TANGO / SMPLer-X /common /utils /human_models.py
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import numpy as np
import torch
import os.path as osp
from config import cfg
from utils.smplx import smplx
import pickle
class SMPLX(object):
def __init__(self):
self.layer_arg = {'create_global_orient': False, 'create_body_pose': False, 'create_left_hand_pose': False, 'create_right_hand_pose': False, 'create_jaw_pose': False, 'create_leye_pose': False, 'create_reye_pose': False, 'create_betas': False, 'create_expression': False, 'create_transl': False}
self.layer = {'neutral': smplx.create(cfg.human_model_path, 'smplx', gender='NEUTRAL', use_pca=False, use_face_contour=True, **self.layer_arg),
'male': smplx.create(cfg.human_model_path, 'smplx', gender='MALE', use_pca=False, use_face_contour=True, **self.layer_arg),
'female': smplx.create(cfg.human_model_path, 'smplx', gender='FEMALE', use_pca=False, use_face_contour=True, **self.layer_arg)
}
self.vertex_num = 10475
self.face = self.layer['neutral'].faces
self.shape_param_dim = 10
self.expr_code_dim = 10
with open(osp.join(cfg.human_model_path, 'smplx', 'SMPLX_to_J14.pkl'), 'rb') as f:
self.j14_regressor = pickle.load(f, encoding='latin1')
with open(osp.join(cfg.human_model_path, 'smplx', 'MANO_SMPLX_vertex_ids.pkl'), 'rb') as f:
self.hand_vertex_idx = pickle.load(f, encoding='latin1')
self.face_vertex_idx = np.load(osp.join(cfg.human_model_path, 'smplx', 'SMPL-X__FLAME_vertex_ids.npy'))
self.J_regressor = self.layer['neutral'].J_regressor.numpy()
self.J_regressor_idx = {'pelvis': 0, 'lwrist': 20, 'rwrist': 21, 'neck': 12}
self.orig_hand_regressor = self.make_hand_regressor()
#self.orig_hand_regressor = {'left': self.layer.J_regressor.numpy()[[20,37,38,39,25,26,27,28,29,30,34,35,36,31,32,33],:], 'right': self.layer.J_regressor.numpy()[[21,52,53,54,40,41,42,43,44,45,49,50,51,46,47,48],:]}
# original SMPLX joint set
self.orig_joint_num = 53 # 22 (body joints) + 30 (hand joints) + 1 (face jaw joint)
self.orig_joints_name = \
('Pelvis', 'L_Hip', 'R_Hip', 'Spine_1', 'L_Knee', 'R_Knee', 'Spine_2', 'L_Ankle', 'R_Ankle', 'Spine_3', 'L_Foot', 'R_Foot', 'Neck', 'L_Collar', 'R_Collar', 'Head', 'L_Shoulder', 'R_Shoulder', 'L_Elbow', 'R_Elbow', 'L_Wrist', 'R_Wrist', # body joints
'L_Index_1', 'L_Index_2', 'L_Index_3', 'L_Middle_1', 'L_Middle_2', 'L_Middle_3', 'L_Pinky_1', 'L_Pinky_2', 'L_Pinky_3', 'L_Ring_1', 'L_Ring_2', 'L_Ring_3', 'L_Thumb_1', 'L_Thumb_2', 'L_Thumb_3', # left hand joints
'R_Index_1', 'R_Index_2', 'R_Index_3', 'R_Middle_1', 'R_Middle_2', 'R_Middle_3', 'R_Pinky_1', 'R_Pinky_2', 'R_Pinky_3', 'R_Ring_1', 'R_Ring_2', 'R_Ring_3', 'R_Thumb_1', 'R_Thumb_2', 'R_Thumb_3', # right hand joints
'Jaw' # face jaw joint
)
self.orig_flip_pairs = \
( (1,2), (4,5), (7,8), (10,11), (13,14), (16,17), (18,19), (20,21), # body joints
