wan/modules/animate/preprocess/pose2d_utils.py

# Copyright 2024-2025 The Alibaba Wan Team Authors. All rights reserved.
import warnings
import cv2
import numpy as np
from typing import List
from PIL import Image


def box_convert_simple(box, convert_type='xyxy2xywh'):
    if convert_type == 'xyxy2xywh':
        return [box[0], box[1], box[2] - box[0], box[3] - box[1]]
    elif convert_type == 'xywh2xyxy':
        return [box[0], box[1], box[2] + box[0], box[3] + box[1]]
    elif convert_type == 'xyxy2ctwh':
        return [(box[0] + box[2]) / 2, (box[1] + box[3]) / 2, box[2] - box[0], box[3] - box[1]]
    elif convert_type == 'ctwh2xyxy':
        return [box[0] - box[2] // 2, box[1] - box[3] // 2, box[0] + (box[2] - box[2] // 2), box[1] + (box[3] - box[3] // 2)]

def read_img(image, convert='RGB', check_exist=False):
    if isinstance(image, str):
        if check_exist and not osp.exists(image):
            return None
        try:
            img = Image.open(image)
            if convert:
                img = img.convert(convert)
        except:
            raise IOError('File error: ', image)
        return np.asarray(img)
    else:
        if isinstance(image, np.ndarray):
            if convert:
                return image[..., ::-1]
        else:
            if convert:
                img = img.convert(convert)
            return np.asarray(img)

class AAPoseMeta:
    def __init__(self, meta=None, kp2ds=None):
        self.image_id = ""
        self.height = 0
        self.width = 0

        self.kps_body: np.ndarray = None
        self.kps_lhand: np.ndarray = None
        self.kps_rhand: np.ndarray = None
        self.kps_face: np.ndarray = None
        self.kps_body_p: np.ndarray = None
        self.kps_lhand_p: np.ndarray = None
        self.kps_rhand_p: np.ndarray = None
        self.kps_face_p: np.ndarray = None


        if meta is not None:
            self.load_from_meta(meta)
        elif kp2ds is not None:
            self.load_from_kp2ds(kp2ds)
    
    def is_valid(self, kp, p, threshold):
        x, y = kp
        if x < 0 or y < 0 or x > self.width or y > self.height or p < threshold: 
            return False
        else:
            return True
    
    def get_bbox(self, kp, kp_p, threshold=0.5):
        kps = kp[kp_p > threshold]
        if kps.size == 0:
            return 0, 0, 0, 0
        x0, y0 = kps.min(axis=0)
        x1, y1 = kps.max(axis=0)
        return x0, y0, x1, y1
    
    def crop(self, x0, y0, x1, y1):
        all_kps = [self.kps_body, self.kps_lhand, self.kps_rhand, self.kps_face]
        for kps in all_kps:
            if kps is not None:
                kps[:, 0] -= x0
                kps[:, 1] -= y0
        self.width = x1 - x0
        self.height = y1 - y0
        return self
    
    def resize(self, width, height):
        scale_x = width / self.width
        scale_y = height / self.height
        all_kps = [self.kps_body, self.kps_lhand, self.kps_rhand, self.kps_face]
        for kps in all_kps:
            if kps is not None:
                kps[:, 0] *= scale_x
                kps[:, 1] *= scale_y
        self.width = width
        self.height = height
        return self

    
    def get_kps_body_with_p(self, normalize=False):
        kps_body = self.kps_body.copy()
        if normalize:
            kps_body = kps_body / np.array([self.width, self.height])

        return np.concatenate([kps_body, self.kps_body_p[:, None]])
    
    @staticmethod
    def from_kps_face(kps_face: np.ndarray, height: int, width: int):

        pose_meta = AAPoseMeta()
        pose_meta.kps_face = kps_face[:, :2]
        if kps_face.shape[1] == 3:
            pose_meta.kps_face_p = kps_face[:, 2]
        else:
            pose_meta.kps_face_p = kps_face[:, 0] * 0 + 1
        pose_meta.height = height
        pose_meta.width = width
        return pose_meta

