Smpl relations rotation fixed.

lxlsosi · Jan 4, 2019 · 5e31937 · 5e31937
1 parent d1e6309
commit 5e31937
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Showing 2 changed files with 7 additions and 129 deletions.
diff --git a/datageneration/misc/smpl_relations/rotations.py b/datageneration/misc/smpl_relations/rotations.py
diff --git a/datageneration/misc/smpl_relations/smpl_relations.py b/datageneration/misc/smpl_relations/smpl_relations.py
@@ -1,6 +1,6 @@
 # Example usage:
 # python smpl_relations.py \
-# --fileinfo /home/gvarol/datasets/SURREAL/data/cmu/train/run0/03_01/01_01_c0001_info.mat \
+# --fileinfo /home/gvarol/datasets/SURREAL/data/cmu/train/run0/01_01/01_01_c0001_info.mat \
 # --t_beg 0 --t_end 100
 
 import argparse
@@ -11,8 +11,8 @@
 import os
 import scipy.io as sio
 import sys
+import transforms3d
 
-import rotations
 SMPL_PATH = os.getenv('SMPL_PATH', '../../')
 sys.path.append(SMPL_PATH)
 from smpl_webuser.serialization import load_model
@@ -65,12 +65,12 @@ def draw_joints2D(joints2D, ax=None, kintree_table=None, with_text=True, color='
 
 
 def rotateBody(RzBody, pelvisRotVec):
- Rpelvis = rotations.rotvec2rotmat(pelvisRotVec)
+ angle = np.linalg.norm(pelvisRotVec)
+ Rpelvis = transforms3d.axangles.axangle2mat(pelvisRotVec / angle, angle)
  globRotMat = np.dot(RzBody, Rpelvis)
- # R90 = rotations.euler2rotmat(np.array((np.pi / 2, np.pi / 2, 0)))
- R90 = rotations.euler2rotmat(np.array((np.pi / 2, 0, 0)))
- globRotVec = rotations.rotmat2rotvec(np.dot(R90, globRotMat))
- # globRotVec = rotations.rotmat2rotvec(globRotMat)
+ R90 = transforms3d.euler.euler2mat(np.pi / 2, 0, 0)
+ globRotAx, globRotAngle = transforms3d.axangles.mat2axangle(np.dot(R90, globRotMat))
+ globRotVec = globRotAx * globRotAngle
  return globRotVec