cs543_FINAL_proj/test.py at main · junryuf2/cs543_FINAL_proj · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
import numpy as np
import json
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
from matplotlib.animation import FuncAnimation
import cv2
import numpy as np


def load_keypoints(json_file):
    with open(json_file, 'r') as file:
        data = json.load(file)
    return [np.array(frame['keypoints'][0]) for frame in data if frame['keypoints']]


def get_camera_parameters():
    focal_length_pixels = 1785
    pp = (1920 / 2, 1280 / 2)
    camera_matrix = np.array([
        [focal_length_pixels, 0, pp[0]],
        [0, focal_length_pixels, pp[1]],
        [0, 0, 1]
    ])

    print(f'printing camera matrx shape {camera_matrix.shape}')
    R = np.eye(3)
    T = np.array([[100, 0, 0]]).T
    return camera_matrix, R, T


def triangulate_points(kp1, kp2, cam_matrix, R, T):
    if len(kp1) == 0 or len(kp2) == 0:
        return np.array([])
    kp1 = np.array(kp1)
    kp2 = np.array(kp2)


    inv_cam_matrix = np.linalg.inv(cam_matrix)
    kp1_normalized = (inv_cam_matrix @ np.vstack((kp1.T, np.ones((1, kp1.shape[0])))))[:2]
    kp2_normalized = (inv_cam_matrix @ np.vstack((kp2.T, np.ones((1, kp2.shape[0])))))[:2]


    P1 = np.hstack((np.eye(3), np.zeros((3, 1))))
    P2 = np.hstack((R, T))
    points_4d_homogeneous = cv2.triangulatePoints(P1, P2, kp1_normalized, kp2_normalized)
    points_3d = points_4d_homogeneous[:3] / points_4d_homogeneous[3]
    return points_3d.T


def filter_limits(points, lower_percentile=5, upper_percentile=95):
    """Compute axis limits that exclude extreme outliers."""
    p_low = np.percentile(points, lower_percentile)
    p_high = np.percentile(points, upper_percentile)
    return p_low, p_high


def main():
    json_file1 = 'revised_videos/keypoints/IMG_0674.json'
    json_file2 = 'revised_videos/keypoints/IMG_2358.json'
    keypoints1 = load_keypoints(json_file1)
    keypoints2 = load_keypoints(json_file2)

    print(keypoints1[0].shape)
    camera_matrix, R, T = get_camera_parameters()


    points_series = []
    for kp1, kp2 in zip(keypoints1, keypoints2):
        points_3d = triangulate_points(kp1, kp2, camera_matrix, R, T)
        if points_3d.size > 0:
            points_series.append(points_3d)


    print((points_series[0].shape))
    all_3d_points = np.dstack(points_series)  #  (N_frames, 17, 3)
    print(f'all3dpoints is {all_3d_points.shape}')
    all_3d_points = np.transpose(all_3d_points, (2, 1, 0))  # (3, 17, N_frames)


    fig = plt.figure()
    ax = fig.add_subplot(111, projection='3d')


    # percentile filter to axis limits
    x_min, x_max = filter_limits(all_3d_points[0])
    y_min, y_max = filter_limits(all_3d_points[1])
    z_min, z_max = filter_limits(all_3d_points[2])


    ax.set_xlim([x_min, x_max])
    ax.set_ylim([y_min, y_max])
    ax.set_zlim([z_min, z_max])


    # remove axis
    ax.set_xticks([])
    ax.set_yticks([])
    ax.set_zticks([])


    scatters = [ax.scatter(all_3d_points[0, 0, i], all_3d_points[0, 1, i], all_3d_points[0, 2, i]) for i in range(17)]


    def update(num, data, scatters, ax):
        for i, sc in enumerate(scatters):
            sc._offsets3d = (data[num:num+1, 0, i], data[num:num+1, 1, i], data[num:num+1, 2, i])


        # Dynamically adjust axes limits
        current_data = data[num, :, :]
        x_min, x_max = filter_limits(current_data[0])
        y_min, y_max = filter_limits(current_data[1])
        z_min, z_max = filter_limits(current_data[2])
        ax.set_xlim([x_min, x_max])
        ax.set_ylim([y_min, y_max])
        ax.set_zlim([z_min, z_max])


        return scatters


    # Modify the FuncAnimation call to include ax as a part of fargs
    ani = FuncAnimation(fig, update, frames=len(points_series), fargs=(all_3d_points, scatters, ax), repeat=True)


    plt.legend(loc='upper left')
    ani.save('3D_points_motion.mp4', writer='ffmpeg', fps=20)


if __name__ == '__main__':
    main()