| """Convert whole native annotation sequences to camera-space MANO.""" |
| from sequence_pilot_common import * |
| from audit_source_fields import native_npy |
| from pilot_mano import Mano |
| from pilot_hot_normalize import transform |
|
|
| def camera_mano(model,pose,beta,translation,E): |
| pose=np.asarray(pose).reshape(-1,48);beta=np.asarray(beta).reshape(-1,10);translation=np.asarray(translation).reshape(-1,3) |
| root=np.einsum('v,tvc->tc',model.data['J_regressor'][0],model.data['v_template'][None]+np.einsum('vci,ti->tvc',model.data['shapedirs'],beta)) |
| newpose=pose.copy();newpose[:,:3]=np.stack([cv2.Rodrigues(e[:3,:3]@cv2.Rodrigues(p[:3])[0])[0].ravel() for e,p in zip(E,pose)]) |
| newt=np.einsum('tij,tj->ti',E[:,:3,:3],root+translation)+E[:,:3,3]-root |
| |
| errors=[] |
| for begin in range(0,len(pose),64): |
| s=slice(begin,begin+64);world,_,_=model.geometry(pose[s],beta[s],translation[s]);cam,_,_=model.geometry(newpose[s],beta[s],newt[s]);target=np.einsum('tij,tvj->tvi',E[s,:3,:3],world)+E[s,None,:3,3] |
| errors.append(float(np.linalg.norm(cam-target,axis=-1).max())) |
| assert max(errors)<2e-5,max(errors) |
| return np.concatenate([newpose,beta,newt],axis=-1),max(errors) |
|
|
| def arctic(): |
| seq='capsulemachine_use_02';src=OLD/'ARCTIC/raw_seqs/s01';a=native_npy(src/(seq+'.mano.npy')).item();c=native_npy(src/(seq+'.egocam.dist.npy')).item();T=len(a['left']['rot']);misc=load(OLD/'ARCTIC/meta/misc.json')['s01'];ids=list(range(T)) |
| v=View('ARCTIC','s01_'+seq,'ego',ids,misc['image_size'][0],{'path':str(src.relative_to(WORK)),'sequence':seq},sampling='full_annotation_sequence') |
| E=np.tile(np.eye(4),(T,1,1));E[:,:3,:3]=c['R_k_cam_np'];E[:,:3,3]=c['T_k_cam_np'].reshape(T,3) |
| v.intrinsic(c['intrinsics']);v.m['camera'].update(model='rational8',schema_id='camera/rational8/v1');v.m['components']['intrinsic'].update(schema_id='camera/rational8/v1',distortion_ref='camera/distortion.pt') |
| v.array('distortion','camera/distortion.pt','camera/distortion8/v1',np.broadcast_to(c['dist8'],(T,8)),np.ones(T,bool),['T','parameter'],parameter_names=['k1','k2','p1','p2','k3','k4','k5','k6']) |
| v.array('extrinsic','camera/extrinsic.pt','transform/se3/v1',E,np.ones(T,bool),['T','row','column'],unit='m',convention='T_camera_from_world') |
| motion=np.empty((T,2,61)) |
| for s,side in enumerate(['left','right']): |
| b=a[side];model=Mano(side);pose=np.c_[b['rot'],b['pose']].copy();pose[:,3:]+=model.data['hands_mean'];motion[:,s],err=camera_mano(model,pose,np.broadcast_to(b['shape'],(T,10)),b['trans'],E);v.checks.append({'test':'all_frame_camera_MANO_geometry','side':side,'max_m':err,'native_hand_mean':'ARCTIC common/body_models.py flat_hand=False; mean added before normalization'}) |
| v.array('mano','annotation/mano/motion.pt','mano/axis_angle61/v1',motion,np.ones((T,2),bool),['T','hand','parameter'],unit='m',angle_unit='rad',coordinate_frame='camera',model_profile={'version':'MANO-v1.2','flat_hand_mean':True,'left_shapedirs_fix':False}) |
| for i,row in enumerate(v.frames):row.update(source_annotation_index=i,source_image_frame_id=i+misc['ioi_offset']) |
| v.m['input_gaps']=['full matching RGB image inventory and selected object.npy/object meshes unavailable locally; not source absence'];v.finish();snapshot('ARCTIC',['sequence_pilot_world.py','audit_source_fields.py','pilot_mano.py']) |
