python/demo_3Dkeypoints_3dview.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# 3D Keypoint Visualizatino in 3D view\n",
    "\n",
    "In this example, we visualize 3D body/face/hands in 3D space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import json\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "plt.rcParams['image.interpolation'] = 'nearest'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Setup paths\n",
    "data_path = '../'\n",
    "seq_name = '171204_pose1_sample'\n",
    "\n",
    "hd_skel_json_path = data_path+seq_name+'/hdPose3d_stage1_coco19/'\n",
    "hd_face_json_path = data_path+seq_name+'/hdFace3d/'\n",
    "hd_hand_json_path = data_path+seq_name+'/hdHand3d/'\n",
    "#hd_img_path = data_path+seq_name+'/hdImgs/'\n",
    "\n",
    "colors = plt.cm.hsv(np.linspace(0, 1, 10)).tolist()\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Load camera calibration parameters (for visualizing cameras)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Load camera calibration parameters (for visualizing cameras)\n",
    "with open(data_path+seq_name+'/calibration_{0}.json'.format(seq_name)) as cfile:\n",
    "    calib = json.load(cfile)\n",
    "\n",
    "# Cameras are identified by a tuple of (panel#,node#)\n",
    "cameras = {(cam['panel'],cam['node']):cam for cam in calib['cameras']}\n",
    "\n",
    "# Convert data into numpy arrays for convenience\n",
    "for k,cam in cameras.iteritems():    \n",
    "    cam['K'] = np.matrix(cam['K'])\n",
    "    cam['distCoef'] = np.array(cam['distCoef'])\n",
    "    cam['R'] = np.matrix(cam['R'])\n",
    "    cam['t'] = np.array(cam['t']).reshape((3,1))\n",
    "\n",
    "    \n",
    "# Choose only HD cameras for visualization\n",
    "hd_cam_idx = zip([0] * 30,range(0,30))\n",
    "hd_cameras = [cameras[cam].copy() for cam in hd_cam_idx]\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Select Image Frame"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Select HD Image index\n",
    "hd_idx = 400"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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5ZcuWYdmyZZ1+Ly0tDWlpaWJ2S7F88/OXQlVUVMBkMsndDbecIdPZtcg97SO6N7g7oehr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\nQCaEEIWgQCaEEIX4f0P4iPCB5npfAAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from mpl_toolkits.mplot3d import Axes3D\n",
    "\n",
    "fig = plt.figure()\n",
    "ax = fig.add_subplot(111, projection='3d')\n",
    "ax.view_init(elev = -90, azim=-90)\n",
    "#ax.set_xlabel('X Label')\n",
    "ax.set_ylabel('Y Label')\n",
    "#ax.set_zlabel('Z Label')\n",
    "ax.axis('equal')\n",
    "\n",
    "# Draw selected camera subset in blue\n",
    "for cam in hd_cameras:\n",
    "    cc = (-cam['R'].transpose()*cam['t'])\n",
    "    ax.scatter(cc[0], cc[1], cc[2], '.', color=[0,0,1])\n",
    "    \n",
    "'''\n",
    "## Visualize 3D Body\n",
    "'''\n",
    "# Edges between joints in the body skeleton\n",
    "body_edges = np.array([[1,2],[1,4],[4,5],[5,6],[1,3],[3,7],[7,8],[8,9],[3,13],[13,14],[14,15],[1,10],[10,11],[11,12]])-1\n",
    "\n",
    "try:\n",
    "    # Load the json file with this frame's skeletons\n",
    "    skel_json_fname = hd_skel_json_path+'body3DScene_{0:08d}.json'.format(hd_idx)\n",
    "    with open(skel_json_fname) as dfile:\n",
    "        bframe = json.load(dfile)\n",
    "\n",
    "    # Bodies\n",
    "    for ids in xrange(len(bframe['bodies'])):\n",
    "        body = bframe['bodies'][ids]\n",
    "        skel = np.array(body['joints19']).reshape((-1,4)).transpose()\n",
    "\n",
    "        for edge in body_edges:\n",
    "            ax.plot(skel[0,edge], skel[1,edge], skel[2,edge], color=colors[body['id']])\n",
    "            \n",
    "except IOError as e:\n",
    "    print('Error reading {0}\\n'.format(skel_json_fname)+e.strerror)\n",
    "    \n",
    "'''\n",
    "## Visualize 3D Face\n",
    "'''\n",
    "# Face keypoint orders follow Openpose keypoint output\n",
    "# https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/output.md\n",
    "# Face outline points (0-16) are unstable\n",
