Add MocapNET

2026-10-16 00:13:07 +00:00 · 2023-12-15 04:22:41 +05:30
parent 8434144ded
commit 65e8934d5e
336 changed files with 100584 additions and 0 deletions
@@ -0,0 +1,233 @@
+#!/usr/bin/env python3
+#Written by Ammar Qammaz a.k.a AmmarkoV - 2020
+
+import numpy as np
+
+import matplotlib
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation  
+
+from mpl_toolkits.mplot3d import axes3d, Axes3D  
+print("Using matplotlib:",matplotlib.__version__)
+
+
+def pointListReturnXYZListForScatterPlot(A):
+    numberOfPoints=A.shape[0] 
+    xs=list()
+    ys=list()
+    zs=list()
+    for i in range(0,numberOfPoints):
+       xs.append(A[i][0])
+       ys.append(A[i][1])
+       zs.append(A[i][2])
+    return xs,ys,zs
+
+
+def setupDrawing(fig,ax,ax2,ax3,ax4):
+   # === Plot and animate === 
+   fig = plt.figure()
+   fig.set_size_inches(19.2, 10.8, forward=True) 
+ 
+   ax = fig.add_subplot(2, 2, 1, projection='3d') 
+   ax2 = fig.add_subplot(2, 2, 2) 
+   ax3 = fig.add_subplot(2, 2, 3) 
+   ax4 = fig.add_subplot(2, 2, 4) 
+   fig.subplots_adjust(left=0.05, bottom=0.05, right=0.95, top=0.95) 
+ 
+   ax.set_xlabel('X Axis')
+   ax.set_ylabel('Y Axis')
+   ax.set_zlabel('Z Axis') 
+   ax.view_init(90, 90) 
+
+
+def get3DDistance(jX,jY,jZ,pX,pY,pZ):
+ return np.sqrt( ((jX-pX)*(jX-pX)) + ((jY-pY)*(jY-pY)) + ((jZ-pZ)*(jZ-pZ)) )
+
+def findJointID(jointName,labels):
+  for i in range(0,len(labels)):
+      if (jointName==labels[i]):
+           return i
+  print("Cannot find joint ",jointName," !")
+  return -1
+
+
+#-----------------------------------------------------------------------------------------------------------------------
+def drawLimbDimensions(JOINTS_TO_COMPARE,JOINT_LABELS,JOINT_PARENTS,JOINT_PARENT_LABELS,h36mPoints,ourPoints,numberOfJoints,ax2):
+ labels = list()
+ h36m_distances = list()
+ mnet_distances = list()
+ 
+ for jointID in range(0,len(JOINTS_TO_COMPARE)):
+       #--------------------------------------- 
+       jointIDGlobal = findJointID(JOINTS_TO_COMPARE[jointID],JOINT_LABELS)
+       jointParentID=findJointID(JOINT_PARENT_LABELS[JOINT_PARENTS[jointIDGlobal]],JOINTS_TO_COMPARE)
+       #--------------------------------------- 
+       if (jointParentID!=-1) and (jointIDGlobal!=-1):
+          labels.append(JOINT_LABELS[jointIDGlobal])
+          jX=h36mPoints[jointID][0]
+          jY=h36mPoints[jointID][1]
+          jZ=h36mPoints[jointID][2]
+          pX=h36mPoints[jointParentID][0]
+          pY=h36mPoints[jointParentID][1]
+          pZ=h36mPoints[jointParentID][2]
+          distances=get3DDistance(jX,jY,jZ,pX,pY,pZ) 
+          h36m_distances.append(distances)
+          #--------------------------------------- 
+          jX=ourPoints[jointID][0]
+          jY=ourPoints[jointID][1]
+          jZ=ourPoints[jointID][2]
+          pX=ourPoints[jointParentID][0]
+          pY=ourPoints[jointParentID][1]
+          pZ=ourPoints[jointParentID][2]
+          distances=get3DDistance(jX,jY,jZ,pX,pY,pZ) 
+          mnet_distances.append(distances)
+       #--------------------------------------- 
+
+ #------------------------------------------------- 
+ x = np.arange(len(labels))  # the label locations
+ width = 0.35  # the width of the bars
+
+ rects1 = ax2.bar(x - width/2, h36m_distances, width, label='H36M')
+ rects2 = ax2.bar(x + width/2, mnet_distances, width, label='Our Method')
+
+  # Add some text for labels, title and custom x-axis tick labels, etc.
+ ax2.set_ylim(auto=False,bottom=0,top=800)
+ ax2.set_ylabel('Limb dimensions in millimeters')
+ ax2.set_title('Comparison of H36M limb dimensions')
+ ax2.set_xticks(x)
+ ax2.set_xticklabels(labels, rotation=45, rotation_mode="anchor")
+ ax2.legend()
+
+ #autolabel(rects1)
+ #autolabel(rects2)
+#-----------------------------------------------------------------------------------------------------------------------
+
+
+
+
+#-----------------------------------------------------------------------------------------------------------------------
+def drawLimbError(JOINTS_TO_COMPARE,JOINT_LABELS,JOINT_PARENTS,JOINT_PARENT_LABELS,h36mPoints,ourPoints,numberOfJoints,ax3):
+ labels = list()
+ error_distances = list()  
+ for jointID in range(0,len(JOINTS_TO_COMPARE)): 
+       #---------------------------------------  
+       jointIDGlobal = findJointID(JOINTS_TO_COMPARE[jointID],JOINT_LABELS)
+       #--------------------------------------- 
+       if (jointIDGlobal!=-1):
+          labels.append(JOINT_LABELS[jointIDGlobal])
+          jX=h36mPoints[jointID][0]
+          jY=h36mPoints[jointID][1]
+          jZ=h36mPoints[jointID][2]
+          pX=ourPoints[jointID][0]
+          pY=ourPoints[jointID][1]
+          pZ=ourPoints[jointID][2]
+          distances=get3DDistance(jX,jY,jZ,pX,pY,pZ) 
+          error_distances.append(distances)
+       #---------------------------------------  
+
+ #------------------------------------------------- 
+ x = np.arange(len(labels))  # the label locations
+ width = 0.35  # the width of the bars
+
+ rects1 = ax3.bar(x - width/2, error_distances, width, label='Error in millimeters') 
+
+  # Add some text for labels, title and custom x-axis tick labels, etc.
