mirror of
https://github.com/storytold/storyteller-ml.git
synced 2026-10-16 00:13:07 +00:00
Justin John
234 lines
9.0 KiB
Python
234 lines
9.0 KiB
Python
#!/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)
|
|
|
|
|
|
|
|
|