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JeungEunLee
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motionpatches : orientation/tall nomalized with median value

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function bodyinfo = read_skeleton_file(filename)
% Reads an .skeleton file from "NTU RGB+D 3D Action Recognition Dataset".
%
% Argrument:
% filename: full adress and filename of the .skeleton file.
%
% For further information please refer to:
% NTU RGB+D dataset's webpage:
% http://rose1.ntu.edu.sg/Datasets/actionRecognition.asp
% NTU RGB+D dataset's github page:
% https://github.com/shahroudy/NTURGB-D
% CVPR 2016 paper:
% Amir Shahroudy, Jun Liu, Tian-Tsong Ng, and Gang Wang,
% "NTU RGB+D: A Large Scale Dataset for 3D Human Activity Analysis",
% in IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016
%
% For more details about the provided data, please refer to:
% https://msdn.microsoft.com/en-us/library/dn799271.aspx
% https://msdn.microsoft.com/en-us/library/dn782037.aspx
fileid = fopen(filename);
framecount = fscanf(fileid,'%d',1); % no of the recorded frames
bodyinfo=[]; % to store multiple skeletons per frame
for f=1:framecount
bodycount = fscanf(fileid,'%d',1); % no of observerd skeletons in current frame
for b=1:bodycount
clear body;
body.bodyID = fscanf(fileid,'%ld',1); % tracking id of the skeleton
arrayint = fscanf(fileid,'%d',6); % read 6 integers
body.clipedEdges = arrayint(1);
body.handLeftConfidence = arrayint(2);
body.handLeftState = arrayint(3);
body.handRightConfidence = arrayint(4);
body.handRightState = arrayint(5);
body.isResticted = arrayint(6);
lean = fscanf(fileid,'%f',2);
body.leanX = lean(1);
body.leanY = lean(2);
body.trackingState = fscanf(fileid,'%d',1);
body.jointCount = fscanf(fileid,'%d',1); % no of joints (25)
joints=[];
for j=1:body.jointCount
jointinfo = fscanf(fileid,'%f',11);
joint=[];
% 3D location of the joint j
joint.x = jointinfo(1);
joint.y = jointinfo(2);
joint.z = jointinfo(3);
% 2D location of the joint j in corresponding depth/IR frame
joint.depthX = jointinfo(4);
joint.depthY = jointinfo(5);
% 2D location of the joint j in corresponding RGB frame
joint.colorX = jointinfo(6);
joint.colorY = jointinfo(7);
% The orientation of the joint j
joint.orientationW = jointinfo(8);
joint.orientationX = jointinfo(9);
joint.orientationY = jointinfo(10);
joint.orientationZ = jointinfo(11);
% The tracking state of the joint j
joint.trackingState = fscanf(fileid,'%d',1);
body.joints(j)=joint;
end
bodyinfo(f).bodies(b)=body;
end
end
fclose(fileid);
end
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%your motion_patch location
ori = imread('/home/rfj/바탕화면/actionGAN/motion_patch/S001C001P001R001A020.png');
ori = im2double(ori);
ori = ori(:,:,:);
dx = [];
dy = [];
dz = [];
for f = 1:numel(ori(:,1,1))
for j = 1:25
dx = [dx;ori(f,j,1)];
dy = [dy;ori(f,j,2)];
dz = [dz;ori(f,j,3)];
end
end
a = [1 0 0]; % Red 척추 1,2,3,4,20
b = [0 0 1]; % Blue 오른팔 8,9,10,11,23,24
c = [0 1 0]; % Green왼팔 5,6,7,21,22 (여기서 5번이 빠짐. 넣고싶으면 나중에 24 joint가 아니라 25 joint로 추가)
d = [1 1 0]; % Yellow 오른다리 16,17,18,19
e = [0 1 1]; % Skyblue 왼다리 12,13,14,15
colors = [a;a;a;a;c;c;c;c;b;b;b;b;e;e;e;e;d;d;d;d;a;c;c;b;b];
scatter3(dx,dy,dz,100,'filled');
connecting_joints= ...
[2 1 21 3 21 5 6 7 21 9 10 11 1 13 14 15 1 17 18 19 2 8 8 12 12];
for jj=1:25:numel(dx)% 1부터 8개씩 numel = 열갯수..?
current = [];
current(:,1) = dy(jj:jj+24) ;
current(:,2) = dz(jj:jj+24) ;
current(:,3) = dx(jj:jj+24) ;
scatter3(current(:,1),current(:,2),current(:,3),100,colors(:,:),'filled');
for j =1:25
k=connecting_joints(j);
line([current(j,1) current(k,1)], [current(j,2) current(k,2)] , [current(j,3) current(k,3)])
end
set(gca,'Xdir','reverse','Ydir','reverse')
xlim([0 1]);
xlabel('x')
ylim([0 1]);
ylabel('y')
zlim([0 1]);
zlabel('z')
drawnow
pause(0.01)
end
% 맨처음 방향 (frame1) 으로 일괄 orientation normalize
% => 1번프레임이 아니라 프레임들의 중앙값
% 키로 모든방향 normalize
% 노멀라이즈시 최소값 빼는게 아니라 joint1-> 0.5/0.5/0.5로 가도록
% 실험할때 전방향 노멀라이즈도 해봐야겠다..
