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https://github.com/storytold/storyteller-ml.git
synced 2026-10-15 00:03:06 +00:00
Add MocapNET
This commit is contained in:
Justin John
@@ -0,0 +1,262 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <math.h>
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#include "jsonRead.hpp"
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#include "../../../../dependencies/InputParser/InputParser_C.h"
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#define NORMAL "\033[0m"
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#define BLACK "\033[30m" /* Black */
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#define RED "\033[31m" /* Red */
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#define GREEN "\033[32m" /* Green */
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#define YELLOW "\033[33m" /* Yellow */
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float checkSkeletonDistance(struct skeletonStructure * PreviousSkelA,struct skeletonStructure * skelB)
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{
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float score=0.0f,xSq=0.0f,ySq=0.0f;
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for (int i=0; i<COCO_PARTS; i++)
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{
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if (
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(skelB->body.joint2D[i].x==0) &&
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(skelB->body.joint2D[i].y==0)
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)
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{
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score+=1000;// Penalize holes..
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}
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else
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{
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xSq = PreviousSkelA->body.joint2D[i].x - skelB->body.joint2D[i].x ;
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xSq = xSq * xSq;
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ySq = PreviousSkelA->body.joint2D[i].y - skelB->body.joint2D[i].y;
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ySq = ySq * ySq;
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score+=sqrt(xSq+ySq);
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}
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}
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return score;
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}
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int parseJsonCOCOSkeleton(const char * filename , struct skeletonStructure * skel,float acceptableThreshold,unsigned int frameID)
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{
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//memset(skel,0,sizeof(struct skeletonStructure));
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ssize_t read;
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FILE * fp = fopen(filename,"r");
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if (fp!=0)
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{
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fprintf(stderr,"Parsing 2D skeleton from %s \n",filename);
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struct InputParserC * ipc = InputParser_Create(2048,3);
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InputParser_SetDelimeter(ipc,0,',');
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InputParser_SetDelimeter(ipc,1,',');
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char * line = NULL;
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size_t len = 0;
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/*
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{"version":1.2,"people":[{"pose_keypoints_2d":[1051.33,389.167,0.90388,1054.25,474.35,0.834839,995.279,477.271,0.840843,977.646,592.078,0.843254,974.836,692.082,0.925783,1119.04,465.536,0.857748,1148.35,574.318,0.82055,1163.13,671.663,0.926104,1065.89,668.604,0.768351,1021.83,668.697,0.789775,998.248,833.448,0.891052,954.023,974.726,0.895817,1104.23,668.623,0.725152,1092.4,833.417,0.892817,1068.87,954.203,0.908514,1042.39,380.222,0.879022,1069.03,380.207,0.905886,1021.77,388.906,0.874647,1092.43,388.924,0.880871,1095.43,1001.27,0.875549,1110.14,995.311,0.873654,1048.35,968.843,0.832852,954.222,1024.87,0.826879,933.585,1021.78,0.818463,951.109,980.601,0.70936],"face_keypoints_2d":[1021.85,379.364,0.312111,1022.56,385.04,0.388846,1022.92,394.265,0.400321,1025.04,404.553,0.559545,1027.88,413.423,0.583821,1031.79,421.938,0.61052,1037.46,429.389,0.609643,1044.2,434.001,0.630441,1051.3,435.775,0.729202,1059.81,435.065,0.657737,1067.97,430.098,0.685271,1074.36,423.003,0.685615,1078.97,415.197,0.731754,1081.81,406.327,0.712712,1082.17,397.103,0.697536,1082.88,388.233,0.6253,1083.94,380.073,0.518587,1022.56,373.332,0.47997,1027.88,370.494,0.637251,1033.91,369.784,0.717338,1041.72,370.139,0.853094,1047.75,372.977,0.90591,1056.27,373.332,0.889469,1062.3,370.494,0.892274,1068.33,370.494,0.831293,1074.36,371.558,0.73095,1078.97,374.751,0.598676,1051.65,380.073,0.765338,1050.94,386.459,0.77752,1050.94,392.491,0.767245,1050.94,398.167,0.696292,1044.56,401.006,0.712432,1047.75,401.715,0.848516,1050.94,403.134,0.929941,1054.85,402.07,0.957662,1058.75,401.36,0.981191,1030.01,378.299,0.420897,1033.