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AnyMo / src /utils /audio_feat /manual.py
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# BSD License
# For fairmotion software
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
# Modified by Ruilong Li
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name Facebook nor the names of its contributors may be used to
# endorse or promote products derived from this software without specific
# prior written permission.
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
import numpy as np
from . import utils as feat_utils
# SMPL_JOINT_NAMES = [
# "root",
# "lhip", "lknee", "lankle", "ltoes",
# "rhip", "rknee", "rankle", "rtoes",
# "belly", "spine", "chest", "neck", "head",
# "linshoulder", "lshoulder", "lelbow", "lwrist",
# "rinshoulder", "rshoulder", "relbow", "rwrist"
# ]
SMPL_JOINT_NAMES = [
"root",
"lhip", "rhip", "belly",
"lknee", "rknee", "spine",
"lankle", "rankle", "chest",
"ltoes", "rtoes", "neck", "linshoulder", "rinshoulder",
"head", "lshoulder", "rshoulder",
"lelbow", "relbow",
"lwrist", "rwrist"
]
def extract_manual_features(positions):
assert len(positions.shape) == 3 # (seq_len, n_joints, 3)
features = []
f = ManualFeatures(positions)
for _ in range(1, positions.shape[0]):
pose_features = []
pose_features.append(
f.f_nmove("neck", "rhip", "lhip", "rwrist", 1.8 * f.hl)
)
pose_features.append(
f.f_nmove("neck", "lhip", "rhip", "lwrist", 1.8 * f.hl)
)
pose_features.append(
f.f_nplane("chest", "neck", "neck", "rwrist", 0.2 * f.hl)
)
pose_features.append(
f.f_nplane("chest", "neck", "neck", "lwrist", 0.2 * f.hl)
)
pose_features.append(
f.f_move("belly", "chest", "chest", "rwrist", 1.8 * f.hl)
)
pose_features.append(
f.f_move("belly", "chest", "chest", "lwrist", 1.8 * f.hl)
)
pose_features.append(
f.f_angle("relbow", "rshoulder", "relbow", "rwrist", [0, 110])
)
pose_features.append(
f.f_angle("lelbow", "lshoulder", "lelbow", "lwrist", [0, 110])
)
pose_features.append(
f.f_nplane(
"lshoulder", "rshoulder", "lwrist", "rwrist", 2.5 * f.sw
)
)
pose_features.append(
f.f_move("lwrist", "rwrist", "rwrist", "lwrist", 1.4 * f.hl)
)
pose_features.append(
f.f_move("rwrist", "root", "lwrist", "root", 1.4 * f.hl)
)
pose_features.append(
f.f_move("lwrist", "root", "rwrist", "root", 1.4 * f.hl)
)
pose_features.append(f.f_fast("rwrist", 2.5 * f.hl))
pose_features.append(f.f_fast("lwrist", 2.5 * f.hl))
pose_features.append(
f.f_plane("root", "lhip", "ltoes", "rankle", 0.38 * f.hl)
)
pose_features.append(
f.f_plane("root", "rhip", "rtoes", "lankle", 0.38 * f.hl)
)
pose_features.append(
f.f_nplane("zero", "y_unit", "y_min", "rankle", 1.2 * f.hl)
)
pose_features.append(
f.f_nplane("zero", "y_unit", "y_min", "lankle", 1.2 * f.hl)
)
pose_features.append(
f.f_nplane("lhip", "rhip", "lankle", "rankle", 2.1 * f.hw)
)
pose_features.append(
f.f_angle("rknee", "rhip", "rknee", "rankle", [0, 110])
)
pose_features.append(
f.f_angle("lknee", "lhip", "lknee", "lankle", [0, 110])
)
pose_features.append(f.f_fast("rankle", 2.5 * f.hl))
pose_features.append(f.f_fast("lankle", 2.5 * f.hl))
pose_features.append(
f.f_angle("neck", "root", "rshoulder", "relbow", [25, 180])
)
pose_features.append(
f.f_angle("neck", "root", "lshoulder", "lelbow", [25, 180])
)
