HybrIK
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Jeff-sjtu
For anyone would like visualize pkl animation without blender, here is a straight-forward way!
By using pip install nosmpl
I found this script can visualize HybrIK pkl file directly:
import numpy as np
from nosmpl.vis.vis_o3d import vis_mesh_o3d, Open3DVisualizer
from nosmpl.utils import rot_mat_to_euler, rotmat_to_rotvec, quat2mat, quat_to_rotvec
import sys
import pickle
from nosmpl.smpl_onnx import SMPLOnnxRuntime
def vis_pkl():
smpl = SMPLOnnxRuntime()
data_f = sys.argv[1]
data = pickle.load(open(data_f, "rb"))
ks = list(data.keys())
print(ks)
o3d_vis = Open3DVisualizer(fps=60, save_img_folder="results/", enable_axis=False)
frame_len = len(data[ks[0]])
print("frames: ", frame_len)
for fi in range(frame_len):
pose = data['pred_thetas'][fi]
pose = np.array(pose).reshape(-1, 3, 3)
print(pose.shape)
trans = data["transl"][fi]
pose_rotvec = [rotmat_to_rotvec(p) for p in pose]
pose_rotvec = np.array(pose_rotvec).reshape(-1, 3)
print(pose_rotvec.shape)
# global_orient = pose_rotvec[:, :3].astype(np.float32)
global_orient = np.array([[0, 0, 0]], dtype=np.float32).reshape([1, 1, 3])
# global_orient = [[i[0], -i[1], i[2]] for i in global_orient]
# global_orient = np.array(global_orient).astype(np.float32)
pose_rotvec_body = np.delete(pose_rotvec, [-1], axis=0).reshape(1, 23, 3)
body = pose_rotvec_body.astype(np.float32)
# lhand = np.zeros([1, 45]).astype(np.float32)
# rhand = np.zeros([1, 45]).astype(np.float32)
outputs = smpl.forward(body, global_orient)
vertices, joints, faces = outputs
vertices = vertices[0].squeeze()
joints = joints[0].squeeze()
faces = faces.astype(np.int32)
# vis_mesh_o3d(vertices, faces)
# vertices += trans
# trans = [trans[1], trans[0], trans[2]]
trans = [trans[0], trans[1], 0]
print(trans)
o3d_vis.update(vertices, faces, trans, R_along_axis=[np.pi, 0, 0], waitKey=1)
o3d_vis.release()
if __name__ == "__main__":
vis_pkl()
Hope it helps!
How should this code be modified to display the SMPL-X pkl animation?
Thank you in advance! 😄
By using
pip install nosmplI found this script can visualize HybrIK pkl file directly:
import numpy as np from nosmpl.vis.vis_o3d import vis_mesh_o3d, Open3DVisualizer from nosmpl.utils import rot_mat_to_euler, rotmat_to_rotvec, quat2mat, quat_to_rotvec import sys import pickle from nosmpl.smpl_onnx import SMPLOnnxRuntime def vis_pkl(): smpl = SMPLOnnxRuntime() data_f = sys.argv[1] data = pickle.load(open(data_f, "rb")) ks = list(data.keys()) print(ks) o3d_vis = Open3DVisualizer(fps=60, save_img_folder="results/", enable_axis=False) frame_len = len(data[ks[0]]) print("frames: ", frame_len) for fi in range(frame_len): pose = data['pred_thetas'][fi] pose = np.array(pose).reshape(-1, 3, 3) print(pose.shape) trans = data["transl"][fi] pose_rotvec = [rotmat_to_rotvec(p) for p in pose] pose_rotvec = np.array(pose_rotvec).reshape(-1, 3) print(pose_rotvec.shape) # global_orient = pose_rotvec[:, :3].astype(np.float32) global_orient = np.array([[0, 0, 0]], dtype=np.float32).reshape([1, 1, 3]) # global_orient = [[i[0], -i[1], i[2]] for i in global_orient] # global_orient = np.array(global_orient).astype(np.float32) pose_rotvec_body = np.delete(pose_rotvec, [-1], axis=0).reshape(1, 23, 3) body = pose_rotvec_body.astype(np.float32) # lhand = np.zeros([1, 45]).astype(np.float32) # rhand = np.zeros([1, 45]).astype(np.float32) outputs = smpl.forward(body, global_orient) vertices, joints, faces = outputs vertices = vertices[0].squeeze() joints = joints[0].squeeze() faces = faces.astype(np.int32) # vis_mesh_o3d(vertices, faces) # vertices += trans # trans = [trans[1], trans[0], trans[2]] trans = [trans[0], trans[1], 0] print(trans) o3d_vis.update(vertices, faces, trans, R_along_axis=[np.pi, 0, 0], waitKey=1) o3d_vis.release() if __name__ == "__main__": vis_pkl()Hope it helps!
Hey, I discovered you directly use root translation in camera space with (x,y,0). Actually, the author has provided a relative code transfer point from camera space into pixel space with corresponding focal length, maybe using the transfer will have a better visualization!!
(hybrik3d) mocap3d@mocap3D:~/HybrIK$ python scripts/jjj.py
Traceback (most recent call last):
File "/home/mocap3d/HybrIK/scripts/jjj.py", line 59, in
