| import torch
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| import matplotlib.pyplot as plt
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| import numpy as np
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| import io
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| import matplotlib
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| from mpl_toolkits.mplot3d.art3d import Poly3DCollection
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| import mpl_toolkits.mplot3d.axes3d as p3
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| from textwrap import wrap
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| import imageio
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|
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| def plot_3d_motion(args, figsize=(10, 10), fps=120, radius=4):
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| matplotlib.use('Agg')
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| joints, out_name, title = args
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|
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| data = joints.copy().reshape(len(joints), -1, 3)
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|
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| nb_joints = joints.shape[1]
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| smpl_kinetic_chain = [[0, 11, 12, 13, 14, 15], [0, 16, 17, 18, 19, 20], [0, 1, 2, 3, 4], [3, 5, 6, 7], [3, 8, 9, 10]] if nb_joints == 21 else [[0, 2, 5, 8, 11], [0, 1, 4, 7, 10], [0, 3, 6, 9, 12, 15], [9, 14, 17, 19, 21], [9, 13, 16, 18, 20]]
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| limits = 1000 if nb_joints == 21 else 2
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| MINS = data.min(axis=0).min(axis=0)
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| MAXS = data.max(axis=0).max(axis=0)
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| colors = ['red', 'blue', 'black', 'red', 'blue',
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| 'darkblue', 'darkblue', 'darkblue', 'darkblue', 'darkblue',
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| 'darkred', 'darkred', 'darkred', 'darkred', 'darkred']
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| frame_number = data.shape[0]
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|
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| height_offset = MINS[1]
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| data[:, :, 1] -= height_offset
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| trajec = data[:, 0, [0, 2]]
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|
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| data[..., 0] -= data[:, 0:1, 0]
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| data[..., 2] -= data[:, 0:1, 2]
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|
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| def update(index):
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|
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| def init():
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| ax.set_xlim(-limits, limits)
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| ax.set_ylim(-limits, limits)
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| ax.set_zlim(0, limits)
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| ax.grid(b=False)
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| def plot_xzPlane(minx, maxx, miny, minz, maxz):
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|
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| verts = [
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| [minx, miny, minz],
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| [minx, miny, maxz],
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| [maxx, miny, maxz],
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| [maxx, miny, minz]
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| ]
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| xz_plane = Poly3DCollection([verts])
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| xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5))
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| ax.add_collection3d(xz_plane)
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| fig = plt.figure(figsize=(480/96., 320/96.), dpi=96) if nb_joints == 21 else plt.figure(figsize=(10, 10), dpi=96)
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| if title is not None :
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| wraped_title = '\n'.join(wrap(title, 40))
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| fig.suptitle(wraped_title, fontsize=16)
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| ax = p3.Axes3D(fig)
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|
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| init()
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| ax.lines = []
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| ax.collections = []
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| ax.view_init(elev=110, azim=-90)
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| ax.dist = 7.5
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|
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| plot_xzPlane(MINS[0] - trajec[index, 0], MAXS[0] - trajec[index, 0], 0, MINS[2] - trajec[index, 1],
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| MAXS[2] - trajec[index, 1])
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|
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| if index > 1:
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| ax.plot3D(trajec[:index, 0] - trajec[index, 0], np.zeros_like(trajec[:index, 0]),
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| trajec[:index, 1] - trajec[index, 1], linewidth=1.0,
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| color='blue')
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| for i, (chain, color) in enumerate(zip(smpl_kinetic_chain, colors)):
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|
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| if i < 5:
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| linewidth = 4.0
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| else:
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| linewidth = 2.0
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| ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=linewidth,
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| color=color)
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| plt.axis('off')
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| ax.set_xticklabels([])
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| ax.set_yticklabels([])
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| ax.set_zticklabels([])
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|
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| if out_name is not None :
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| plt.savefig(out_name, dpi=96)
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| plt.close()
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|
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| else :
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| io_buf = io.BytesIO()
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| fig.savefig(io_buf, format='raw', dpi=96)
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| io_buf.seek(0)
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|
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| arr = np.reshape(np.frombuffer(io_buf.getvalue(), dtype=np.uint8),
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| newshape=(int(fig.bbox.bounds[3]), int(fig.bbox.bounds[2]), -1))
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| io_buf.close()
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| plt.close()
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| return arr
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|
|
| out = []
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| for i in range(frame_number) :
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| out.append(update(i))
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| out = np.stack(out, axis=0)
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| return torch.from_numpy(out)
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|
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| def draw_to_batch(smpl_joints_batch, title_batch=None, outname=None) :
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|
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| batch_size = len(smpl_joints_batch)
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| out = []
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| for i in range(batch_size) :
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| out.append(plot_3d_motion([smpl_joints_batch[i], None, title_batch[i] if title_batch is not None else None]))
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| if outname is not None:
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| imageio.mimsave(outname[i], np.array(out[-1]), fps=20)
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| out = torch.stack(out, axis=0)
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| return out
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