1, coord2]) |
| if color_fixed is None: |
| axis.plot(coords[:, 1], coords[:, 0], color=color, linewidth=linewidth) |
| else: |
| axis.plot(coords[:, 1], coords[:, 0], color_fixed, linewidth=linewidth) |
|
|
| if not draw_kp: |
| return |
|
|
| for i in range(21): |
| if vis[i] > 0.5: |
| axis.plot(coords_hw[i, 1], coords_hw[i, 0], 'o', color=colors[i, :]) |
|
|
|
|
| """ Dataset related functions. """ |
| def db_size(set_name): |
| """ Hardcoded size of the datasets. """ |
| if set_name == 'training': |
| return 32560 |
| elif set_name == 'evaluation': |
| return 3960 |
| else: |
| assert 0, 'Invalid choice.' |
|
|
|
|
| def load_db_annotation(base_path, set_name=None): |
| if set_name is None: |
| |
| set_name = 'training' |
|
|
| print('Loading FreiHAND dataset index ...') |
| t = time.time() |
|
|
| |
| k_path = os.path.join(base_path, '%s_K.json' % set_name) |
| mano_path = os.path.join(base_path, '%s_mano.json' % set_name) |
| xyz_path = os.path.join(base_path, '%s_xyz.json' % set_name) |
|
|
| |
| K_list = json_load(k_path) |
| mano_list = json_load(mano_path) |
| xyz_list = json_load(xyz_path) |
|
|
| |
| assert len(K_list) == len(mano_list), 'Size mismatch.' |
| assert len(K_list) == len(xyz_list), 'Size mismatch.' |
|
|
| print('Loading of %d samples done in %.2f seconds' % (len(K_list), time.time()-t)) |
| return zip(K_list, mano_list, xyz_list) |
|
|
|
|
| class sample_version: |
| gs = 'gs' |
| hom = 'hom' |
| sample = 'sample' |
| auto = 'auto' |
|
|
| db_size = db_size('training') |
|
|
| @classmethod |
| def valid_options(cls): |
| return [cls.gs, cls.hom, cls.sample, cls.auto] |
|
|
|
|
| @classmethod |
| def check_valid(cls, version): |
| msg = 'Invalid choice: "%s" (must be in %s)' % (version, cls.valid_options()) |
| assert version in cls.valid_options(), msg |
|
|
| @classmethod |
| def map_id(cls, id, version): |
| cls.check_valid(version) |
| return id + cls.db_size*cls.valid_options().index(version) |
|
|
|
|
| def read_img(idx, base_path, set_name, version=None): |
| if version is None: |
| version = sample_version.gs |
|
|
| if set_name == 'evaluation': |
| assert version == sample_version.gs, 'This the only valid choice for samples from the evaluation split.' |
|
|
| img_rgb_path = os.path.join(base_path, set_name, 'rgb', |
| '%08d.jpg' % sample_version.map_id(idx, version)) |
| _assert_exist(img_rgb_path) |
| return io.imread(img_rgb_path) |
|
|
|
|
| def read_msk(idx, base_path): |
| mask_path = os.path.join(base_path, 'training', 'mask', |
| '%08d.jpg' % idx) |
| _assert_exist(mask_path) |
| return io.imread(mask_path) |
|
|