    @staticmethod
    def from_kps_body(kps_body: np.ndarray, height: int, width: int):

        pose_meta = AAPoseMeta()
        pose_meta.kps_body = kps_body[:, :2]
        pose_meta.kps_body_p = kps_body[:, 2]
        pose_meta.height = height
        pose_meta.width = width
        return pose_meta
    @staticmethod
    def from_humanapi_meta(meta):
        pose_meta = AAPoseMeta()
        width, height = meta["width"], meta["height"]
        pose_meta.width = width
        pose_meta.height = height
        pose_meta.kps_body = meta["keypoints_body"][:, :2] * (width, height)
        pose_meta.kps_body_p = meta["keypoints_body"][:, 2]
        pose_meta.kps_lhand = meta["keypoints_left_hand"][:, :2] * (width, height)
        pose_meta.kps_lhand_p = meta["keypoints_left_hand"][:, 2]
        pose_meta.kps_rhand = meta["keypoints_right_hand"][:, :2] * (width, height)
        pose_meta.kps_rhand_p = meta["keypoints_right_hand"][:, 2]
        if 'keypoints_face' in meta:
            pose_meta.kps_face = meta["keypoints_face"][:, :2] * (width, height)
            pose_meta.kps_face_p = meta["keypoints_face"][:, 2]
        return pose_meta
    
    def load_from_meta(self, meta, norm_body=True, norm_hand=False):
        
        self.image_id = meta.get("image_id", "00000.png")
        self.height = meta["height"]
        self.width = meta["width"]
        kps_body_p = []
        kps_body = []
        for kp in meta["keypoints_body"]:
            if kp is None:
                kps_body.append([0, 0])
                kps_body_p.append(0)
            else:
                kps_body.append(kp)
                kps_body_p.append(1)

        self.kps_body = np.array(kps_body)
        self.kps_body[:, 0] *= self.width
        self.kps_body[:, 1] *= self.height
        self.kps_body_p = np.array(kps_body_p)

        self.kps_lhand = np.array(meta["keypoints_left_hand"])[:, :2]
        self.kps_lhand_p = np.array(meta["keypoints_left_hand"])[:, 2]
        self.kps_rhand = np.array(meta["keypoints_right_hand"])[:, :2]
        self.kps_rhand_p = np.array(meta["keypoints_right_hand"])[:, 2]

    @staticmethod
    def load_from_kp2ds(kp2ds: List[np.ndarray], width: int, height: int): 
        """input 133x3 numpy keypoints and output AAPoseMeta

        Args:
            kp2ds (List[np.ndarray]): _description_
            width (int): _description_
            height (int): _description_

        Returns:
            _type_: _description_
        """
        pose_meta = AAPoseMeta()
        pose_meta.width = width
        pose_meta.height = height
        kps_body = (kp2ds[[0, 6, 6, 8, 10, 5, 7, 9, 12, 14, 16, 11, 13, 15, 2, 1, 4, 3, 17, 20]] + kp2ds[[0, 5, 6, 8, 10, 5, 7, 9, 12, 14, 16, 11, 13, 15, 2, 1, 4, 3, 18, 21]]) / 2
        kps_lhand = kp2ds[91:112]
        kps_rhand = kp2ds[112:133]
        kps_face = np.concatenate([kp2ds[23:23+68], kp2ds[1:3]], axis=0)
        pose_meta.kps_body = kps_body[:, :2]
        pose_meta.kps_body_p = kps_body[:, 2]
        pose_meta.kps_lhand = kps_lhand[:, :2]
        pose_meta.kps_lhand_p = kps_lhand[:, 2]
        pose_meta.kps_rhand = kps_rhand[:, :2]
        pose_meta.kps_rhand_p = kps_rhand[:, 2]
        pose_meta.kps_face = kps_face[:, :2]
        pose_meta.kps_face_p = kps_face[:, 2]
        return pose_meta
    