(22,37), (23,38), (24,39), (25,40), (26,41), (27,42), (28,43), (29,44), (30,45), (31,46), (32,47), (33,48), (34,49), (35,50), (36,51) # hand joints
)
self.orig_root_joint_idx = self.orig_joints_name.index('Pelvis')
self.orig_joint_part = \
{'body': range(self.orig_joints_name.index('Pelvis'), self.orig_joints_name.index('R_Wrist')+1),
'lhand': range(self.orig_joints_name.index('L_Index_1'), self.orig_joints_name.index('L_Thumb_3')+1),
'rhand': range(self.orig_joints_name.index('R_Index_1'), self.orig_joints_name.index('R_Thumb_3')+1),
'face': range(self.orig_joints_name.index('Jaw'), self.orig_joints_name.index('Jaw')+1)}
# changed SMPLX joint set for the supervision
self.joint_num = 137 # 25 (body joints) + 40 (hand joints) + 72 (face keypoints)
self.joints_name = \
('Pelvis', 'L_Hip', 'R_Hip', 'L_Knee', 'R_Knee', 'L_Ankle', 'R_Ankle', 'Neck', 'L_Shoulder', 'R_Shoulder', 'L_Elbow', 'R_Elbow', 'L_Wrist', 'R_Wrist', 'L_Big_toe', 'L_Small_toe', 'L_Heel', 'R_Big_toe', 'R_Small_toe', 'R_Heel', 'L_Ear', 'R_Ear', 'L_Eye', 'R_Eye', 'Nose',# body joints
'L_Thumb_1', 'L_Thumb_2', 'L_Thumb_3', 'L_Thumb_4', 'L_Index_1', 'L_Index_2', 'L_Index_3', 'L_Index_4', 'L_Middle_1', 'L_Middle_2', 'L_Middle_3', 'L_Middle_4', 'L_Ring_1', 'L_Ring_2', 'L_Ring_3', 'L_Ring_4', 'L_Pinky_1', 'L_Pinky_2', 'L_Pinky_3', 'L_Pinky_4', # left hand joints
'R_Thumb_1', 'R_Thumb_2', 'R_Thumb_3', 'R_Thumb_4', 'R_Index_1', 'R_Index_2', 'R_Index_3', 'R_Index_4', 'R_Middle_1', 'R_Middle_2', 'R_Middle_3', 'R_Middle_4', 'R_Ring_1', 'R_Ring_2', 'R_Ring_3', 'R_Ring_4', 'R_Pinky_1', 'R_Pinky_2', 'R_Pinky_3', 'R_Pinky_4', # right hand joints
*['Face_' + str(i) for i in range(1,73)] # face keypoints (too many keypoints... omit real names. have same name of keypoints defined in FLAME class)
)
self.root_joint_idx = self.joints_name.index('Pelvis')
self.lwrist_idx = self.joints_name.index('L_Wrist')
self.rwrist_idx = self.joints_name.index('R_Wrist')
self.neck_idx = self.joints_name.index('Neck')
self.flip_pairs = \
( (1,2), (3,4), (5,6), (8,9), (10,11), (12,13), (14,17), (15,18), (16,19), (20,21), (22,23), # body joints
(25,45), (26,46), (27,47), (28,48), (29,49), (30,50), (31,51), (32,52), (33,53), (34,54), (35,55), (36,56), (37,57), (38,58), (39,59), (40,60), (41,61), (42,62), (43,63), (44,64), # hand joints
(67,68), # face eyeballs
(69,78), (70,77), (71,76), (72,75), (73,74), # face eyebrow
(83,87), (84,86), # face below nose
(88,97), (89,96), (90,95), (91,94), (92,99), (93,98), # face eyes
(100,106), (101,105), (102,104), (107,111), (108,110), # face mouth
(112,116), (113,115), (117,119), # face lip
(120,136), (121,135), (122,134), (123,133), (124,132), (125,131), (126,130), (127,129) # face contours
)
self.joint_idx = \
(0,1,2,4,5,7,8,12,16,17,18,19,20,21,60,61,62,63,64,65,59,58,57,56,55, # body joints
37,38,39,66,25,26,27,67,28,29,30,68,34,35,36,69,31,32,33,70, # left hand joints