+ ax3.set_ylim(auto=False,bottom=0,top=250)
+ ax3.set_ylabel('Error in millimeters')
+ ax3.set_title('Comparison of 3D estimation error')
+ ax3.set_xticks(x)
+ ax3.set_xticklabels(labels, rotation=45, rotation_mode="anchor")
+ ax3.legend()
+#-----------------------------------------------------------------------------------------------------------------------
+
+
+
+#-----------------------------------------------------------------------------------------------------------------------
+def drawFrameError(averageErrorDistances,averageMotionEstimationDistancesBetweenFrames,ax4):
+ 
+ #minimum=np.min(averageErrorDistances)
+ #ax4.plot((0,len(averageErrorDistances)), (minimum,minimum),label='Minimum Error')
+
+ #maximum=np.max(averageErrorDistances)
+ #ax4.plot((0,len(averageErrorDistances)), (maximum,maximum),label='Maximum Error')
+
+ #median=np.median(averageErrorDistances)
+ #ax4.plot((0,len(averageErrorDistances)), (median,median),label='Median Error (%0.2f mm)'% median)
+
+ average=np.average(averageErrorDistances) 
+ ax4.plot((0,len(averageErrorDistances)), (average,average),label='Average of average errors (%0.2f mm)' % average)
+
+ ax4.plot(averageErrorDistances, label='Our method average error in millimeters')
+ ax4.plot(averageMotionEstimationDistancesBetweenFrames, label='Distance of average joint from previous frame')
+
+ #ax4.set_ylim(auto=False,bottom=0,top=250)
+ ax4.set_xlabel('Experiment frame number')
+ ax4.set_ylabel('Millimeters')
+ ax4.set_title('Average 3D estimation error per frame') 
+ #ax4.set_xticklabels(labels, rotation=45, rotation_mode="anchor")
+ ax4.legend()
+#-----------------------------------------------------------------------------------------------------------------------
+
+
+
+
+
+
+def drawAfterEndOfComparison(
+                             JOINTS_TO_COMPARE,
+                             JOINT_LABELS,
+                             JOINT_PARENTS,
+                             JOINT_PARENT_LABELS,
+                             plt,ax,ax2,ax3,ax4,
+                             xlineStart,xlineEnd,
+                             ylineStart,ylineEnd,
+                             zlineStart,zlineEnd,
+                             ourPointCloud,
+                             h36PointCloud,
+                             frameID,
+                             numberOfFrames,
+                             everyNFrames,
+                             disparity,
+                             averageErrorDistances,
+                             averageMotionEstimationDistancesBetweenFrames
+                            ):
+      plt.cla() 
+      ax.cla()
+      ax2.cla()
+      ax3.cla()
+      ax4.cla()
+
+      #Print Skeletons and their connected lines.. 
+      #for i in range(0,len(xlineStart)): 
+      #    ax.plot([xlineStart[i],xlineEnd[i]],[ylineStart[i],ylineEnd[i]],zs=[zlineStart[i],zlineEnd[i]])
+      #--------------------------------------------
+      xs, ys, zs = pointListReturnXYZListForScatterPlot(ourPointCloud)
+      ax.scatter(xs, ys, zs)
+      xs, ys, zs = pointListReturnXYZListForScatterPlot(h36PointCloud)
+      ax.scatter(xs, ys, zs) 
+
+      #Secondary plots for limb lengths etc.. 
+      numberOfJoints = len(ourPointCloud) 
+      drawLimbDimensions(JOINTS_TO_COMPARE,JOINT_LABELS,JOINT_PARENTS,JOINT_PARENT_LABELS,h36PointCloud,ourPointCloud,numberOfJoints,ax2) 
+      drawLimbError(JOINTS_TO_COMPARE,JOINT_LABELS,JOINT_PARENTS,JOINT_PARENT_LABELS,h36PointCloud,ourPointCloud,numberOfJoints,ax3)
+      drawFrameError(averageErrorDistances,averageMotionEstimationDistancesBetweenFrames,ax4)
+ 
+      #------------------------- 
+      ax.text2D(0.05, 0.95, "Frame %u/%u - Increment %u - Procrustes Average Error %0.2f mm"%(frameID,numberOfFrames,everyNFrames,disparity) , transform=ax.transAxes)
+      #ax.text2D(0.05, 0.05, "RHand %0.2f mm / LHand %0.2f mm / RFoot %0.2f mm / LFoot %0.2f mm "%(currentDistances[4],currentDistances[7],currentDistances[11],currentDistances[14]) , transform=ax.transAxes)
+      #------------------------- 
+      ax.set_xlim(auto=False,left=-600,right=300)
+      ax.set_ylim(auto=False,bottom=-1600,top=200)
+      ax.set_zlim(auto=False,bottom=2000,top=6000)
+      ax.set_xlabel('X Axis')
+      ax.set_ylabel('Y Axis')
+      ax.set_zlabel('Z Axis') 
+      #------------------------- 
+      plt.show(block=False) 
+      plt.savefig('p%05u.png'%frameID)
+      #fig.canvas.draw() 
+      plt.pause(0.001)
+
+
+
+