    @staticmethod
    def from_dwpose(dwpose_det_res, height, width):
        pose_meta = AAPoseMeta()
        pose_meta.kps_body = dwpose_det_res["bodies"]["candidate"]
        pose_meta.kps_body_p = dwpose_det_res["bodies"]["score"]
        pose_meta.kps_body[:, 0] *= width
        pose_meta.kps_body[:, 1] *= height

        pose_meta.kps_lhand, pose_meta.kps_rhand = dwpose_det_res["hands"]
        pose_meta.kps_lhand[:, 0] *= width
        pose_meta.kps_lhand[:, 1] *= height
        pose_meta.kps_rhand[:, 0] *= width
        pose_meta.kps_rhand[:, 1] *= height
        pose_meta.kps_lhand_p, pose_meta.kps_rhand_p = dwpose_det_res["hands_score"]

        pose_meta.kps_face = dwpose_det_res["faces"][0]
        pose_meta.kps_face[:, 0] *= width
        pose_meta.kps_face[:, 1] *= height
        pose_meta.kps_face_p = dwpose_det_res["faces_score"][0]
        return pose_meta

    def save_json(self):
        pass

    def draw_aapose(self, img, threshold=0.5, stick_width_norm=200, draw_hand=True, draw_head=True):
        from .human_visualization import draw_aapose_by_meta
        return draw_aapose_by_meta(img, self, threshold, stick_width_norm, draw_hand, draw_head)

    
    def translate(self, x0, y0):
        all_kps = [self.kps_body, self.kps_lhand, self.kps_rhand, self.kps_face]
        for kps in all_kps:
            if kps is not None:
                kps[:, 0] -= x0
                kps[:, 1] -= y0

    def scale(self, sx, sy):
        all_kps = [self.kps_body, self.kps_lhand, self.kps_rhand, self.kps_face]
        for kps in all_kps:
            if kps is not None:
                kps[:, 0] *= sx
                kps[:, 1] *= sy
    
    def padding_resize2(self, height=512, width=512):
        """kps will be changed inplace

        """

        all_kps = [self.kps_body, self.kps_lhand, self.kps_rhand, self.kps_face]

        ori_height, ori_width = self.height, self.width

        if (ori_height / ori_width) > (height / width):
            new_width = int(height / ori_height * ori_width)
            padding = int((width - new_width) / 2)
            padding_width = padding
            padding_height = 0
            scale = height / ori_height 

            for kps in all_kps:
                if kps is not None:
                    kps[:, 0] = kps[:, 0] * scale + padding
                    kps[:, 1] = kps[:, 1] * scale

        else:
            new_height = int(width / ori_width * ori_height)
            padding = int((height - new_height) / 2)
            padding_width = 0
            padding_height = padding 
            scale = width / ori_width
            for kps in all_kps:
                if kps is not None:
                    kps[:, 1] = kps[:, 1] * scale + padding
                    kps[:, 0] = kps[:, 0] * scale


        self.width = width
        self.height = height
        return self
        

def transform_preds(coords, center, scale, output_size, use_udp=False):
    """Get final keypoint predictions from heatmaps and apply scaling and
    translation to map them back to the image.

    Note:
        num_keypoints: K

    Args:
        coords (np.ndarray[K, ndims]):

            * If ndims=2, corrds are predicted keypoint location.
            * If ndims=4, corrds are composed of (x, y, scores, tags)
            * If ndims=5, corrds are composed of (x, y, scores, tags,
              flipped_tags)

        center (np.ndarray[2, ]): Center of the bounding box (x, y).
        scale (np.ndarray[2, ]): Scale of the bounding box
            wrt [width, height].
        output_size (np.ndarray[2, ] | list(2,)): Size of the
            destination heatmaps.
        use_udp (bool): Use unbiased data processing

    Returns:
        np.ndarray: Predicted coordinates in the images.
    """
    assert coords.shape[1] in (2, 4, 5)
    assert len(center) == 2
    assert len(scale) == 2
    assert len(output_size) == 2

    # Recover the scale which is normalized by a factor of 200.
    # scale = scale * 200.0

    if use_udp:
        scale_x = scale[0] / (output_size[0] - 1.0)
        scale_y = scale[1] / (output_size[1] - 1.0)
    else:
        scale_x = scale[0] / output_size[0]
        scale_y = scale[1] / output_size[1]

    target_coords = np.ones_like(coords)
    target_coords[:, 0] = coords[:, 0] * scale_x + center[0] - scale[0] * 0.5
    target_coords[:, 1] = coords[:, 1] * scale_y + center[1] - scale[1] * 0.5

    return target_coords


def _calc_distances(preds, targets, mask, normalize):
    """Calculate the normalized distances between preds and target.