    "face_edges = np.array([ #[0,1],[1,2],[2,3],[3,4],[4,5],[5,6],[6,7],[7,8],[8,9],[9,10],[11,12],[12,13],[14,15],[15,16], #outline (ignored)\n",
    "                [17,18],[18,19],[19,20],[20,21], #right eyebrow\n",
    "                [22,23],[23,24],[24,25],[25,26], #left eyebrow\n",
    "                [27,28],[28,29],[29,30],   #nose upper part\n",
    "                [31,32],[32,33],[33,34],[34,35], #nose lower part\n",
    "                [36,37],[37,38],[38,39],[39,40],[40,41],[41,36], #right eye\n",
    "                [42,43],[43,44],[44,45],[45,46],[46,47],[47,42], #left eye\n",
    "                [48,49],[49,50],[50,51],[51,52],[52,53],[53,54],[54,55],[55,56],[56,57],[57,58],[58,59],[59,48], #Lip outline\n",
    "                [60,61],[61,62],[62,63],[63,64],[64,65],[65,66],[66,67],[67,60] #Lip inner line \n",
    "                ])\n",
    "\n",
    "# Load the json file with this frame's face\n",
    "try:\n",
    "    face_json_fname = hd_face_json_path+'faceRecon3D_hd{0:08d}.json'.format(hd_idx)\n",
    "    with open(face_json_fname) as dfile:\n",
    "        fframe = json.load(dfile)\n",
    "\n",
    "    # Cycle through all detected faces\n",
    "    for face in fframe['people']:\n",
    "        \n",
    "        # 3D Face has 70 3D joints, stored as an array [x1,y1,z1,x2,y2,z2,...]\n",
    "        face3d = np.array(face['face70']['landmarks']).reshape((-1,3)).transpose()\n",
    "\n",
    "        # Plot edges for each bone\n",
    "        for edge in face_edges:\n",
    "            ax.plot(face3d[0,edge], face3d[1,edge], face3d[2,edge], color=colors[face['id']])\n",
    "\n",
    "except IOError as e:\n",
    "    print('Error reading {0}\\n'.format(face_json_fname)+e.strerror)\n",
    "\n",
    "\n",
    "'''\n",
    "## Visualize 3D Hand\n",
    "'''\n",
    "# Joint orders follow Openpose keypoint output\n",
    "# https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/output.md\n",
    "hand_edges = np.array([[0,1],[1,2],[2,3],[3,4],\n",
    "                [0,5],[5,6],[6,7],[7,8],\n",
    "                [0,9],[9,10],[10,11],[11,12],\n",
    "                [0,13],[13,14],[14,15],[15,16],\n",
    "                [0,17],[17,18],[18,19],[19,20]])\n",
    "try:\n",
    "    # Load the json file with this frame's face\n",
    "    hand_json_fname = hd_hand_json_path+'handRecon3D_hd{0:08d}.json'.format(hd_idx)\n",
    "    with open(hand_json_fname) as dfile:\n",
    "        hframe = json.load(dfile)\n",
    "\n",
    "    # Cycle through all detected hands\n",
    "    for hand in hframe['people']:\n",
    "        \n",
    "        # 3D hands, right_hand and left_hand, have 21 3D joints, stored as an array [x1,y1,z1,x2,y2,z2,...]\n",
    "\n",
    "        '''\n",
    "        # Right hand\n",
    "        '''\n",
    "        hand3d = np.array(hand['right_hand']['landmarks']).reshape((-1,3)).transpose()\n",
    "\n",
    "        # Plot edges for each bone\n",
    "        for edge in hand_edges:\n",
    "            ax.plot(hand3d[0,edge], hand3d[1,edge], hand3d[2,edge], color=colors[hand['id']])\n",
    "\n",
    "        '''\n",
    "        # Left hand\n",
    "        '''\n",
    "        hand3d = np.array(hand['left_hand']['landmarks']).reshape((-1,3)).transpose()\n",
    "\n",
    "        # Plot edges for each bone\n",
    "        for edge in hand_edges:\n",
    "            ax.plot(hand3d[0,edge], hand3d[1,edge], hand3d[2,edge], color=colors[hand['id']])\n",
    "\n",
    "except IOError as e:\n",
    "    print('Error reading {0}\\n'.format(hand_json_fname)+e.strerror)\n",
    "\n",
    "\n",
    "    \n",
    "plt.show()"
   ]
  }
 ],
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   "display_name": "Python 2",
   "language": "python",
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
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   "file_extension": ".py",
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   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
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