clear;
name = '/home/rfj/바탕화면/skeletones/S001C001P002R002A020.skeleton'
bodyinfo = read_skeleton_file(name);
frame_num = size(bodyinfo,2);
%initialize
cur_subject_x = zeros(frame_num, 25);
cur_subject_y = zeros(frame_num, 25);
cur_subject_z = zeros(frame_num, 25);
tot_x = zeros(frame_num,25);
tot_y = zeros(frame_num,25);
tot_z = zeros(frame_num,25);
joint_5 = zeros(1,3);
joint_9 = zeros(1,3);
joint_1 = zeros(1,3);
joint_3 = zeros(1,3);
%get total joints information
for FN = 1:frame_num
cur_body = bodyinfo(FN).bodies(1);
joints = cur_body.joints;
for JN = 1:25
tot_x(FN,JN) = joints(JN).x;
tot_y(FN,JN) = joints(JN).y;
tot_z(FN,JN) = joints(JN).z;
end
end
%get median values
M_x = median(tot_x);
M_y = median(tot_y);
M_z = median(tot_z);
%set 3 points for make plane
joint_5 = [M_x(5) M_y(5) M_z(5)];
joint_9 = [M_x(9) M_y(9) M_z(9)];
joint_1 = [M_x(1) M_y(1) M_z(1)];
joint_3 = [M_x(3) M_y(3) M_z(3)];
%find RIGID TRNASFORMATION matrix
d1 = joint_1 - joint_5;
d2 = joint_1 - joint_9;
n1 = cross(d1,d2); % because we will parallel transform, don't need to find belly
u1 = n1/norm(n1);
u2 = [0 0 1];
cs1 = dot(u1,u2)/norm(u1)*norm(u2);
ss1 = sqrt(1-cs1.^2);
v1 = cross(u1,u2)/norm(cross(u1,u2));
R1 = [v1(1)*v1(1)*(1-cs1)+cs1 v1(1)*v1(2)*(1-cs1)-v1(3)*ss1 v1(1)*v1(3)*(1-cs1)+v1(2)*ss1];
R1(2,:) = [v1(1)*v1(2)*(1-cs1)+v1(3)*ss1 v1(2)*v1(2)*(1-cs1)+cs1 v1(2)*v1(3)*(1-cs1)-v1(1)*ss1];
R1(3,:) = [v1(1)*v1(3)*(1-cs1)-v1(2)*ss1 v1(2)*v1(3)*(1-cs1)+v1(1)*ss1 v1(3)*v1(3)*(1-cs1)+cs1];
%1-3 number tolls to parallel x axis. Rigid transformation on plane surface
%Z axis coords oyler angle transform
t = joint_3 - joint_1;
d3 = R1(1,:) * t.';
d3(1,2) = R1(2,:) * t.';
d3(1,3) = R1(3,:) * t.';
u3 = d3(1:2)/norm(d3(1:2));
v3 = [u3(1) -u3(2)];
v3(2,:) = [u3(2) u3(1)];
u4 = [1 0].';
csss = v3\u4;
cs2 = csss(1);
ss2 = csss(2);
R2 = [cs2 -ss2 0];
R2(2,:) = [ss2 cs2 0];
R2(3,:) = [0 0 1];
%apply rigid transformation
for FN = 1:frame_num
cur_body = bodyinfo(FN).bodies(1);
joints = cur_body.joints;
for JN = 1:25
a = R1(1,:) * [joints(JN).x joints(JN).y joints(JN).z].';
b = R1(2,:) * [joints(JN).x joints(JN).y joints(JN).z].';
c = R1(3,:) * [joints(JN).x joints(JN).y joints(JN).z].';
cur_subject_x(FN,JN) = R2(1,:) * [a b c].';
cur_subject_y(FN,JN) = R2(2,:) * [a b c].';
cur_subject_z(FN,JN) = R2(3,:) * [a b c].';
end
end
%orientation normalize 2 (with plane surface)
if cur_subject_x(1,4) < cur_subject_x(1,1)
cur_subject_x = 0 - cur_subject_x;
end
if cur_subject_y(1,9) > cur_subject_y(1,5)
cur_subject_y = 0 - cur_subject_y;
end
%get current median
CM_x=median(cur_subject_x);
CM_y=median(cur_subject_y);
CM_z=median(cur_subject_z);
%for transform bellybutton to 0.5,0.5 (Except X) but it doesn't work
belly_button = 0.5 - CM_y(2);
belly_button(2) = 0.5 - CM_z(2);
% normalize with x... <- HERE! WANT TO PARALLEL TRANSFORM
... but if I plus belly_button for x and y axis , it dosn't work
cur_subject_x = cur_subject_x - min(cur_subject_x(:));
max_tall = max(cur_subject_x(:));
cur_subject_x = cur_subject_x ./ max_tall;