    Note:
        batch_size: N
        num_keypoints: K
        dimension of keypoints: D (normally, D=2 or D=3)

    Args:
        preds (np.ndarray[N, K, D]): Predicted keypoint location.
        targets (np.ndarray[N, K, D]): Groundtruth keypoint location.
        mask (np.ndarray[N, K]): Visibility of the target. False for invisible
            joints, and True for visible. Invisible joints will be ignored for
            accuracy calculation.
        normalize (np.ndarray[N, D]): Typical value is heatmap_size

    Returns:
        np.ndarray[K, N]: The normalized distances. \
            If target keypoints are missing, the distance is -1.
    """
    N, K, _ = preds.shape
    # set mask=0 when normalize==0
    _mask = mask.copy()
    _mask[np.where((normalize == 0).sum(1))[0], :] = False
    distances = np.full((N, K), -1, dtype=np.float32)
    # handle invalid values
    normalize[np.where(normalize <= 0)] = 1e6
    distances[_mask] = np.linalg.norm(
        ((preds - targets) / normalize[:, None, :])[_mask], axis=-1)
    return distances.T


def _distance_acc(distances, thr=0.5):
    """Return the percentage below the distance threshold, while ignoring
    distances values with -1.

    Note:
        batch_size: N
    Args:
        distances (np.ndarray[N, ]): The normalized distances.
        thr (float): Threshold of the distances.

    Returns:
        float: Percentage of distances below the threshold. \
            If all target keypoints are missing, return -1.
    """
    distance_valid = distances != -1
    num_distance_valid = distance_valid.sum()
    if num_distance_valid > 0:
        return (distances[distance_valid] < thr).sum() / num_distance_valid
    return -1


def _get_max_preds(heatmaps):
    """Get keypoint predictions from score maps.

    Note:
        batch_size: N
        num_keypoints: K
        heatmap height: H
        heatmap width: W

    Args:
        heatmaps (np.ndarray[N, K, H, W]): model predicted heatmaps.

    Returns:
        tuple: A tuple containing aggregated results.

        - preds (np.ndarray[N, K, 2]): Predicted keypoint location.
        - maxvals (np.ndarray[N, K, 1]): Scores (confidence) of the keypoints.
    """
    assert isinstance(heatmaps,
                      np.ndarray), ('heatmaps should be numpy.ndarray')
    assert heatmaps.ndim == 4, 'batch_images should be 4-ndim'

    N, K, _, W = heatmaps.shape
    heatmaps_reshaped = heatmaps.reshape((N, K, -1))
    idx = np.argmax(heatmaps_reshaped, 2).reshape((N, K, 1))
    maxvals = np.amax(heatmaps_reshaped, 2).reshape((N, K, 1))

    preds = np.tile(idx, (1, 1, 2)).astype(np.float32)
    preds[:, :, 0] = preds[:, :, 0] % W
    preds[:, :, 1] = preds[:, :, 1] // W

    preds = np.where(np.tile(maxvals, (1, 1, 2)) > 0.0, preds, -1)
    return preds, maxvals


def _get_max_preds_3d(heatmaps):
    """Get keypoint predictions from 3D score maps.

    Note:
        batch size: N
        num keypoints: K
        heatmap depth size: D
        heatmap height: H
        heatmap width: W

    Args:
        heatmaps (np.ndarray[N, K, D, H, W]): model predicted heatmaps.

    Returns:
        tuple: A tuple containing aggregated results.