52,53,54,71,40,41,42,72,43,44,45,73,49,50,51,74,46,47,48,75, # right hand joints
22,15, # jaw, head
57,56, # eyeballs
76,77,78,79,80,81,82,83,84,85, # eyebrow
86,87,88,89, # nose
90,91,92,93,94, # below nose
95,96,97,98,99,100,101,102,103,104,105,106, # eyes
107, # right mouth
108,109,110,111,112, # upper mouth
113, # left mouth
114,115,116,117,118, # lower mouth
119, # right lip
120,121,122, # upper lip
123, # left lip
124,125,126, # lower lip
127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143 # face contour
)
self.joint_part = \
{'body': range(self.joints_name.index('Pelvis'), self.joints_name.index('Nose')+1),
'lhand': range(self.joints_name.index('L_Thumb_1'), self.joints_name.index('L_Pinky_4')+1),
'rhand': range(self.joints_name.index('R_Thumb_1'), self.joints_name.index('R_Pinky_4')+1),
'hand': range(self.joints_name.index('L_Thumb_1'), self.joints_name.index('R_Pinky_4')+1),
'face': range(self.joints_name.index('Face_1'), self.joints_name.index('Face_72')+1)}
# changed SMPLX joint set for PositionNet prediction
self.pos_joint_num = 65 # 25 (body joints) + 40 (hand joints)
self.pos_joints_name = \
('Pelvis', 'L_Hip', 'R_Hip', 'L_Knee', 'R_Knee', 'L_Ankle', 'R_Ankle', 'Neck', 'L_Shoulder', 'R_Shoulder', 'L_Elbow', 'R_Elbow', 'L_Wrist', 'R_Wrist', 'L_Big_toe', 'L_Small_toe', 'L_Heel', 'R_Big_toe', 'R_Small_toe', 'R_Heel', 'L_Ear', 'R_Ear', 'L_Eye', 'R_Eye', 'Nose', # body joints
'L_Thumb_1', 'L_Thumb_2', 'L_Thumb_3', 'L_Thumb_4', 'L_Index_1', 'L_Index_2', 'L_Index_3', 'L_Index_4', 'L_Middle_1', 'L_Middle_2', 'L_Middle_3', 'L_Middle_4', 'L_Ring_1', 'L_Ring_2', 'L_Ring_3', 'L_Ring_4', 'L_Pinky_1', 'L_Pinky_2', 'L_Pinky_3', 'L_Pinky_4', # left hand joints
'R_Thumb_1', 'R_Thumb_2', 'R_Thumb_3', 'R_Thumb_4', 'R_Index_1', 'R_Index_2', 'R_Index_3', 'R_Index_4', 'R_Middle_1', 'R_Middle_2', 'R_Middle_3', 'R_Middle_4', 'R_Ring_1', 'R_Ring_2', 'R_Ring_3', 'R_Ring_4', 'R_Pinky_1', 'R_Pinky_2', 'R_Pinky_3', 'R_Pinky_4', # right hand joints
)
self.pos_joint_part = \
{'body': range(self.pos_joints_name.index('Pelvis'), self.pos_joints_name.index('Nose')+1),
'lhand': range(self.pos_joints_name.index('L_Thumb_1'), self.pos_joints_name.index('L_Pinky_4')+1),
'rhand': range(self.pos_joints_name.index('R_Thumb_1'), self.pos_joints_name.index('R_Pinky_4')+1),
'hand': range(self.pos_joints_name.index('L_Thumb_1'), self.pos_joints_name.index('R_Pinky_4')+1)}
self.pos_joint_part['L_MCP'] = [self.pos_joints_name.index('L_Index_1') - len(self.pos_joint_part['body']),
self.pos_joints_name.index('L_Middle_1') - len(self.pos_joint_part['body']),
self.pos_joints_name.index('L_Ring_1') - len(self.pos_joint_part['body']),
self.pos_joints_name.index('L_Pinky_1') - len(self.pos_joint_part['body'])]
self.pos_joint_part['R_MCP'] = [self.pos_joints_name.index('R_Index_1') - len(self.pos_joint_part['body']) - len(self.pos_joint_part['lhand']),
