global_script.py

@@ -18,14 +18,14 @@ sys.path.append(WORKING_DIR)
 
 from scripts import random_pose
 from scripts import utils
-from scripts import camera_proj
+from scripts import camera_util
 from scripts import human
 
 import importlib
 
 importlib.reload(random_pose)
 importlib.reload(utils)
-importlib.reload(camera_proj)
+importlib.reload(camera_util)
 importlib.reload(human)
 
 from scripts.human import HumanLoader
@@ -75,11 +75,11 @@ def main():
     cars = []
 
     for src_path, name in {
-        r"car_models\suv_car\car.blend": 'SUV',
-        r"car_models\red_car\red.blend": 'Red',
-        r"car_models\pickup_car\pickup.blend": 'PickUp',
-        r"car_models\family_car\family_car.blend": 'Family',
-        r"car_models\coupe_car\coupe_car.blend": 'Coupe',
+        r"car_models\suv_car\car_open.blend": 'SUV',
+        r"car_models\red_car\red_open.blend": 'Red',
+        r"car_models\pickup_car\pickup_open.blend": 'PickUp',
+        r"car_models\family_car\family_car_open.blend": 'Family',
+        r"car_models\coupe_car\coupe_car_open.blend": 'Coupe',
         r"car_models\truck\truck_open.blend": 'Truck',
 
     }.items():
@@ -112,9 +112,9 @@ def main():
     C.scene.collection.objects.link(camera_object)
     camera_object.rotation_mode = 'XYZ'
 
-    camera_object.location = [-.97, -0.1, 0.68]
-    camera_rotation_0 = utils.r(Vector([73, 8, -82]))
-    camera_object.rotation_euler = camera_rotation_0
+    cam_poser = camera_util.CamPoser([-.97, -0.1, 0.68], utils.r(Vector([73, 8, -82])))
+    camera_object.location = cam_poser.def_loc
+    camera_object.rotation_euler = cam_poser.def_rot
 
     # set background
     back_folder = abs_path("backgrounds")
@@ -141,7 +141,8 @@ def main():
 
     image_holder = C.active_object
     image_holder.name = 'Image_holder'
-    image_holder.location = (4, 1.5, 1.3)
+    img_holder_location = (4, 1.5, 1.3)
+    image_holder.location = img_holder_location
     image_holder.rotation_euler.z = utils.r(-95)
     image_holder.active_material.shadow_method = 'NONE'
 
@@ -186,6 +187,7 @@ def main():
     fp = abs_path(r"output_temp")
     fp_img = os.path.join(fp, 'images')
     fp_ann_2D = os.path.join(fp, 'annots_2D')
+    fp_vis_2D = os.path.join(fp, 'annots_vis_2D')
     fp_ann_3D = os.path.join(fp, 'annots_3D')
 
     info_path = os.path.join(fp, 'infos.json')
@@ -198,6 +200,7 @@ def main():
 
         os.mkdir(fp_img)
         os.mkdir(fp_ann_2D)
+        os.mkdir(fp_vis_2D)
         os.mkdir(fp_ann_3D)
 
     frame_rate = 25
@@ -233,7 +236,8 @@ def main():
                 man = human_loader.next(car=car)
             else:
                 # human.set_bounds(man, car)
-                man = man(car=car)
+                # man = man(car=car)
+                man.refresh(car=car)
 
         man_model = man.model
 
@@ -263,13 +267,15 @@ def main():
         image_holder.location.y = 1.5 + random.uniform(-0.3, 0.3)
 
         # Camera movement
-        camera_object.rotation_euler = camera_rotation_0 + utils.r(Vector([random.randint(-2, 2), 0, 0]))
+        camera_object.location, camera_object.rotation_euler = cam_poser.random()
+        # camera_data.angle = utils.r(random.uniform(50, 80))
+        camera_data.angle = utils.r(random.uniform(40, 70))
 
         C.scene.render.filepath = fp
         C.scene.render.image_settings.file_format = 'PNG'
         C.scene.camera = camera_object
 