|
|
| def oakink2(): |
| src=next((OLD/'OakInk2/anno_preview').glob('*.pkl'));a=read_pickle(src);ids=a['frame_id_list'];T=len(ids);cam='104422070969';key=a['cam_def'][cam];images=OLD/'OakInk2/data'/src.stem/cam |
| first=np.asarray(Image.open(images/f'{ids[0]:06d}.png'));v=View('OakInk2',src.stem,cam,ids,[first.shape[1],first.shape[0]],{'annotation':str(src.relative_to(WORK)),'image_root':str(images.relative_to(WORK))},sampling='official_frame_id_list') |
| v.video('rgb','observation/rgb.mkv',(np.asarray(Image.open(images/f'{i:06d}.png').convert('RGB')) for i in ids)) |
| K=np.stack([a['cam_intr'][key][i] for i in ids]);E=np.stack([a['cam_extr'][key][i] for i in ids]);v.m['camera'].update(model='pinhole',schema_id='camera/pinhole/v1') |
| v.array('intrinsic','camera/intrinsic.pt','camera/pinhole/v1',K,np.ones(T,bool),['T','row','column']) |
| v.array('extrinsic','camera/extrinsic.pt','transform/se3/v1',E,np.ones(T,bool),['T','row','column'],unit='m',convention='T_camera_from_world',method='official preview applies cam_extr @ world object transform') |
| motion=np.empty((T,2,61)) |
| for s,side in enumerate(['left','right']): |
| prefix=['lh','rh'][s];rows=[a['raw_mano'][i] for i in ids];q=np.stack([np.asarray(r[prefix+'__pose_coeffs']).reshape(16,4) for r in rows]);pose=np.stack([cv2.Rodrigues(transform(qq,[0,0,0])[:3,:3])[0].ravel() for qq in q.reshape(-1,4)]).reshape(T,48) |
| beta=np.stack([np.asarray(r[prefix+'__betas']).reshape(10) for r in rows]);trans=np.stack([np.asarray(r[prefix+'__tsl']).reshape(3) for r in rows]);model=Mano(side) |
| root=np.einsum('v,tvc->tc',model.data['J_regressor'][0],model.data['v_template'][None]+np.einsum('vci,ti->tvc',model.data['shapedirs'],beta)) |
| motion[:,s],err=camera_mano(model,pose,beta,trans-root,E);v.checks.append({'test':'all_frame_camera_MANO_geometry','side':side,'max_m':err,'source_center':'official manotorch center_idx=0; subtract shape-dependent wrist'}) |
| v.array('mano','annotation/mano/motion.pt','mano/axis_angle61/v1',motion,np.ones((T,2),bool),['T','hand','parameter'],unit='m',coordinate_frame='camera',angle_unit='rad',model_profile={'version':'MANO-v1.2','flat_hand_mean':True,'left_shapedirs_fix':False},method='source wxyz quaternions to axis-angle; same mocap frame keys as official preview; root-corrected world to camera') |
| for oid in a['obj_list']: |
| W=np.stack([a['obj_transf'][oid][i] for i in ids]);P=E@W;valid=np.isfinite(P).all((1,2));rel=f'annotation/object/{oid}' |
| v.array('object_'+oid+'_pose',rel+'/pose.pt','object/rigid/v1',P,valid,['T','row','column'],unit='m',convention='T_camera_from_object') |
| save(v.p/rel/'metainfo.json',{'object_id':oid,'identity_scope':'sequence','scope_id':src.stem,'has_model':False,'source_locator':v.source}) |
| v.m['input_gaps']=['object asset models not yet downloaded'];v.m['semantic_review_required']=['MANO quaternion hand mean convention must be compared with official renderer; algebraic check alone is insufficient'];v.finish();snapshot('OakInk2',['sequence_pilot_world.py','audit_source_fields.py','pilot_mano.py']) |
|
|
| if __name__=='__main__': |
| p=argparse.ArgumentParser();p.add_argument('dataset',choices=['ARCTIC','OakInk2']);a=p.parse_args();{'ARCTIC':arctic,'OakInk2':oakink2}[a.dataset]() |
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