pose_features.append(
f.f_angle("neck", "root", "rhip", "rknee", [50, 180])
)
pose_features.append(
f.f_angle("neck", "root", "lhip", "lknee", [50, 180])
)
pose_features.append(
f.f_plane("rankle", "neck", "lankle", "root", 0.5 * f.hl)
)
pose_features.append(
f.f_angle("neck", "root", "zero", "y_unit", [70, 110])
)
pose_features.append(
f.f_nplane("zero", "minus_y_unit", "y_min", "rwrist", -1.2 * f.hl)
)
pose_features.append(
f.f_nplane("zero", "minus_y_unit", "y_min", "lwrist", -1.2 * f.hl)
)
pose_features.append(f.f_fast("root", 2.3 * f.hl))
features.append(pose_features)
f.next_frame()
features = np.array(features, dtype=np.float32).mean(axis=0)
return features
class ManualFeatures:
def __init__(self, positions, joint_names=SMPL_JOINT_NAMES):
self.positions = positions
self.joint_names = joint_names
self.frame_num = 1
# humerus length
self.hl = feat_utils.distance_between_points(
[0.00121265, 0.37817603, 0.03681623], # "lshoulder",
[0.19911349, 0.23680794, -0.01807022], # "lelbow"
)
# shoulder width
self.sw = feat_utils.distance_between_points(
[0.00121265, 0.37817603, 0.03681623], # "lshoulder"
[-0.45181984, 0.2225595, -0.04357424], # "rshoulder"
)
# hip width
self.hw = feat_utils.distance_between_points(
[0.05640767, -0.32306919, 0.01091971], # "lhip"
[-0.10574003, -0.7149903, 0.01019822], # "rhip"
)
def next_frame(self):
self.frame_num += 1
def transform_and_fetch_position(self, j):
if j == "y_unit":
return [0, 1, 0]
elif j == "minus_y_unit":
return [0, -1, 0]
elif j == "zero":
return [0, 0, 0]
elif j == "y_min":
return [
0,
min(
[y for (_, y, _) in self.positions[self.frame_num]]
),
0,
]
return self.positions[self.frame_num][
self.joint_names.index(j)
]
def transform_and_fetch_prev_position(self, j):
return self.positions[self.frame_num - 1][
self.joint_names.index(j)
]
def f_move(self, j1, j2, j3, j4, range):
j1_prev, j2_prev, j3_prev, j4_prev = [
self.transform_and_fetch_prev_position(j) for j in [j1, j2, j3, j4]
]
j1, j2, j3, j4 = [
self.transform_and_fetch_position(j) for j in [j1, j2, j3, j4]
]
return feat_utils.velocity_direction_above_threshold(
j1, j1_prev, j2, j2_prev, j3, j3_prev, range
)
def f_nmove(self, j1, j2, j3, j4, range):
j1_prev, j2_prev, j3_prev, j4_prev = [
self.transform_and_fetch_prev_position(j) for j in [j1, j2, j3, j4]
]
j1, j2, j3, j4 = [
self.transform_and_fetch_position(j) for j in [j1, j2, j3, j4]
]
return feat_utils.velocity_direction_above_threshold_normal(
j1, j1_prev, j2, j3, j4, j4_prev, range
)
def f_plane(self, j1, j2, j3, j4, threshold):
j1, j2, j3, j4 = [
self.transform_and_fetch_position(j) for j in [j1, j2, j3, j4]
]
return feat_utils.distance_from_plane(j1, j2, j3, j4, threshold)
def f_nplane(self, j1, j2, j3, j4, threshold):
j1, j2, j3, j4 = [
self.transform_and_fetch_position(j) for j in [j1, j2, j3, j4]
]
return feat_utils.distance_from_plane_normal(j1, j2, j3, j4, threshold)
def f_angle(self, j1, j2, j3, j4, range):
j1, j2, j3, j4 = [
self.transform_and_fetch_position(j) for j in [j1, j2, j3, j4]
]
return feat_utils.angle_within_range(j1, j2, j3, j4, range)
def f_fast(self, j1, threshold):
j1_prev = self.transform_and_fetch_prev_position(j1)
j1 = self.transform_and_fetch_position(j1)
return feat_utils.velocity_above_threshold(j1, j1_prev, threshold)