joints' coordinates saved to yarp format are now ordered following DH…

…P19's order (#51) Co-authored-by: “nicolocarissimi” <“[email protected]”>
event-driven-robotics · Apr 11, 2022 · a60e50c · a60e50c
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diff --git a/datasets/dhp19/utils/constants.py b/datasets/dhp19/utils/constants.py
@@ -32,16 +32,16 @@
 
 DHP19_TO_HPECORE_SKELETON_IND = [
     DHP19_BODY_PARTS_INDICES['head'],
-    DHP19_BODY_PARTS_INDICES['shoulderL'],
     DHP19_BODY_PARTS_INDICES['shoulderR'],
-    DHP19_BODY_PARTS_INDICES['elbowL'],
+    DHP19_BODY_PARTS_INDICES['shoulderL'],
     DHP19_BODY_PARTS_INDICES['elbowR'],
-    DHP19_BODY_PARTS_INDICES['handL'],
-    DHP19_BODY_PARTS_INDICES['handR'],
+    DHP19_BODY_PARTS_INDICES['elbowL'],
     DHP19_BODY_PARTS_INDICES['hipL'],
     DHP19_BODY_PARTS_INDICES['hipR'],
-    DHP19_BODY_PARTS_INDICES['kneeL'],
+    DHP19_BODY_PARTS_INDICES['handR'],
+    DHP19_BODY_PARTS_INDICES['handL'],
     DHP19_BODY_PARTS_INDICES['kneeR'],
-    DHP19_BODY_PARTS_INDICES['footL'],
-    DHP19_BODY_PARTS_INDICES['footR']
+    DHP19_BODY_PARTS_INDICES['kneeL'],
+    DHP19_BODY_PARTS_INDICES['footR'],
+    DHP19_BODY_PARTS_INDICES['footL']
 ]
diff --git a/datasets/h36m/utils/parsing.py b/datasets/h36m/utils/parsing.py
@@ -99,18 +99,18 @@
 
 H36M_TO_HPECORE_SKELETON_MAP = [
     14,  # head
-    17,  # shoulderL
     25,  # shoulderR
-    18,  # elbowL
+    17,  # shoulderL
     26,  # elbowR
-    19,  # handL
-    27,  # handR
+    18,  # elbowL
     6,  # hipL
     1,  # hipR
-    7,  # kneeL
+    27,  # handR
+    19,  # handL
     2,  # kneeR
-    8,  # footL
-    3  # footR
+    7,  # kneeL
+    3,  # footR
+    8  # footL
 ]
 
 

diff --git a/datasets/utils/constants.py b/datasets/utils/constants.py
@@ -1,6 +1,7 @@
 
 import numpy
 
+
 class Movenet:
 
     KEYPOINTS_COCO = ['nose', 'left_eye', 'right_eye', 'left_ear', 'right_ear',
@@ -13,21 +14,27 @@ class Movenet:
 
 class HPECoreSkeleton:
 
-    KEYPOINTS_MAP = {'head': 0, 'left_shoulder': 1, 'right_shoulder': 2, 'left_elbow': 3, 'right_elbow': 4,
-                     'left_wrist': 5, 'right_wrist': 6, 'left_hip': 7, 'right_hip': 8, 'left_knee': 9, 'right_knee': 10,
-                     'left_ankle': 11, 'right_ankle': 12}
+    # the order of the joints is the same as the DHP19 one
+    # differences:
+    # - more descriptive labels
+    # - we use the more common 'wrist' and 'ankle' labels instead of DHP19's 'hand' and 'foot' ones
+    # - all joints are listed as first 'right' and then 'left' except for the 'hip' ones: it is not an error,
+    #   it is DHP19's order
+    KEYPOINTS_MAP = {'head': 0, 'shoulder_right': 1, 'shoulder_left': 2, 'elbow_right': 3, 'elbow_left': 4,
+                     'hip_left': 5, 'hip_right': 6, 'wrist_right': 7, 'wrist_left': 8, 'knee_right': 9, 'knee_left': 10,
+                     'ankle_right': 11, 'ankle_left': 12}
 
     @staticmethod
     def compute_torso_sizes(skeletons: numpy.array) -> float:
 
         if len(skeletons.shape) == 2:
-            l_hip = skeletons[HPECoreSkeleton.KEYPOINTS_MAP['left_hip'], :]
-            r_shoulder = skeletons[HPECoreSkeleton.KEYPOINTS_MAP['right_shoulder'], :]
+            l_hip = skeletons[HPECoreSkeleton.KEYPOINTS_MAP['hip_left'], :]
+            r_shoulder = skeletons[HPECoreSkeleton.KEYPOINTS_MAP['shoulder_right'], :]
             torso_sizes = numpy.linalg.norm(l_hip - r_shoulder)
 
         elif len(skeletons.shape) == 3:
-            l_hips = skeletons[:, HPECoreSkeleton.KEYPOINTS_MAP['left_hip'], :]
-            r_shoulders = skeletons[:, HPECoreSkeleton.KEYPOINTS_MAP['right_shoulder'], :]
+            l_hips = skeletons[:, HPECoreSkeleton.KEYPOINTS_MAP['hip_left'], :]
+            r_shoulders = skeletons[:, HPECoreSkeleton.KEYPOINTS_MAP['shoulder_right'], :]
             torso_sizes = numpy.linalg.norm(l_hips - r_shoulders, axis=1)
 
         return torso_sizes