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Bringing cropping_h36m feature up to speed. #52

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Apr 12, 2022
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Bringing cropping_h36m feature up to speed. #52

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121 changes: 79 additions & 42 deletions datasets/h36m/export_to_yarp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
"""
Copyright (C) 2021 Event-driven Perception for Robotics
Author: Franco Di Pietro and Gaurvi Goyal

LICENSE GOES HERE
"""
# Reading the GT and videos form h36 and generating Yarp compatible formats
Expand All @@ -14,37 +13,46 @@
import os

from datasets.utils.constants import HPECoreSkeleton
from datasets.utils.export import skeleton_to_yarp_row
from datasets.utils.export import skeleton_to_yarp_row, format_crop_file
from datasets.utils.export import crop_pose, crop_frame
from utils import parsing
from os.path import join, isfile
from tqdm import tqdm

############### ########
# Configuration values #
########################
WRITE_POSE = False
WRITE_FRAMES = False
CROP_DATA = True

# paths and parameters
dataset_path = '/home/ggoyal/data/h36m/extracted'
data_output_path = '/home/ggoyal/data/h36m/yarp/'
output_width = 346
output_height = 260
# subs = ['S1', 'S5', 'S6', 'S7', 'S8', 'S9', 'S11']
subs = ['S1']
crop_file = '/media/Data/data/h36m/cropping_data.txt' # file left right top bottom
output_width = 640 # 346
output_height = 480 # 260
subs = ['S1', 'S5', 'S6', 'S7', 'S8', 'S9', 'S11']
# subs = ['S1']
all_cameras = {1: '54138969', 2: '55011271', 3: '58860488', 4: '60457274'}
cam = 2 # And maybe later camera 4.
cams = [2, 4] # The two front facing cameras
errorlog = '/home/ggoyal/data/h36m/errorlog.txt'
OUTPUT_FRAMES = False




def write_video_and_pose(video_path, gt_path, directory_frames, directory_skl, write_frames=True, write_pose=True,
overwrite=False):
overwrite=False, crop=None):
# Convert the video and annotations to yarp formats.
counter = 0
frame_lines = []
pose_lines = []
vid = cv2.VideoCapture(video_path)
cdf_file = cdflib.CDF(gt_path)
data = (cdf_file.varget("Pose")).squeeze()
dim = (output_width, output_height)

if not overwrite:
if isfile(join(dir_pose, 'data.log')):
if isfile(join(directory_skl, 'data.log')):
write_pose = False
if write_frames:
if not os.path.exists(directory_frames):
Expand All @@ -58,6 +66,7 @@ def write_video_and_pose(video_path, gt_path, directory_frames, directory_skl, w
return 1
while vid.isOpened():
frame_exists, frame = vid.read()

if frame_exists:
timestamp = vid.get(cv2.CAP_PROP_POS_MSEC) / 1000 # convert timestamp to seconds
else:
Expand All @@ -73,17 +82,22 @@ def write_video_and_pose(video_path, gt_path, directory_frames, directory_skl, w

filename = 'frame_' + str(counter).zfill(10) + '.png'
filename_full = os.path.join(directory_frames, filename)

frame = crop_frame(frame, crop)
dim_input = frame.shape

if write_frames:
frame_resized = cv2.resize(src=frame, dsize=dim, interpolation=cv2.INTER_AREA)
frame_resized = cv2.resize(src=frame, dsize=(output_width, output_height), interpolation=cv2.INTER_AREA)
cv2.imwrite(filename_full, frame_resized) # create the images

# convert h3.6m joints order to hpecore one
skeleton = skeleton.reshape(-1, 2)
skeleton = parsing.h36m_to_hpecore_skeleton(skeleton)

# rescale skeleton
skeleton[:, 0] = skeleton[:, 0] * output_width / 1000
skeleton[:, 1] = skeleton[:, 1] * output_height / 1000
skeleton = crop_pose(skeleton, crop)
skeleton[:, 0] = skeleton[:, 0] * output_width / dim_input[1]
skeleton[:, 1] = skeleton[:, 1] * output_height / dim_input[0]
skeleton = np.rint(skeleton).astype(int)

torso_size = HPECoreSkeleton.compute_torso_sizes(skeleton)
Expand All @@ -103,47 +117,70 @@ def write_video_and_pose(video_path, gt_path, directory_frames, directory_skl, w
parsing.writer(directory_frames, frame_lines, frame_linesInfo)
if write_pose:
parsing.writer(directory_skl, pose_lines, pose_linesInfo)
# print(pose_lines)
# print(pose_linesInfo)