self.pos_joints_name.index('R_Middle_1') - len(self.pos_joint_part['body']) - len(self.pos_joint_part['lhand']),
self.pos_joints_name.index('R_Ring_1') - len(self.pos_joint_part['body']) - len(self.pos_joint_part['lhand']),
self.pos_joints_name.index('R_Pinky_1') - len(self.pos_joint_part['body']) - len(self.pos_joint_part['lhand'])]
def make_hand_regressor(self):
regressor = self.layer['neutral'].J_regressor.numpy()
lhand_regressor = np.concatenate((regressor[[20,37,38,39],:],
np.eye(self.vertex_num)[5361,None],
regressor[[25,26,27],:],
np.eye(self.vertex_num)[4933,None],
regressor[[28,29,30],:],
np.eye(self.vertex_num)[5058,None],
regressor[[34,35,36],:],
np.eye(self.vertex_num)[5169,None],
regressor[[31,32,33],:],
np.eye(self.vertex_num)[5286,None]))
rhand_regressor = np.concatenate((regressor[[21,52,53,54],:],
np.eye(self.vertex_num)[8079,None],
regressor[[40,41,42],:],
np.eye(self.vertex_num)[7669,None],
regressor[[43,44,45],:],
np.eye(self.vertex_num)[7794,None],
regressor[[49,50,51],:],
np.eye(self.vertex_num)[7905,None],
regressor[[46,47,48],:],
np.eye(self.vertex_num)[8022,None]))
hand_regressor = {'left': lhand_regressor, 'right': rhand_regressor}
return hand_regressor
def reduce_joint_set(self, joint):
new_joint = []
for name in self.pos_joints_name:
idx = self.joints_name.index(name)
new_joint.append(joint[:,idx,:])
new_joint = torch.stack(new_joint,1)
return new_joint
class SMPL(object):
def __init__(self):
self.layer_arg = {'create_body_pose': False, 'create_betas': False, 'create_global_orient': False, 'create_transl': False}
self.layer = {'neutral': smplx.create(cfg.human_model_path, 'smpl', gender='NEUTRAL', **self.layer_arg), 'male': smplx.create(cfg.human_model_path, 'smpl', gender='MALE', **self.layer_arg), 'female': smplx.create(cfg.human_model_path, 'smpl', gender='FEMALE', **self.layer_arg)}
self.vertex_num = 6890
self.face = self.layer['neutral'].faces
self.shape_param_dim = 10
self.vposer_code_dim = 32
# original SMPL joint set
self.orig_joint_num = 24
self.orig_joints_name = ('Pelvis', 'L_Hip', 'R_Hip', 'Spine_1', 'L_Knee', 'R_Knee', 'Spine_2', 'L_Ankle', 'R_Ankle', 'Spine_3', 'L_Foot', 'R_Foot', 'Neck', 'L_Collar', 'R_Collar', 'Head', 'L_Shoulder', 'R_Shoulder', 'L_Elbow', 'R_Elbow', 'L_Wrist', 'R_Wrist', 'L_Hand', 'R_Hand')
self.orig_flip_pairs = ( (1,2), (4,5), (7,8), (10,11), (13,14), (16,17), (18,19), (20,21), (22,23) )
self.orig_root_joint_idx = self.orig_joints_name.index('Pelvis')
self.orig_joint_regressor = self.layer['neutral'].J_regressor.numpy().astype(np.float32)
self.joint_num = self.orig_joint_num
self.joints_name = self.orig_joints_name
self.flip_pairs = self.orig_flip_pairs
self.root_joint_idx = self.orig_root_joint_idx
self.joint_regressor = self.orig_joint_regressor
smpl_x = SMPLX()
smpl = SMPL()