File size: 4,183 Bytes
7e120dd | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 | #!/usr/bin/env python3
"""
Test rotation computation on actual Unity export data.
This will show what's actually causing the 168° roll error.
"""
import json
import numpy as np
from scipy.spatial.transform import Rotation as R
from pathlib import Path
from glob import glob
def test_actual_frame():
"""Load first frame from Unity export and compare rotation computations."""
# Find Unity export
jsonl_files = sorted(glob("./raw_dataset/sequence_*.jsonl"))
if not jsonl_files:
print("ERROR: No Unity export found in ./raw_dataset/")
print("Please run this from GENMO/ directory")
return
with open(jsonl_files[0], "r") as f:
lines = f.readlines()
if len(lines) < 2:
print("ERROR: No data in JSONL file")
return
# Parse frame 0 (skip header line)
row = json.loads(lines[1])
print("="*70)
print("TESTING ACTUAL UNITY EXPORT DATA (Frame 0)")
print("="*70)
print()
# Extract Unity quaternions
cam_quat = np.array(row["cam_rot_world"], dtype=np.float64)
pel_quat = np.array(row["pelvis_rot_world"], dtype=np.float64)
print(f"Unity quaternions (XYZW):")
print(f" cam_rot_world: {cam_quat}")
print(f" pelvis_rot_world: {pel_quat}")
print()
# Convert to matrices
R_cam_w_unity = R.from_quat(cam_quat).as_matrix()
R_pel_w_unity = R.from_quat(pel_quat).as_matrix()
print("Unity rotations (Euler YXZ):")
print(f" Camera: {R.from_matrix(R_cam_w_unity).as_euler('YXZ', degrees=True)}")
print(f" Pelvis: {R.from_matrix(R_pel_w_unity).as_euler('YXZ', degrees=True)}")
print()
# Coordinate conversion
C = np.diag([1.0, -1.0, 1.0])
# === OLD METHOD ===
print("--- OLD METHOD (Compute relative, then convert) ---")
R_w2c_unity = R_cam_w_unity.T
R_rel_unity = R_w2c_unity @ R_pel_w_unity
R_cv_old = C @ R_rel_unity @ C
euler_old = R.from_matrix(R_cv_old).as_euler('YXZ', degrees=True)
print(f"global_orient_c (YXZ): yaw={euler_old[0]:7.2f}°, pitch={euler_old[1]:7.2f}°, roll={euler_old[2]:7.2f}°")
print()
# === NEW METHOD ===
print("--- NEW METHOD (Convert, then compute relative) ---")
R_cam_w_cv = C @ R_cam_w_unity @ C
R_pel_w_cv = C @ R_pel_w_unity @ C
R_w2c_cv = R_cam_w_cv.T
R_pel_c_cv = R_w2c_cv @ R_pel_w_cv
euler_new = R.from_matrix(R_pel_c_cv).as_euler('YXZ', degrees=True)
print(f"global_orient_c (YXZ): yaw={euler_new[0]:7.2f}°, pitch={euler_new[1]:7.2f}°, roll={euler_new[2]:7.2f}°")
print()
# === COMPARE WITH UNITY'S smpl_incam_rot ===
if "smpl_incam_rot" in row:
unity_incam_quat = np.array(row["smpl_incam_rot"], dtype=np.float64)
R_unity_incam = R.from_quat(unity_incam_quat).as_matrix()
# Unity gives this in Unity convention, need to convert to CV
R_unity_incam_cv = C @ R_unity_incam @ C
euler_unity = R.from_matrix(R_unity_incam_cv).as_euler('YXZ', degrees=True)
print("--- UNITY'S EXPORTED smpl_incam_rot (converted to CV) ---")
print(f"global_orient_c (YXZ): yaw={euler_unity[0]:7.2f}°, pitch={euler_unity[1]:7.2f}°, roll={euler_unity[2]:7.2f}°")
print()
print("--- COMPARISON ---")
diff_old = euler_old - euler_unity
diff_new = euler_new - euler_unity
print(f"OLD vs Unity: yaw={diff_old[0]:7.2f}°, pitch={diff_old[1]:7.2f}°, roll={diff_old[2]:7.2f}°")
print(f"NEW vs Unity: yaw={diff_new[0]:7.2f}°, pitch={diff_new[1]:7.2f}°, roll={diff_new[2]:7.2f}°")
print()
print("="*70)
print("DIAGNOSIS:")
diff = euler_new - euler_old
if np.allclose(diff, 0, atol=1.0):
print(" Both methods give same result!")
print(" The 168° roll error must come from somewhere else:")
print(" - Check body_pose export")
print(" - Check if Unity's smpl_incam_rot matches derived rotation")
print(" - Check SMPL model forward pass")
else:
print(f" Methods differ: yaw={diff[0]:.2f}°, pitch={diff[1]:.2f}°, roll={diff[2]:.2f}°")
print(" This explains the rotation error!")
if __name__ == "__main__":
test_actual_frame()
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