return 0


all_files = []
if __name__ == '__main__':

for sub in subs:
files = os.listdir(join(dataset_path, sub, 'Videos'))
for file in files:
if all_cameras[cam] in file:
all_files.append("%s^%s" % (sub, file))
# List all the relevant files
all_files = []
for sub in subs:
files = os.listdir(join(dataset_path, sub, 'Videos'))
for file in files:
for cam in cams:
if '_ALL' in file:
continue
if all_cameras[cam] in file:
all_files.append("%s^%s^%s" % (cam, sub, file))

for i in tqdm(range(len(all_files))):
sub, file = all_files[i].split('^')
video_file = (join(dataset_path, sub, 'Videos', file))
pose_file = (join(dataset_path, sub, "Poses_D2_Positions", file.replace('mp4', 'cdf')))
output_folder = ("%s_%s" % (sub, file.split('.')[0].replace(' ', '_')))
dir_frames = join(data_output_path, output_folder, f'ch{cam}frames')
dir_pose = join(data_output_path, output_folder, f'ch{cam}GT50Hzskeleton')
# if isfile(join(dir_pose,'data.log')):
# continue
# print((isfile(video_file),isfile(pose_file),dir_frames,dir_pose))
if not isfile(pose_file):
continue
exitcode = write_video_and_pose(video_file, pose_file, dir_frames, dir_pose, write_frames=OUTPUT_FRAMES,
write_pose=True,overwrite=True)
# Read the cropping data
crop_values = None
if CROP_DATA:
try:
f = open(crop_file, "r")
crop_lines = f.readlines()
drop_dict = format_crop_file(crop_lines)
except FileNotFoundError:
print("Cropping file does not exist.")
exit()

# Process and export the relevant data to YARP
for i in tqdm(range(len(all_files))):
cam, sub, file = all_files[i].split('^')
video_file = (join(dataset_path, sub, 'Videos', file))
pose_file = (join(dataset_path, sub, "Poses_D2_Positions", file.replace('mp4', 'cdf')))
output_folder = ("cam%s_%s_%s" % (cam, sub, file.split('.')[0].replace(' ', '_')))
dir_frames = join(data_output_path, output_folder, f'ch{cam}frames')
dir_pose = join(data_output_path, output_folder, f'ch{cam}GT50Hzskeleton')

if CROP_DATA:
try:
crop_values = drop_dict[output_folder]
except KeyError:
print("Cropping values not present in file for %s. Proceeding without cropping" % output_folder)
crop_values = None

if exitcode:
with open(errorlog, 'a') as f:
f.write("%s" % all_files[i])
if isfile(join(dir_pose, 'data.log')):
continue
print((isfile(video_file), isfile(pose_file), dir_frames, dir_pose))
if not isfile(pose_file):
continue
exitcode = write_video_and_pose(video_file, pose_file, dir_frames, dir_pose, write_frames=WRITE_FRAMES,
write_pose=WRITE_POSE, overwrite=False, crop=crop_values)

if exitcode:
with open(errorlog, 'a') as f:
f.write("%s" % all_files[i])

# sub, file = all_files[10].split('^')
# video_file = (join(dataset_path, sub, 'Videos', file))
# pose_file = (join(dataset_path, sub, "Poses_D2_Positions", file.replace('mp4', 'cdf')))
# output_folder = ("%s_%s" % (sub, file.split('.')[0].replace(' ', '_')))
# dir_frames = join(data_output_path, output_folder, 'ch0frames')
# dir_pose = join(data_output_path, output_folder, 'ch0GT50Hzskeleton')
# exitcode = write_video_and_pose(video_file, pose_file, dir_frames, dir_pose, write_frames=OUTPUT_FRAMES,
# write_pose=True,overwrite=True)
# exitcode = write_video_and_pose(video_file, pose_file, dir_frames, dir_pose, write_frames=WRITE_FRAMES,
# write_pose=WRITE_POSE, overwrite=True, crop=CROP_DATA)

# limbs = {0: 'PelvisC', 1: 'PelvisR', 2: 'KneeR', 3: 'AnkleR', 4: 'ToeR', 5: 'ToeROther', 6: 'PelvisL', 7: 'KneeL',
# 8: 'AnkleR', 9: 'ToeR', 10: 'ToeROther', 11: 'Spine', 12: 'SpineM', 13: 'Neck', 14: 'Head', 15: 'HeadOther',
Expand All @@ -155,4 +192,4 @@ def write_video_and_pose(video_path, gt_path, directory_frames, directory_skl, w
# 19 = 20
# 22 = 23
# 26 = 27
# 30 = 31
# 30 = 31