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import matplotlib |
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import matplotlib.pyplot as plt |
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import mpl_toolkits.mplot3d.axes3d as p3 |
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection |
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import numpy as np |
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import io |
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import imageio |
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from textwrap import wrap |
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import torch |
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import moviepy.editor as mpe |
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from scipy.io import wavfile |
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import os |
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def plot_3d_motion(out_path, joints, kinematic_chain, title=None, ground=True, figsize=(10, 10), fps=120): |
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matplotlib.use('Agg') |
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data = joints.copy().reshape(len(joints), -1, 3) |
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frame_number = data.shape[0] |
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MINS = data.min(axis=0).min(axis=0) |
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MAXS = data.max(axis=0).max(axis=0) |
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height_offset = MINS[1] |
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data[:, :, 1] -= height_offset |
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trajec = data[:, 0, [0, 2]] |
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data[..., 0] -= data[:, 0:1, 0] |
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data[..., 2] -= data[:, 0:1, 2] |
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colors = ['red', 'blue', 'black', 'red', 'blue', |
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'darkblue', 'darkblue', 'darkblue', 'darkblue', 'darkblue', |
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'darkred', 'darkred', 'darkred', 'darkred', 'darkred'] |
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def update(index): |
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def init(): |
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ax.set_xlim3d([-0.8, 0.8]) |
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ax.set_ylim3d([0, 1.6]) |
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ax.set_zlim3d([0, 1.6]) |
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ax.grid(False) |
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def plot_xzPlane(minx, maxx, miny, minz, maxz): |
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verts = [ |
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[minx, miny, minz], |
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[minx, miny, maxz], |
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[maxx, miny, maxz], |
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[maxx, miny, minz] |
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] |
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xz_plane = Poly3DCollection([verts]) |
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xz_plane.set_facecolor((0.5, 0.5, 0.5, 0.5)) |
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ax.add_collection3d(xz_plane) |
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fig = plt.figure(figsize=figsize, dpi=96) |
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ax = fig.add_subplot(111, projection='3d') |
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if title is not None : |
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wraped_title = '\n'.join(wrap(title, 40)) |
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fig.suptitle(wraped_title, fontsize=16) |
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ax.view_init(elev=130, azim=-90) |
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init() |
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if ground: |
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plot_xzPlane(MINS[0] - trajec[index, 0], MAXS[0] - trajec[index, 0], 0, MINS[2] - trajec[index, 1], |
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MAXS[2] - trajec[index, 1]) |
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if index > 1: |
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ax.plot3D(trajec[:index, 0] - trajec[index, 0], np.zeros_like(trajec[:index, 0]), |
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trajec[:index, 1] - trajec[index, 1], linewidth=1.0, |
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color='blue') |
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for i, (chain, color) in enumerate(zip(kinematic_chain, colors)): |
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if i < 5: |
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linewidth = 4.0 |
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else: |
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linewidth = 2.0 |
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ax.plot3D(data[index, chain, 0], data[index, chain, 1], data[index, chain, 2], linewidth=linewidth, |
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color=color) |
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plt.axis('off') |
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ax.set_xticklabels([]) |
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ax.set_yticklabels([]) |
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ax.set_zticklabels([]) |
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io_buf = io.BytesIO() |
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fig.savefig(io_buf, format='raw', dpi=96) |
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io_buf.seek(0) |
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arr = np.reshape(np.frombuffer(io_buf.getvalue(), dtype=np.uint8), |
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newshape=(int(fig.bbox.bounds[3]), int(fig.bbox.bounds[2]), -1)) |
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io_buf.close() |
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plt.close() |
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return arr |
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out = [] |
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for i in range(frame_number) : |
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out.append(update(i)) |
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out = np.stack(out, axis=0) |
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out = np.array(torch.from_numpy(out)) |
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imageio.mimsave(out_path, out, fps=fps) |
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def add_audio(out_path, audio_paths): |
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filename, ext = os.path.splitext(out_path) |
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in_path = filename + "_tmp" + ext |
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os.system(f"cp {out_path} {in_path}") |
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my_clip = mpe.VideoFileClip(in_path) |
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if len(audio_paths) > 1: |
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audio_clips = [] |
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for path in audio_paths: |
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audio_clips.append(mpe.AudioFileClip(path)) |
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final_audio = mpe.concatenate_audio(audio_clips) |
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else: |
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final_audio = mpe.AudioFileClip(audio_paths[0]) |
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final_clip = my_clip.set_audio(final_audio) |
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final_clip.write_videofile(out_path) |
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def get_audio_length(audio_path): |
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sample_rate, data = wavfile.read(audio_path) |
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len_data = len(data) |
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t = len_data / sample_rate |
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return t |