        - preds (np.ndarray[N, K, 3]): Predicted keypoint location.
        - maxvals (np.ndarray[N, K, 1]): Scores (confidence) of the keypoints.
    """
    assert isinstance(heatmaps, np.ndarray), \
        ('heatmaps should be numpy.ndarray')
    assert heatmaps.ndim == 5, 'heatmaps should be 5-ndim'

    N, K, D, H, W = heatmaps.shape
    heatmaps_reshaped = heatmaps.reshape((N, K, -1))
    idx = np.argmax(heatmaps_reshaped, 2).reshape((N, K, 1))
    maxvals = np.amax(heatmaps_reshaped, 2).reshape((N, K, 1))

    preds = np.zeros((N, K, 3), dtype=np.float32)
    _idx = idx[..., 0]
    preds[..., 2] = _idx // (H * W)
    preds[..., 1] = (_idx // W) % H
    preds[..., 0] = _idx % W

    preds = np.where(maxvals > 0.0, preds, -1)
    return preds, maxvals


def pose_pck_accuracy(output, target, mask, thr=0.05, normalize=None):
    """Calculate the pose accuracy of PCK for each individual keypoint and the
    averaged accuracy across all keypoints from heatmaps.

    Note:
        PCK metric measures accuracy of the localization of the body joints.
        The distances between predicted positions and the ground-truth ones
        are typically normalized by the bounding box size.
        The threshold (thr) of the normalized distance is commonly set
        as 0.05, 0.1 or 0.2 etc.

        - batch_size: N
        - num_keypoints: K
        - heatmap height: H
        - heatmap width: W

    Args:
        output (np.ndarray[N, K, H, W]): Model output heatmaps.
        target (np.ndarray[N, K, H, W]): Groundtruth heatmaps.
        mask (np.ndarray[N, K]): Visibility of the target. False for invisible
            joints, and True for visible. Invisible joints will be ignored for
            accuracy calculation.
        thr (float): Threshold of PCK calculation. Default 0.05.
        normalize (np.ndarray[N, 2]): Normalization factor for H&W.

    Returns:
        tuple: A tuple containing keypoint accuracy.

        - np.ndarray[K]: Accuracy of each keypoint.
        - float: Averaged accuracy across all keypoints.
        - int: Number of valid keypoints.
    """
    N, K, H, W = output.shape
    if K == 0:
        return None, 0, 0
    if normalize is None:
        normalize = np.tile(np.array([[H, W]]), (N, 1))

    pred, _ = _get_max_preds(output)
    gt, _ = _get_max_preds(target)
    return keypoint_pck_accuracy(pred, gt, mask, thr, normalize)


def keypoint_pck_accuracy(pred, gt, mask, thr, normalize):
    """Calculate the pose accuracy of PCK for each individual keypoint and the
    averaged accuracy across all keypoints for coordinates.

    Note:
        PCK metric measures accuracy of the localization of the body joints.
        The distances between predicted positions and the ground-truth ones
        are typically normalized by the bounding box size.
        The threshold (thr) of the normalized distance is commonly set
        as 0.05, 0.1 or 0.2 etc.

        - batch_size: N
        - num_keypoints: K

    Args:
        pred (np.ndarray[N, K, 2]): Predicted keypoint location.
        gt (np.ndarray[N, K, 2]): Groundtruth keypoint location.
        mask (np.ndarray[N, K]): Visibility of the target. False for invisible
            joints, and True for visible. Invisible joints will be ignored for
            accuracy calculation.
        thr (float): Threshold of PCK calculation.
        normalize (np.ndarray[N, 2]): Normalization factor for H&W.

    Returns:
        tuple: A tuple containing keypoint accuracy.

        - acc (np.ndarray[K]): Accuracy of each keypoint.
        - avg_acc (float): Averaged accuracy across all keypoints.
        - cnt (int): Number of valid keypoints.
    """
    distances = _calc_distances(pred, gt, mask, normalize)

    acc = np.array([_distance_acc(d, thr) for d in distances])
    valid_acc = acc[acc >= 0]
    cnt = len(valid_acc)
    avg_acc = valid_acc.mean() if cnt > 0 else 0
    return acc, avg_acc, cnt


def keypoint_auc(pred, gt, mask, normalize, num_step=20):
    """Calculate the pose accuracy of PCK for each individual keypoint and the
    averaged accuracy across all keypoints for coordinates.