cur_subject_y = cur_subject_y - min(cur_subject_y(:));
cur_subject_y = cur_subject_y ./ max_tall;
cur_subject_z = cur_subject_z - min(cur_subject_z(:));
cur_subject_z = cur_subject_z ./ max_tall;
% 이미지 저장
motionpatch = cur_subject_x;
motionpatch(:,:,2) = cur_subject_y;
motionpatch(:,:,3) = cur_subject_z;
new_file_name = strcat('/home/rfj/바탕화면/sample.png');
imwrite(motionpatch,new_file_name);
% read image after write
ori = imread('/home/rfj/바탕화면/sample.png');
ori = im2double(ori);
ori = ori(:,:,:);
dx = [];
dy = [];
dz = [];
for f = 1:numel(ori(:,1,1))
for j = 1:25
dx = [dx;ori(f,j,1)];
dy = [dy;ori(f,j,2)];
dz = [dz;ori(f,j,3)];
end
end
a = [1 0 0]; % Red 척추 1,2,3,4,20
b = [0 0 1]; % Blue 오른팔 8,9,10,11,23,24
c = [0 1 0]; % Green왼팔 5,6,7,21,22 (여기서 5번이 빠짐. 넣고싶으면 나중에 24 joint가 아니라 25 joint로 추가)
d = [1 1 0]; % Yellow 오른다리 16,17,18,19
e = [0 1 1]; % Skyblue 왼다리 12,13,14,15
colors = [a;a;a;a;c;c;c;c;b;b;b;b;e;e;e;e;d;d;d;d;a;c;c;b;b];
scatter3(dx,dy,dz,100,'filled');
connecting_joints= ...
[2 1 21 3 21 5 6 7 21 9 10 11 1 13 14 15 1 17 18 19 2 8 8 12 12];
for jj=1:25:numel(dx)% 1부터 8개씩 numel = 열갯수..?
current = [];
current(:,1) = dy(jj:jj+24) ;
current(:,2) = dz(jj:jj+24) ;
current(:,3) = dx(jj:jj+24) ;
scatter3(current(:,1),current(:,2),current(:,3),100,colors(:,:),'filled');
for j =1:25
k=connecting_joints(j);
line([current(j,1) current(k,1)], [current(j,2) current(k,2)] , [current(j,3) current(k,3)])
end
set(gca,'Xdir','reverse','Ydir','reverse')
xlim([0 1]);
xlabel('x')
ylim([0 1]);
ylabel('y')
zlim([0 1]);
zlabel('z')
drawnow
pause(0.01)
end
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%missing file delete
%LOCATION : raw skeletone files
path_name = '/media/rfj/EEA4441FA443E923/nturgb_skeletones/';
file_list = dir(path_name);
L = length(file_list);
fileID = fopen('/home/rfj/MATLAB/bin/samples_with_missing_skeletons.txt','r');
formatSpec = '%s';
sizeA = [20 Inf];
missing_file_list = fscanf(fileID,formatSpec,sizeA);
missing_file_list = missing_file_list.';
fclose(fileID);
perfect_list = [];
for K = 3:L
file_name = char(file_list(K).name);
missing_num = 0;
for J = 1:length(missing_file_list);
missing_name = missing_file_list(J,:);
if file_name(1:20) == missing_name
missing_num = 1;
end
end
if missing_num == 0
perfect_list = [perfect_list;file_name];
end
end
% make motion patch
L = length(perfect_list);
for K = 1:L
file_name = char(perfect_list(K,:));
name = strcat(path_name,file_name(1:20),'.skeleton');
num_body = file_name(22);
BN = str2num(num_body);
[token,remainder] = strtok(file_name,'A');
class = str2num(remainder(2:4));
if class == 20
bodyinfo = read_skeleton_file(name);
frame_num = size(bodyinfo,2);
%initialize
cur_subject_x = zeros(frame_num, 25);
cur_subject_y = zeros(frame_num, 25);
cur_subject_z = zeros(frame_num, 25);
tot_x = zeros(frame_num,25);
tot_y = zeros(frame_num,25);
tot_z = zeros(frame_num,25);
joint_5 = zeros(1,3);
joint_9 = zeros(1,3);
joint_1 = zeros(1,3);
joint_3 = zeros(1,3);
try
%get total joints information
