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| import math | |
| import numpy as np | |
| import matplotlib | |
| import matplotlib.pyplot as plt | |
| from mpl_toolkits.mplot3d import Axes3D | |
| from matplotlib.animation import FuncAnimation, FFMpegFileWriter | |
| from mpl_toolkits.mplot3d.art3d import Poly3DCollection | |
| import mpl_toolkits.mplot3d.axes3d as p3 | |
| # import cv2 | |
| def list_cut_average(ll, intervals): | |
| if intervals == 1: | |
| return ll | |
| bins = math.ceil(len(ll) * 1.0 / intervals) | |
| ll_new = [] | |
| for i in range(bins): | |
| l_low = intervals * i | |
| l_high = l_low + intervals | |
| l_high = l_high if l_high < len(ll) else len(ll) | |
| ll_new.append(np.mean(ll[l_low:l_high])) | |
| return ll_new | |
| def plot_3d_motion(save_path, kinematic_tree, joints, title, figsize=(10, 10), fps=120, radius=4): | |
| matplotlib.use('Agg') | |
| title_sp = title.split(' ') | |
| if len(title_sp) > 20: | |
| title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:20]), ' '.join(title_sp[20:])]) | |
| elif len(title_sp) > 10: | |
| title = '\n'.join([' '.join(title_sp[:10]), ' '.join(title_sp[10:])]) | |
| def init(): | |
| ax.set_xlim3d([-radius / 4, radius / 4]) | |
| ax.set_ylim3d([0, radius / 2]) | |
| ax.set_zlim3d([0, radius / 2]) | |
| # print(title) | |
| fig.suptitle(title, fontsize=20) | |
| ax.grid(b=False) | |
| def plot_xzPlane(minx, maxx, miny, minz, maxz): | |
| ## Plot a plane XZ | |
| verts = [ | |
| [minx, miny, minz], | |
| [minx, miny, maxz], | |
| [maxx, miny, maxz], | |
| [maxx, miny, minz] | |
| ] | |
| xz_plane = Poly3DCollection([verts]) | |
| xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5)) | |
| ax.add_collection3d(xz_plane) | |
| # return ax | |
| # (seq_len, joints_num, 3) | |
| data = joints.copy().reshape(len(joints), -1, 3) | |
| fig = plt.figure(figsize=figsize) | |
| ax = p3.Axes3D(fig) | |
| init() | |
| MINS = data.min(axis=0).min(axis=0) | |
| MAXS = data.max(axis=0).max(axis=0) | |
| colors = ['red', 'blue', 'black', 'red', 'blue', | |
| 'darkblue', 'darkblue', 'darkblue', 'darkblue', 'darkblue', | |
| 'darkred', 'darkred', 'darkred', 'darkred', 'darkred'] | |
| frame_number = data.shape[0] | |
| # print(data.shape) | |
| height_offset = MINS[1] | |
| data[:, :, 1] -= height_offset | |
| trajec = data[:, 0, [0, 2]] | |
| data[..., 0] -= data[:, 0:1, 0] | |
| data[..., 2] -= data[:, 0:1, 2] | |
| # print(trajec.shape) | |
| def update(index): | |
| # print(index) | |
| ax.lines = [] | |
| ax.collections = [] | |
| ax.view_init(elev=120, azim=-90) | |
| ax.dist = 7.5 | |
| # ax = | |
| plot_xzPlane(MINS[0] - trajec[index, 0], MAXS[0] - trajec[index, 0], 0, MINS[2] - trajec[index, 1], | |
| MAXS[2] - trajec[index, 1]) | |
| # ax.scatter(data[index, :22, 0], data[index, :22, 1], data[index, :22, 2], color='black', s=3) | |
| if index > 1: | |
| ax.plot3D(trajec[:index, 0] - trajec[index, 0], np.zeros_like(trajec[:index, 0]), | |
| trajec[:index, 1] - trajec[index, 1], linewidth=1.0, | |
| color='blue') | |
| # ax = plot_xzPlane(ax, MINS[0], MAXS[0], 0, MINS[2], MAXS[2]) | |
| for i, (chain, color) in enumerate(zip(kinematic_tree, colors)): | |
| # print(color) | |
| if i < 5: | |
| linewidth = 4.0 | |
| else: | |
| linewidth = 2.0 | |
| ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=linewidth, | |
| color=color) | |
| # print(trajec[:index, 0].shape) | |
| plt.axis('off') | |
| ax.set_xticklabels([]) | |
| ax.set_yticklabels([]) | |
| ax.set_zticklabels([]) | |
| ani = FuncAnimation(fig, update, frames=frame_number, interval=1000 / fps, repeat=False) | |
| # writer = FFMpegFileWriter(fps=fps) | |
| ani.save(save_path, fps=fps) | |
| plt.close() | |