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| # Copyright (c) 2018-present, Facebook, Inc. | |
| # All rights reserved. | |
| # | |
| # This source code is licensed under the license found in the | |
| # LICENSE file in the root directory of this source tree. | |
| # | |
| import copy | |
| import numpy as np | |
| from common.mocap_dataset import MocapDataset | |
| from common.skeleton import Skeleton | |
| humaneva_skeleton = Skeleton(parents=[-1, 0, 1, 2, 3, 1, 5, 6, 0, 8, 9, 0, 11, 12, 1], | |
| joints_left=[2, 3, 4, 8, 9, 10], | |
| joints_right=[5, 6, 7, 11, 12, 13]) | |
| humaneva_cameras_intrinsic_params = [ | |
| { | |
| 'id': 'C1', | |
| 'res_w': 640, | |
| 'res_h': 480, | |
| 'azimuth': 0, # Only used for visualization | |
| }, | |
| { | |
| 'id': 'C2', | |
| 'res_w': 640, | |
| 'res_h': 480, | |
| 'azimuth': -90, # Only used for visualization | |
| }, | |
| { | |
| 'id': 'C3', | |
| 'res_w': 640, | |
| 'res_h': 480, | |
| 'azimuth': 90, # Only used for visualization | |
| }, | |
| ] | |
| humaneva_cameras_extrinsic_params = { | |
| 'S1': [ | |
| { | |
| 'orientation': [0.424207, -0.4983646, -0.5802981, 0.4847012], | |
| 'translation': [4062.227, 663.2477, 1528.397], | |
| }, | |
| { | |
| 'orientation': [0.6503354, -0.7481602, -0.0919284, 0.0941766], | |
| 'translation': [844.8131, -3805.2092, 1504.9929], | |
| }, | |
| { | |
| 'orientation': [0.0664734, -0.0690535, 0.7416416, -0.6639132], | |
| 'translation': [-797.67377, 3916.3174, 1433.6602], | |
| }, | |
| ], | |
| 'S2': [ | |
| { | |
| 'orientation': [0.4214752, -0.4961493, -0.5838273, 0.4851187], | |
| 'translation': [4112.9121, 626.4929, 1545.2988], | |
| }, | |
| { | |
| 'orientation': [0.6501393, -0.7476588, -0.0954617, 0.0959808], | |
| 'translation': [923.5740, -3877.9243, 1504.5518], | |
| }, | |
| { | |
| 'orientation': [0.0699353, -0.0712403, 0.7421637, -0.662742], | |
| 'translation': [-781.4915, 3838.8853, 1444.9929], | |
| }, | |
| ], | |
| 'S3': [ | |
| { | |
| 'orientation': [0.424207, -0.4983646, -0.5802981, 0.4847012], | |
| 'translation': [4062.2271, 663.2477, 1528.3970], | |
| }, | |
| { | |
| 'orientation': [0.6503354, -0.7481602, -0.0919284, 0.0941766], | |
| 'translation': [844.8131, -3805.2092, 1504.9929], | |
| }, | |
| { | |
| 'orientation': [0.0664734, -0.0690535, 0.7416416, -0.6639132], | |
| 'translation': [-797.6738, 3916.3174, 1433.6602], | |
| }, | |
| ], | |
| 'S4': [ | |
| {}, | |
| {}, | |
| {}, | |
| ], | |
| } | |
| class HumanEvaDataset(MocapDataset): | |
| def __init__(self, path): | |
| super().__init__(fps=60, skeleton=humaneva_skeleton) | |
| self._cameras = copy.deepcopy(humaneva_cameras_extrinsic_params) | |
| for cameras in self._cameras.values(): | |
| for i, cam in enumerate(cameras): | |
| cam.update(humaneva_cameras_intrinsic_params[i]) | |
| for k, v in cam.items(): | |
| if k not in ['id', 'res_w', 'res_h']: | |
| cam[k] = np.array(v, dtype='float32') | |
| if 'translation' in cam: | |
| cam['translation'] = cam['translation'] / 1000 # mm to meters | |
| for subject in list(self._cameras.keys()): | |
| data = self._cameras[subject] | |
| del self._cameras[subject] | |
| for prefix in ['Train/', 'Validate/', 'Unlabeled/Train/', 'Unlabeled/Validate/', 'Unlabeled/']: | |
| self._cameras[prefix + subject] = data | |
| # Load serialized dataset | |
| data = np.load(path)['positions_3d'].item() | |
| self._data = {} | |
| for subject, actions in data.items(): | |
| self._data[subject] = {} | |
| for action_name, positions in actions.items(): | |
| self._data[subject][action_name] = { | |
| 'positions': positions, | |
| 'cameras': self._cameras[subject], | |
| } | |