for FN = 1:frame_num
cur_body = bodyinfo(FN).bodies(1);
joints = cur_body.joints;
for JN = 1:25
tot_x(FN,JN) = joints(JN).x;
tot_y(FN,JN) = joints(JN).y;
tot_z(FN,JN) = joints(JN).z;
end
end
%get median values
M_x = median(tot_x);
M_y = median(tot_y);
M_z = median(tot_z);
%set 3 points for make plane
joint_5 = [M_x(5) M_y(5) M_z(5)];
joint_9 = [M_x(9) M_y(9) M_z(9)];
joint_1 = [M_x(1) M_y(1) M_z(1)];
joint_3 = [M_x(3) M_y(3) M_z(3)];
%find RIGID TRNASFORMATION matrix
d1 = joint_1 - joint_5;
d2 = joint_1 - joint_9;
n1 = cross(d1,d2); % because we will parallel transform, don't need to find belly
u1 = n1/norm(n1);
u2 = [0 0 1];
cs1 = dot(u1,u2)/norm(u1)*norm(u2);
ss1 = sqrt(1-cs1.^2);
v1 = cross(u1,u2)/norm(cross(u1,u2));
R1 = [v1(1)*v1(1)*(1-cs1)+cs1 v1(1)*v1(2)*(1-cs1)-v1(3)*ss1 v1(1)*v1(3)*(1-cs1)+v1(2)*ss1];
R1(2,:) = [v1(1)*v1(2)*(1-cs1)+v1(3)*ss1 v1(2)*v1(2)*(1-cs1)+cs1 v1(2)*v1(3)*(1-cs1)-v1(1)*ss1];
R1(3,:) = [v1(1)*v1(3)*(1-cs1)-v1(2)*ss1 v1(2)*v1(3)*(1-cs1)+v1(1)*ss1 v1(3)*v1(3)*(1-cs1)+cs1];
%1-3 number tolls to parallel x axis. Rigid transformation on plane surface
%Z axis coords oyler angle transform
t = joint_3 - joint_1;
d3 = R1(1,:) * t.';
d3(1,2) = R1(2,:) * t.';
d3(1,3) = R1(3,:) * t.';
u3 = d3(1:2)/norm(d3(1:2));
v3 = [u3(1) -u3(2)];
v3(2,:) = [u3(2) u3(1)];
u4 = [1 0].';
csss = v3\u4;
cs2 = csss(1);
ss2 = csss(2);
R2 = [cs2 -ss2 0];
R2(2,:) = [ss2 cs2 0];
R2(3,:) = [0 0 1];
%apply rigid transformation
for FN = 1:frame_num
cur_body = bodyinfo(FN).bodies(1);
joints = cur_body.joints;
for JN = 1:25
a = R1(1,:) * [joints(JN).x joints(JN).y joints(JN).z].';
b = R1(2,:) * [joints(JN).x joints(JN).y joints(JN).z].';
c = R1(3,:) * [joints(JN).x joints(JN).y joints(JN).z].';
cur_subject_x(FN,JN) = R2(1,:) * [a b c].';
cur_subject_y(FN,JN) = R2(2,:) * [a b c].';
cur_subject_z(FN,JN) = R2(3,:) * [a b c].';
end
end
%orientation normalize 2 (with plane surface)
if cur_subject_x(1,4) < cur_subject_x(1,1)
cur_subject_x = 0 - cur_subject_x;
end
if cur_subject_y(1,9) > cur_subject_y(1,5)
cur_subject_y = 0 - cur_subject_y;
end
%get current median
CM_x=median(cur_subject_x);
CM_y=median(cur_subject_y);
CM_z=median(cur_subject_z);
%for transform bellybutton to 0.5,0.5 (Except X) but it doesn't work
belly_button = 0.5 - CM_y(2);
belly_button(2) = 0.5 - CM_z(2);
% normalize with x... <- HERE! WANT TO PARALLEL TRANSFORM
... but if I plus belly_button for x and y axis , it dosn't work
cur_subject_x = cur_subject_x - min(cur_subject_x(:));
max_tall = max(cur_subject_x(:));
cur_subject_x = cur_subject_x ./ max_tall;
cur_subject_y = cur_subject_y - min(cur_subject_y(:));
cur_subject_y = cur_subject_y ./ max_tall;
cur_subject_z = cur_subject_z - min(cur_subject_z(:));
cur_subject_z = cur_subject_z ./ max_tall;
% 이미지 저장
motionpatch = cur_subject_x;
motionpatch(:,:,2) = cur_subject_y;
motionpatch(:,:,3) = cur_subject_z;
new_file_name = strcat('/home/rfj/바탕화면/motionpatch/',num2str(class),'/',file_name(1:20),'.png');
imwrite(motionpatch,new_file_name);
catch
name
end
end
end