    Note:
        - batch_size: N
        - num_keypoints: K

    Args:
        pred (np.ndarray[N, K, 2]): Predicted keypoint location.
        gt (np.ndarray[N, K, 2]): Groundtruth keypoint location.
        mask (np.ndarray[N, K]): Visibility of the target. False for invisible
            joints, and True for visible. Invisible joints will be ignored for
            accuracy calculation.
        normalize (float): Normalization factor.

    Returns:
        float: Area under curve.
    """
    nor = np.tile(np.array([[normalize, normalize]]), (pred.shape[0], 1))
    x = [1.0 * i / num_step for i in range(num_step)]
    y = []
    for thr in x:
        _, avg_acc, _ = keypoint_pck_accuracy(pred, gt, mask, thr, nor)
        y.append(avg_acc)

    auc = 0
    for i in range(num_step):
        auc += 1.0 / num_step * y[i]
    return auc


def keypoint_nme(pred, gt, mask, normalize_factor):
    """Calculate the normalized mean error (NME).

    Note:
        - batch_size: N
        - num_keypoints: K

    Args:
        pred (np.ndarray[N, K, 2]): Predicted keypoint location.
        gt (np.ndarray[N, K, 2]): Groundtruth keypoint location.
        mask (np.ndarray[N, K]): Visibility of the target. False for invisible
            joints, and True for visible. Invisible joints will be ignored for
            accuracy calculation.
        normalize_factor (np.ndarray[N, 2]): Normalization factor.

    Returns:
        float: normalized mean error
    """
    distances = _calc_distances(pred, gt, mask, normalize_factor)
    distance_valid = distances[distances != -1]
    return distance_valid.sum() / max(1, len(distance_valid))


def keypoint_epe(pred, gt, mask):
    """Calculate the end-point error.

    Note:
        - batch_size: N
        - num_keypoints: K

    Args:
        pred (np.ndarray[N, K, 2]): Predicted keypoint location.
        gt (np.ndarray[N, K, 2]): Groundtruth keypoint location.
        mask (np.ndarray[N, K]): Visibility of the target. False for invisible
            joints, and True for visible. Invisible joints will be ignored for
            accuracy calculation.

    Returns:
        float: Average end-point error.
    """

    distances = _calc_distances(
        pred, gt, mask,
        np.ones((pred.shape[0], pred.shape[2]), dtype=np.float32))
    distance_valid = distances[distances != -1]
    return distance_valid.sum() / max(1, len(distance_valid))


def _taylor(heatmap, coord):
    """Distribution aware coordinate decoding method.

    Note:
        - heatmap height: H
        - heatmap width: W

    Args:
        heatmap (np.ndarray[H, W]): Heatmap of a particular joint type.
        coord (np.ndarray[2,]): Coordinates of the predicted keypoints.

    Returns:
        np.ndarray[2,]: Updated coordinates.
    """
    H, W = heatmap.shape[:2]
    px, py = int(coord[0]), int(coord[1])
    if 1 < px < W - 2 and 1 < py < H - 2:
        dx = 0.5 * (heatmap[py][px + 1] - heatmap[py][px - 1])
        dy = 0.5 * (heatmap[py + 1][px] - heatmap[py - 1][px])
        dxx = 0.25 * (
            heatmap[py][px + 2] - 2 * heatmap[py][px] + heatmap[py][px - 2])
        dxy = 0.25 * (
            heatmap[py + 1][px + 1] - heatmap[py - 1][px + 1] -
            heatmap[py + 1][px - 1] + heatmap[py - 1][px - 1])
        dyy = 0.25 * (
            heatmap[py + 2 * 1][px] - 2 * heatmap[py][px] +
            heatmap[py - 2 * 1][px])
        derivative = np.array([[dx], [dy]])
        hessian = np.array([[dxx, dxy], [dxy, dyy]])
        if dxx * dyy - dxy**2 != 0:
            hessianinv = np.linalg.inv(hessian)
            offset = -hessianinv @ derivative
            offset = np.squeeze(np.array(offset.T), axis=0)
            coord += offset
    return coord


