semiautoanno.py 文件源码

def project3Dto2D(self, Li, idxs):
        """
        Project 3D point to 2D
        :param Li: joints in normalized 3D
        :param idxs: frames specified by subset
        :return: 2D points, in normalized 2D coordinates
        """

        if not isinstance(idxs, numpy.ndarray):
            idxs = numpy.asarray([idxs])

        # 3D -> 2D projection also shift by M to cropped window
        Li_glob3D = (numpy.reshape(Li, (len(idxs), self.numJoints, 3))*self.Di_scale[idxs][:, None, None]+self.Di_off3D[idxs][:, None, :]).reshape((len(idxs)*self.numJoints, 3))
        Li_glob3D_hom = numpy.concatenate([Li_glob3D, numpy.ones((len(idxs)*self.numJoints, 1), dtype='float32')], axis=1)
        Li_glob2D_hom = numpy.dot(Li_glob3D_hom, self.cam_proj.T)
        Li_glob2D = (Li_glob2D_hom[:, 0:3] / Li_glob2D_hom[:, 3][:, None]).reshape((len(idxs), self.numJoints, 3))
        Li_img2D_hom = numpy.einsum('ijk,ikl->ijl', Li_glob2D, self.Di_trans2D[idxs])
        Li_img2D = (Li_img2D_hom[:, :, 0:2] / Li_img2D_hom[:, :, 2][:, :, None]).reshape((len(idxs), self.numJoints*2))
        Li_img2Dcrop = (Li_img2D - (self.Di.shape[3]/2.)) / (self.Di.shape[3]/2.)
        return Li_img2Dcrop