91,378.654,0.380504,1037.11,378.654,0.393703,1039.95,379.009,0.464231,1036.75,379.009,0.458442,1033.56,379.009,0.404015,1062.3,381.847,0.749875,1065.49,381.492,0.641693,1069.39,381.137,0.495781,1072.94,381.492,0.501538,1069.75,381.847,0.518428,1065.49,382.202,0.611457,1038.53,408.456,0.72183,1042.78,407.747,0.864191,1048.11,407.392,0.85783,1051.3,408.456,0.80366,1054.85,407.392,0.833569,1060.17,408.456,0.880244,1066.2,410.23,0.902783,1061.94,417.326,0.928561,1056.27,420.519,0.899355,1051.3,420.874,0.923864,1048.11,420.519,0.927453,1042.07,418.035,0.798128,1039.95,409.875,0.841352,1048.11,410.23,0.881547,1051.65,410.23,0.85485,1055.2,410.23,0.805752,1064.43,410.94,0.870964,1055.91,415.907,0.938425,1051.65,416.262,0.891374,1048.11,416.262,0.926013,1034.98,378.654,0.312223,1067.62,381.492,0.513061],"hand_left_keypoints_2d":[1165.94,680.642,0.466609,1156.44,688.082,0.629248,1153.13,701.72,0.761934,1153.13,715.359,0.819062,1151.89,726.518,0.775558,1168.84,711.64,0.671397,1168.84,728.172,0.799059,1163.88,737.264,0.725134,1160.16,742.224,0.736829,1172.97,711.64,0.702249,1171.73,728.172,0.808444,1166.77,738.091,0.642235,1161.4,742.224,0.604293,1173.38,710.813,0.666696,1172.97,724.865,0.61383,1166.77,732.718,0.536511,1163.88,740.157,0.497097,1172.56,708.747,0.597281,1172.14,721.559,0.59746,1167.18,727.345,0.381854,1163.88,729.411,0.33763],"hand_right_keypoints_2d":[976.039,702.5,0.411615,985.84,702.926,0.655772,996.066,713.152,0.692949,1002.03,726.362,0.772721,1009.7,733.605,0.864994,984.561,730.197,0.731554,988.822,745.536,0.812263,990.953,756.615,0.808444,991.805,765.137,0.836125,979.022,737.014,0.686607,982.005,749.798,0.65217,981.579,760.876,0.754628,979.448,767.694,0.727902,976.039,738.719,0.634819,977.317,749.798,0.69985,976.465,758.32,0.664762,975.187,765.137,0.690298,975.187,739.571,0.592209,975.187,748.093,0.492786,975.613,754.059,0.522497,974.761,760.45,0.43477],"pose_keypoints_3d":[],"face_keypoints_3d":[],"hand_left_keypoints_3d":[],"hand_right_keypoints_3d":[]}]}
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*/
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while ((read = getline(&line, &len, fp)) != -1)
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{
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skel->observationNumber=frameID;
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//We should have the whole output.. since it is one line
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char * poseStart=0;
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char * poseEnd=0;
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//-----------------------------------------------
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poseStart=strstr(line,"\"pose_keypoints_2d\":[");
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if(poseStart!=0)
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{
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poseStart=strstr(poseStart,"[")+1;
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poseEnd=strstr(poseStart,"]");
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}
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//-----------------------------------------------
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char * handLeftStart=0;
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char * handLeftEnd=0;
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handLeftStart=strstr(line,"\"hand_left_keypoints_2d\":[");
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if (handLeftStart!=0)
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{
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handLeftStart=strstr(handLeftStart,"[")+1;
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handLeftEnd=strstr(handLeftStart,"]");
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}
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//-----------------------------------------------
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char * handRightStart=0;
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char * handRightEnd=0;
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handRightStart=strstr(line,"\"hand_right_keypoints_2d\":[");
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if (handRightStart!=0)
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{
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handRightStart=strstr(handRightStart,"[")+1;
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handRightEnd=strstr(handRightStart,"]");
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}
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//-----------------------------------------------
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char * headStart=0;
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char * headEnd=0;
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headStart=strstr(line,"\"face_keypoints_2d\":[");
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if (headStart!=0)
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{
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headStart=strstr(headStart,"[")+1;
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headEnd=strstr(headStart,"]");
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}
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//-----------------------------------------------
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//Null Terminate strings..
