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| import os | |
| import torch | |
| import numpy as np | |
| import cv2 | |
| import matplotlib.pyplot as plt | |
| import glob | |
| import pickle | |
| import pyrender | |
| import trimesh | |
| import smplx | |
| from pathlib import Path | |
| from shapely import geometry | |
| from smplx import SMPL as _SMPL | |
| from smplx.utils import SMPLOutput as ModelOutput | |
| from scipy.spatial.transform.rotation import Rotation as RRR | |
| class Renderer: | |
| """ | |
| Renderer used for visualizing the SMPL model | |
| Code adapted from https://github.com/vchoutas/smplify-x | |
| """ | |
| def __init__(self, vertices, focal_length=5000, img_res=(224,224), faces=None): | |
| self.renderer = pyrender.OffscreenRenderer(viewport_width=img_res[0], | |
| viewport_height=img_res[1], | |
| point_size=2.0) | |
| self.focal_length = focal_length | |
| self.camera_center = [img_res[0] // 2, img_res[1] // 2] | |
| self.faces = faces | |
| if torch.cuda.is_available(): | |
| self.device = torch.device("cuda") | |
| else: | |
| self.device = torch.device("cpu") | |
| self.rot = trimesh.transformations.rotation_matrix(np.radians(180), [1, 0, 0]) | |
| minx, miny, minz = vertices.min(axis=(0, 1)) | |
| maxx, maxy, maxz = vertices.max(axis=(0, 1)) | |
| minx = minx - 0.5 | |
| maxx = maxx + 0.5 | |
| minz = minz - 0.5 | |
| maxz = maxz + 0.5 | |
| floor = geometry.Polygon([[minx, minz], [minx, maxz], [maxx, maxz], [maxx, minz]]) | |
| self.floor = trimesh.creation.extrude_polygon(floor, 1e-5) | |
| self.floor.visual.face_colors = [0, 0, 0, 0.2] | |
| self.floor.apply_transform(self.rot) | |
| self.floor_pose =np.array([[ 1, 0, 0, 0], | |
| [ 0, np.cos(np.pi / 2), -np.sin(np.pi / 2), miny], | |
| [ 0, np.sin(np.pi / 2), np.cos(np.pi / 2), 0], | |
| [ 0, 0, 0, 1]]) | |
| c = -np.pi / 6 | |
| self.camera_pose = [[ 1, 0, 0, (minx+maxx)/2], | |
| [ 0, np.cos(c), -np.sin(c), 1.5], | |
| [ 0, np.sin(c), np.cos(c), max(4, minz+(1.5-miny)*2, (maxx-minx))], | |
| [ 0, 0, 0, 1] | |
| ] | |
| def __call__(self, vertices, camera_translation): | |
| floor_render = pyrender.Mesh.from_trimesh(self.floor, smooth=False) | |
| material = pyrender.MetallicRoughnessMaterial( | |
| metallicFactor=0.1, | |
| alphaMode='OPAQUE', | |
| baseColorFactor=(0.658, 0.214, 0.0114, 0.2)) | |
| mesh = trimesh.Trimesh(vertices, self.faces) | |
| mesh.apply_transform(self.rot) | |
| mesh = pyrender.Mesh.from_trimesh(mesh, material=material) | |
| camera = pyrender.PerspectiveCamera(yfov=(np.pi / 3.0)) | |
| light = pyrender.DirectionalLight(color=[1,1,1], intensity=350) | |
| spot_l = pyrender.SpotLight(color=np.ones(3), intensity=300.0, | |
| innerConeAngle=np.pi/16, outerConeAngle=np.pi/6) | |
| point_l = pyrender.PointLight(color=np.ones(3), intensity=300.0) | |
| scene = pyrender.Scene(bg_color=(1.,1.,1.,0.8),ambient_light=(0.4, 0.4, 0.4)) | |
| scene.add(floor_render, pose=self.floor_pose) | |
| scene.add(mesh, 'mesh') | |
| light_pose = np.eye(4) | |
| light_pose[:3, 3] = np.array([0, -1, 1]) | |
| scene.add(light, pose=light_pose) | |
| light_pose[:3, 3] = np.array([0, 1, 1]) | |
| scene.add(light, pose=light_pose) | |
| light_pose[:3, 3] = np.array([1, 1, 2]) | |
| scene.add(light, pose=light_pose) | |
| scene.add(camera, pose=self.camera_pose) | |
| flags = pyrender.RenderFlags.RGBA | pyrender.RenderFlags.SHADOWS_DIRECTIONAL | |
| color, rend_depth = self.renderer.render(scene, flags=flags) | |
| return color | |
| class SMPLRender(): | |
| def __init__(self, SMPL_MODEL_DIR): | |
| if torch.cuda.is_available(): | |
| self.device = torch.device("cuda") | |
| else: | |
| self.device = torch.device("cpu") | |
| # self.smpl = SMPL(SMPL_MODEL_DIR, batch_size=1, create_transl=False).to(self.device) | |
| self.smpl = smplx.create(Path(SMPL_MODEL_DIR).parent, model_type="smpl", gender="neutral", ext="npz", batch_size=1).to(self.device) | |
| self.pred_camera_t = [] | |
| self.focal_length = 110 | |
| def init_renderer(self, res, smpl_param, is_headroot=False): | |
| poses = smpl_param['pred_pose'] | |
| pred_rotmats = [] | |
| for pose in poses: | |
| if pose.size==72: | |
| pose = pose.reshape(-1,3) | |
| pose = RRR.from_rotvec(pose).as_matrix() | |
| pose = pose.reshape(1,24,3,3) | |
| pred_rotmats.append(torch.from_numpy(pose.astype(np.float32)[None]).to(self.device)) | |
| pred_rotmat = torch.cat(pred_rotmats, dim=0) | |
| pred_betas = torch.from_numpy(smpl_param['pred_shape'].reshape(1, 10).astype(np.float32)).to(self.device) | |
| pred_root = torch.tensor(smpl_param['pred_root'].reshape(-1, 3).astype(np.float32),device=self.device) | |
| smpl_output = self.smpl(betas=pred_betas, body_pose=pred_rotmat[:, 1:],transl=pred_root, global_orient=pred_rotmat[:, :1], pose2rot=False) | |
| self.vertices = smpl_output.vertices.detach().cpu().numpy() | |
| pred_root = pred_root[0] | |
| if is_headroot: | |
| pred_root = pred_root - smpl_output.joints[0,12].detach().cpu().numpy() | |
| self.pred_camera_t.append(pred_root) | |
| self.renderer = Renderer(vertices=self.vertices, focal_length=self.focal_length, | |
| img_res=(res[1], res[0]), faces=self.smpl.faces) | |
| def render(self, index): | |
| renderImg = self.renderer(self.vertices[index, ...], self.pred_camera_t) | |
| return renderImg | |