-        P, K, RT = camera_proj.get_3x4_P_matrix_from_blender(camera_object)
+        P, K, RT = camera_util.get_3x4_P_matrix_from_blender(camera_object)
 
         file_root_name = f'{list(scenes_ids).index(human_path)}_{scenes_ids[human_path]}'
 
@@ -293,6 +299,7 @@ def main():
         man_model.animation_data_clear()
         # Exemple: 150k / 200 / 2 = 1500 poses
         with open(os.path.join(fp_ann_2D, f'annotations_{file_root_name}.csv'), 'w') as annot_file_2D, \
+                open(os.path.join(fp_vis_2D, f'vis_{file_root_name}.csv'), 'w') as vis_file_2D, \
                 open(os.path.join(fp_ann_3D, f'annotations_{file_root_name}.csv'), 'w') as annot_file_3D:
             bone_lbls = list(man_model.pose.bones.keys())
             bone_lbls = [
@@ -305,19 +312,25 @@ def main():
             annot_file_3D.write(
                 ';'.join(
                     [lbl for bone in full_lbls for lbl in [bone + k for k in ['_X', '_Y', '_Z']]]) + '\n')
+            vis_file_2D.write(';'.join([lbl for lbl in full_lbls]) + '\n')
 
             for po in range(nb_pose):
                 C.scene.frame_set(po * frame_rate)
-                use_targets = nb_pose - po - 1 < nb_targets
+                # Max 30% of driving images
+                use_targets = nb_pose - po - 1 < (min(int(0.3 * nb_pose), nb_targets))
 
                 # use_targets = False
                 human.switch_constraints(man_model, enable=not use_targets)
                 if nb_pose < nb_targets or not use_targets:
                     id_targets = None
                 else:
-                    id_targets = {'l': (nb_pose - po - 1) % len(car_targets['l']),
-                                  'r': (nb_pose - po - 1) // len(car_targets['l'])}
-                random_pose.random_pose_ik(man_model, targets=car_targets if use_targets else None, id_targets=id_targets)
+                    if int(0.3 * nb_pose) < nb_targets:
+                        id_targets = {k: random.randint(0, len(car_targets[k] - 1)) for k in 'lr'}
+                    else:
+                        id_targets = {'l': (nb_pose - po - 1) % len(car_targets['l']),
+                                      'r': (nb_pose - po - 1) // len(car_targets['l'])}
+                random_pose.random_pose_ik(man_model, targets=car_targets if use_targets else None,
+                                           id_targets=id_targets)
 
                 bpy.ops.object.mode_set(mode='OBJECT')
 
@@ -340,6 +353,7 @@ def main():
 
                 annotations_2D = []
                 annotations_3D = []
+                vis_2D = []
                 for lbl in bone_lbls:
                     if '_tail' in lbl:
                         bone_3d = utils.get_tail_pose(lbl[:-5], man_model)
@@ -350,16 +364,20 @@ def main():
                     bone_2d = P @ bone_3d
                     bone_2d /= bone_2d[-1]
                     annotations_2D.append(f"{bone_2d[0]:.2f};{bone_2d[1]:.2f}")
+                    vis_2D.append(1)
 
+                vis_face = human.get_vis_face(man_model, camera_object)
                 for lbl, bone_3d in human.get_face(man_model).items():
                     annotations_3D.append(f"{bone_3d[0]:.3f};{bone_3d[1]:.3f};{bone_3d[2]:.3f}")
 
                     bone_2d = P @ bone_3d
                     bone_2d /= bone_2d[-1]
                     annotations_2D.append(f"{bone_2d[0]:.2f};{bone_2d[1]:.2f}")
+                    vis_2D.append(1 if vis_face[lbl] is None else 0)
 
                 annot_file_2D.write(';'.join(annotations_2D) + '\n')
                 annot_file_3D.write(';'.join(annotations_3D) + '\n')
+                vis_file_2D.write(';'.join([str(v) for v in vis_2D]) + '\n')
 
         with open(info_path, 'w') as f_infos:
             json.dump({

scripts/camera_proj.py → scripts/camera_util.py

 import bpy
+import random
+from math import cos, sin, atan, pi
 from mathutils import Matrix, Vector
 