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//----------------------------------------------------------------------------------------------------------------
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if (poseEnd!=0) { *poseEnd=0; }
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if (handLeftEnd!=0) { *handLeftEnd=0; }
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if (handRightEnd!=0) { *handRightEnd=0; }
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if (headEnd!=0) { *headEnd=0; }
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//----------------------------------------------------------------------------------------------------------------
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//fprintf(stderr,"RHand : %s\n",handLeftStart);
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//fprintf(stderr,"LHand : %s\n",handRightStart);
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//fprintf(stderr,"Pose : %s\n",poseStart);
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//fprintf(stderr,"Head : %s\n",headStart);
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int numberOfJoints;
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float value;
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//----------------------------------------------------------------------------------------------------------------
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if (poseStart!=0)
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{
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numberOfJoints = InputParser_SeperateWords(ipc,poseStart,1)/3;
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if (numberOfJoints>=BODY25_PARTS)
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{
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fprintf(stderr,RED "The number of joints found in JSON file (%u) is more than our BODY25 internal structure (%u)\n" NORMAL,numberOfJoints,BODY25_PARTS);
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} else
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{
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if (numberOfJoints>0) { skel->body.isPopulated=1; }
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for (int poseNum=0; poseNum<numberOfJoints; poseNum++)
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{
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skel->body.joint2D[poseNum].x = InputParser_GetWordFloat(ipc,poseNum*3+0);
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//fprintf(stderr,"Pose%u x ( %u ) = %0.2f\n",poseNum,poseNum*3+0, skel->joint2D[poseNum].x );
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skel->body.joint2D[poseNum].y = InputParser_GetWordFloat(ipc,poseNum*3+1);
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//fprintf(stderr,"Pose%u y ( %u ) = %0.2f\n",poseNum,poseNum*3+1,skel->joint2D[poseNum].y);
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value = InputParser_GetWordFloat(ipc,poseNum*3+2);
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if (value>1.0)
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{
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fprintf(stderr,"Warning : Too large value for accuracy\n");
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}
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skel->body.jointAccuracy[poseNum] = value;
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skel->body.active[poseNum] = (value>acceptableThreshold);
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//fprintf(stderr,"Pose%u A ( %u ) = %0.2f\n",poseNum,poseNum*3+2,value);
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}
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}
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}
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//----------------------------------------------------------------------------------------------------------------
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// Left Hand Parser
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//----------------------------------------------------------------------------------------------------------------
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if (handLeftStart!=0)
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{
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numberOfJoints = InputParser_SeperateWords(ipc,handLeftStart,1)/3;
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if (numberOfJoints>COCO_HAND_PARTS)
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{
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fprintf(stderr,RED "The number of left hand joints found in JSON file (%u) is more than our internal structure (%u)\n" NORMAL,numberOfJoints,COCO_HAND_PARTS);
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} else
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{
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skel->leftHand.isRight=0;
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skel->leftHand.isLeft=1;
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if (numberOfJoints>0) { skel->leftHand.isPopulated=1; }
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for (int poseNum=0; poseNum<numberOfJoints; poseNum++)
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{
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value = InputParser_GetWordFloat(ipc,poseNum*3+0);
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skel->leftHand.joint2D[poseNum].x = value;
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value = InputParser_GetWordFloat(ipc,poseNum*3+1);
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skel->leftHand.joint2D[poseNum].y = value;
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value = InputParser_GetWordFloat(ipc,poseNum*3+2);
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skel->leftHand.jointAccuracy[poseNum] = value;
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skel->leftHand.active[poseNum] = (value>acceptableThreshold);
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}
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}
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}
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// Right Hand Parser
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//----------------------------------------------------------------------------------------------------------------
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if (handRightStart!=0)
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{
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numberOfJoints = InputParser_SeperateWords(ipc,handRightStart,1)/3;
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if (numberOfJoints>COCO_HAND_PARTS)
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{
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fprintf(stderr,RED "The number of right hand joints found in JSON file (%u) is more than our internal structure (%u)\n" NORMAL,numberOfJoints,COCO_HAND_PARTS);
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} else
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{
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skel->rightHand.isRight=1;
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skel->rightHand.isLeft=0;
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if (numberOfJoints>0) { skel->rightHand.isPopulated=1; }
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for (int poseNum=0; poseNum<numberOfJoints; poseNum++)
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{
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value = InputParser_GetWordFloat(ipc,poseNum*3+0);
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skel->rightHand.joint2D[poseNum].x = value;
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value = InputParser_GetWordFloat(ipc,poseNum*3+1);
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skel->rightHand.joint2D[poseNum].y = value;
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value = InputParser_GetWordFloat(ipc,poseNum*3+2);
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skel->rightHand.jointAccuracy[poseNum] = value;
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skel->rightHand.active[poseNum] = (value>acceptableThreshold);
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}
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}
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}
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//----------------------------------------------------------------------------------------------------------------
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// Head Parser
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//----------------------------------------------------------------------------------------------------------------
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if (headStart!=0)
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{
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numberOfJoints = InputParser_SeperateWords(ipc,headStart,1)/3;
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if (numberOfJoints>OP_HEAD_PARTS)
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{
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fprintf(stderr,RED "The number of head joints found in JSON file (%u) is more than our internal structure (%u)\n" NORMAL,numberOfJoints,OP_HEAD_PARTS);
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} else
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{
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if (numberOfJoints>0) { skel->head.isPopulated=1; }
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for (int poseNum=0; poseNum<numberOfJoints; poseNum++)
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{
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value = InputParser_GetWordFloat(ipc,poseNum*3+0);
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skel->head.joint2D[poseNum].x = value;
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value = InputParser_GetWordFloat(ipc,poseNum*3+1);
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skel->head.joint2D[poseNum].y = value;
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value = InputParser_GetWordFloat(ipc,poseNum*3+2);
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skel->head.jointAccuracy[poseNum] = value;
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skel->head.active[poseNum] = (value>acceptableThreshold);
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}
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}
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}
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//----------------------------------------------------------------------------------------------------------------
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}
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InputParser_Destroy(ipc);
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fclose(fp);
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return 1;
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}
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else
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{
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fprintf(stderr,"Could not open 2D skeleton file %s \n",filename);
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return 0;
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}
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fprintf(stderr,"Could not find COCO 2D skeleton in %s \n",filename);
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return 0;
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}
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