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import torch
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from utils.quaternion import quaternion_to_cont6d, qrot, qinv
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def recover_root_rot_pos(data):
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rot_vel = data[..., 0]
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r_rot_ang = torch.zeros_like(rot_vel).to(data.device)
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'''Get Y-axis rotation from rotation velocity'''
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r_rot_ang[..., 1:] = rot_vel[..., :-1]
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r_rot_ang = torch.cumsum(r_rot_ang, dim=-1)
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r_rot_quat = torch.zeros(data.shape[:-1] + (4,)).to(data.device)
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r_rot_quat[..., 0] = torch.cos(r_rot_ang)
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r_rot_quat[..., 2] = torch.sin(r_rot_ang)
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r_pos = torch.zeros(data.shape[:-1] + (3,)).to(data.device)
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r_pos[..., 1:, [0, 2]] = data[..., :-1, 1:3]
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'''Add Y-axis rotation to root position'''
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r_pos = qrot(qinv(r_rot_quat), r_pos)
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r_pos = torch.cumsum(r_pos, dim=-2)
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r_pos[..., 1] = data[..., 3]
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return r_rot_quat, r_pos
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def recover_from_rot(data, joints_num, skeleton):
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r_rot_quat, r_pos = recover_root_rot_pos(data)
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r_rot_cont6d = quaternion_to_cont6d(r_rot_quat)
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start_indx = 1 + 2 + 1 + (joints_num - 1) * 3
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end_indx = start_indx + (joints_num - 1) * 6
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cont6d_params = data[..., start_indx:end_indx]
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cont6d_params = torch.cat([r_rot_cont6d, cont6d_params], dim=-1)
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cont6d_params = cont6d_params.view(-1, joints_num, 6)
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positions = skeleton.forward_kinematics_cont6d(cont6d_params, r_pos)
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return positions
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def recover_from_ric(data, joints_num):
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r_rot_quat, r_pos = recover_root_rot_pos(data)
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positions = data[..., 4:(joints_num - 1) * 3 + 4]
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positions = positions.view(positions.shape[:-1] + (-1, 3))
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'''Add Y-axis rotation to local joints'''
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positions = qrot(qinv(r_rot_quat[..., None, :]).expand(positions.shape[:-1] + (4,)), positions)
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'''Add root XZ to joints'''
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positions[..., 0] += r_pos[..., 0:1]
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positions[..., 2] += r_pos[..., 2:3]
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'''Concate root and joints'''
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positions = torch.cat([r_pos.unsqueeze(-2), positions], dim=-2)
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return positions
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