fix(vis-grecon): keep SMPL/skeleton actor counters aligned (+3 more)

[andrewwhitecdw]

Small fixes in global_recon/vis/vis_grecon.py:

fix: keep SMPL/skeleton actor counters aligned when person is absent

Fix: Replace:

        """ Estimation """     
        if self.show_est_pose:
            i = 0
            j = 0
            for idx, pose_dict in self.scene_dict.items():
                actor = self.smpl_actors[i]
                sk_actor = self.skeleton_actors[j]
                if self.fr in pose_dict['frames']:
                    pind = pose_dict['frame2ind'][self.fr]
                    # smpl actor
                    if self.show_smpl and 'smpl_verts' in pose_dict:
                        if 'exist_frames' in pose_dict and not pose_dict['exist_frames'][self.fr]:
                            actor.set_visibility(False)
                        else:
                            actor.set_visibility(True)
                            verts_i = pose_dict['smpl_verts'][pind]
                            actor.update_verts(verts_i)
                            full_opacity = 0.7 if self.show_skeleton else 1.0
                            opacity = 0.4 if pose_dict['invis_frames'][self.fr] else full_opacity
                            actor.set_opacity(opacity)
                        i += 1
                    # skeleton actor
                    if self.show_skeleton and 'smpl_joints' in pose_dict:
                        sk_actor.set_visibility(True)
                        joints_i = pose_dict['smpl_joints'][pind]
                        sk_actor.update_joints(joints_i)
                        opacity = 0.4 if pose_dict['invis_frames'][self.fr] else 1.0
                        sk_actor.set_opacity(opacity)
                        j += 1
            for k in range(i, self.num_person):
                self.smpl_actors[k].set_visibility(False)
            for k in range(j, self.num_person):
                self.skeleton_actors[k].set_visibility(False)

with:

        """ Estimation """     
        if self.show_est_pose:
            i = 0
            j = 0
            for idx, pose_dict in self.scene_dict.items():
                actor = self.smpl_actors[i]
                sk_actor = self.skeleton_actors[j]
                if self.fr in pose_dict['frames']:
                    pind = pose_dict['frame2ind'][self.fr]
                    if self.show_smpl and 'smpl_verts' in pose_dict:
                        if 'exist_frames' in pose_dict and not pose_dict['exist_frames'][self.fr]:
                            actor.set_visibility(False)
                        else:
                            actor.set_visibility(True)
                            verts_i = pose_dict['smpl_verts'][pind]
                            actor.update_verts(verts_i)
                            full_opacity = 0.7 if self.show_skeleton else 1.0
                            opacity = 0.4 if pose_dict['invis_frames'][self.fr] else full_opacity
                            actor.set_opacity(opacity)
                    elif self.show_smpl:
                        actor.set_visibility(False)
                    if self.show_skeleton and 'smpl_joints' in pose_dict:
                        sk_actor.set_visibility(True)
                        joints_i = pose_dict['smpl_joints'][pind]
                        sk_actor.update_joints(joints_i)
                        opacity = 0.4 if pose_dict['invis_frames'][self.fr] else 1.0
                        sk_actor.set_opacity(opacity)
                    elif self.show_skeleton:
                        sk_actor.set_visibility(False)
                else:
                    if self.show_smpl:
                        actor.set_visibility(False)
                    if self.show_skeleton:
                        sk_actor.set_visibility(False)
                if self.show_smpl:
                    i += 1
                if self.show_skeleton:
                    j += 1
            if self.show_smpl:
                for k in range(i, self.num_person):
                    self.smpl_actors[k].set_visibility(False)
            if self.show_skeleton:
                for k in range(j, self.num_person):
                    self.skeleton_actors[k].set_visibility(False)

fix: copy init_focal_point before mutating in init_camera

Fix: Replace:

            focal_point = self.init_focal_point
            if self.use_y_up_coord:
                focal_point[2] += 3.0
                self.pl.camera.position = (focal_point[0] + self.view_dist, focal_point[1] + 2, focal_point[2])

with:

            focal_point = self.init_focal_point.copy()
            if self.use_y_up_coord:
                focal_point[2] += 3.0
                self.pl.camera.position = (focal_point[0] + self.view_dist, focal_point[1] + 2, focal_point[2])

fix: guard GT pose update when ground-truth dict is empty

Fix: Replace:

        """ GT """
        if self.show_gt_pose:
            for i, actor in enumerate(self.smpl_gt_actors):
                pose_dict = self.gt[i]

with:

        """ GT """
        if self.show_gt_pose and len(self.gt) > 0:
            for i, actor in enumerate(self.smpl_gt_actors):
                pose_dict = self.gt[i]

fix: move SMPL tensors to CPU before calling numpy()

Fix: Apply patch:

--- a/global_recon/vis/vis_grecon.py
+++ b/global_recon/vis/vis_grecon.py
@@ -91,7 +91,7 @@ class GReconVisualizer(Visualizer3D):
                     return_full_pose=True,
                     orig_joints=True
                 )
-            pose_dict['smpl_verts'] = smpl_motion.vertices.numpy()
-            pose_dict['smpl_joints'] = smpl_motion.joints.numpy()
+            pose_dict['smpl_verts'] = smpl_motion.vertices.cpu().numpy()
+            pose_dict['smpl_joints'] = smpl_motion.joints.cpu().numpy()
             if 'fr_start' not in pose_dict:
                 pose_dict['fr_start'] = np.where(pose_dict['visible'])[0][0]
@@ -118,7 +118,7 @@ class GReconVisualizer(Visualizer3D):
                     return_full_pose=True,
                     orig_joints=True
                 )
-                pose_dict['smpl_verts'] = smpl_motion.vertices.numpy()
-                pose_dict['smpl_joints'] = smpl_motion.joints.numpy()
+                pose_dict['smpl_verts'] = smpl_motion.vertices.cpu().numpy()
+                pose_dict['smpl_joints'] = smpl_motion.joints.cpu().numpy()
             if 'smpl_joint_pos' in pose_dict:
                 orient = torch.tensor(pose_dict[f'smpl_orient{suffix}'])
@@ -130,7 +130,7 @@ class GReconVisualizer(Visualizer3D):
                 orient_q = angle_axis_to_quaternion(orient).unsqueeze(-2).expand(joints.shape[:-1] + (4,))
                 joints_world = quat_apply(orient_q, joints) + trans.unsqueeze(-2)
-                pose_dict['smpl_joints'] = joints_world
+                pose_dict['smpl_joints'] = joints_world.cpu().numpy()

Files changed

• global_recon/vis/vis_grecon.py