+from scripts import utils
+
+import importlib
+
+importlib.reload(utils)
+from scripts.utils import *
+
+
+class CamPoser:
+    def __init__(self, loc, rot):
+        self.def_loc = loc
+        self.def_rot = rot
+
+    def random(self):
+        r = 0.98
+        # alpha = utils.r(random.random() * 35)
+        alpha = utils.r(random.random() * 45 - 20)
+        loc = [-r * cos(alpha), -r * sin(alpha), random.randint(55, 80) / 100]
+
+        rot = self.def_rot
+        rot[0] = atan(r / (loc[2] - 0.35)) + utils.r(random.randint(-15, 10))
+        # rot[0] = atan(r / (loc[2] - 0.35)) + utils.r(random.randint(-15, 10))
+        rot[1] = utils.r(random.randint(-5, 25))
+        # rot[2] = -pi / 2 + alpha
+        rot[2] = -pi / 2 + alpha * random.uniform(0.75, 1)
+
+        return loc, rot
+
 
 # ---------------------------------------------------------------
 # 3x4 P matrix from Blender camera

scripts/human.py

@@ -195,7 +195,7 @@ class Human:
         for cloth, name in ((self.top, 'Top'), (self.bot, 'Bot')):
             if cloth is not None:
                 cloth.node_tree.nodes["ColorRamp"].color_ramp.elements[0].color = random_HSV()
-                cloth.node_tree.nodes["Mix"].inputs[0].default_value = random.uniform(0.2, 0.6)
+                cloth.node_tree.nodes["Mix"].inputs[0].default_value = random.uniform(0.25, 0.75)
             else:
                 print(name, self.model.name)
 
@@ -203,7 +203,7 @@ class Human:
             self.hairs.node_tree.nodes["Mix"].inputs[2].default_value = random_color_hair()
         else:
             self.hairs.node_tree.nodes["Principled BSDF"].inputs[0].default_value = random_color_hair()
-        print(car)
+
         set_bounds(self.model, car)
 
 
@@ -225,9 +225,42 @@ def get_face(model):
     return face_3D
 
 
+def get_vis_face(model, cam):
+    face_model = None
+
+    ress = {}
+    for obj in model.children:
+        if 'bodyMesh' in obj.name:
+            face_model = obj
+            break
+    assert face_model is not None
+    mw = face_model.matrix_world
+    mwi = mw.inverted()
+
+    ray_begin = mwi @ cam.location
+    for name in ['nose', 'eye_l', 'eye_r', 'ear_l', 'ear_r']:
+        head = utils.get_head_pose(name, model)
+        tail = utils.get_tail_pose(name, model)
+        if 'ear' in name:
+            point = tail + 0.25 * (tail - head)
+        elif 'eye' in name:
+            point = head + 0.5 * (tail - head)
+        elif 'nose' in name:
+            point = tail + 0.05 * (tail - head)
+
+        print(name, point)
+        ray_end = mwi @ point
+        ray_direction = ray_end - ray_begin
+        ray_dist = ray_direction.length
+        ray_direction.normalize()
+        res = face_model.ray_cast(ray_begin, ray_direction, distance=ray_dist)
+
+        ress[name] = mw @ res[1] if res[0] else None
+    return ress
+
 def random_HSV():
     color_hsv = [random.random() for _ in range(3)]
-    color_hsv[1] *= 0.8  # threshold saturation
+    # color_hsv[1] *= 0.8  # threshold saturation
     rgb_color = colorsys.hsv_to_rgb(*color_hsv)
 
     return list(rgb_color) + [1, ]

scripts/random_pose.py

@@ -195,7 +195,7 @@ def random_pose_ik(subject, auto_ik=False, targets=None, id_targets=None):
                     target = targets[s][id_targets[s]]
                 except IndexError as err:
                     print(targets[s], id_targets, s)
-                    raise (err)
+                    raise err
             pose.bones[f'hand_{s}_IK'].rotation_euler = Vector((0, 0, 0))
             pose.bones[f'hand_{s}_IK'].rotation_euler = (
                 ((matrix_world @ pose.bones[f'hand_{s}_IK'].matrix).inverted() @ target.matrix_world).to_euler())