def post_dark_udp(coords, batch_heatmaps, kernel=3):
    """DARK post-pocessing. Implemented by udp. Paper ref: Huang et al. The
    Devil is in the Details: Delving into Unbiased Data Processing for Human
    Pose Estimation (CVPR 2020). Zhang et al. Distribution-Aware Coordinate
    Representation for Human Pose Estimation (CVPR 2020).

    Note:
        - batch size: B
        - num keypoints: K
        - num persons: N
        - height of heatmaps: H
        - width of heatmaps: W

        B=1 for bottom_up paradigm where all persons share the same heatmap.
        B=N for top_down paradigm where each person has its own heatmaps.

    Args:
        coords (np.ndarray[N, K, 2]): Initial coordinates of human pose.
        batch_heatmaps (np.ndarray[B, K, H, W]): batch_heatmaps
        kernel (int): Gaussian kernel size (K) for modulation.

    Returns:
        np.ndarray([N, K, 2]): Refined coordinates.
    """
    if not isinstance(batch_heatmaps, np.ndarray):
        batch_heatmaps = batch_heatmaps.cpu().numpy()
    B, K, H, W = batch_heatmaps.shape
    N = coords.shape[0]
    assert (B == 1 or B == N)
    for heatmaps in batch_heatmaps:
        for heatmap in heatmaps:
            cv2.GaussianBlur(heatmap, (kernel, kernel), 0, heatmap)
    np.clip(batch_heatmaps, 0.001, 50, batch_heatmaps)
    np.log(batch_heatmaps, batch_heatmaps)

    batch_heatmaps_pad = np.pad(
        batch_heatmaps, ((0, 0), (0, 0), (1, 1), (1, 1)),
        mode='edge').flatten()

    index = coords[..., 0] + 1 + (coords[..., 1] + 1) * (W + 2)
    index += (W + 2) * (H + 2) * np.arange(0, B * K).reshape(-1, K)
    index = index.astype(int).reshape(-1, 1)
    i_ = batch_heatmaps_pad[index]
    ix1 = batch_heatmaps_pad[index + 1]
    iy1 = batch_heatmaps_pad[index + W + 2]
    ix1y1 = batch_heatmaps_pad[index + W + 3]
    ix1_y1_ = batch_heatmaps_pad[index - W - 3]
    ix1_ = batch_heatmaps_pad[index - 1]
    iy1_ = batch_heatmaps_pad[index - 2 - W]

    dx = 0.5 * (ix1 - ix1_)
    dy = 0.5 * (iy1 - iy1_)
    derivative = np.concatenate([dx, dy], axis=1)
    derivative = derivative.reshape(N, K, 2, 1)
    dxx = ix1 - 2 * i_ + ix1_
    dyy = iy1 - 2 * i_ + iy1_
    dxy = 0.5 * (ix1y1 - ix1 - iy1 + i_ + i_ - ix1_ - iy1_ + ix1_y1_)
    hessian = np.concatenate([dxx, dxy, dxy, dyy], axis=1)
    hessian = hessian.reshape(N, K, 2, 2)
    hessian = np.linalg.inv(hessian + np.finfo(np.float32).eps * np.eye(2))
    coords -= np.einsum('ijmn,ijnk->ijmk', hessian, derivative).squeeze()
    return coords


def _gaussian_blur(heatmaps, kernel=11):
    """Modulate heatmap distribution with Gaussian.
     sigma = 0.3*((kernel_size-1)*0.5-1)+0.8
     sigma~=3 if k=17
     sigma=2 if k=11;
     sigma~=1.5 if k=7;
     sigma~=1 if k=3;

    Note:
        - batch_size: N
        - num_keypoints: K
        - heatmap height: H
        - heatmap width: W

    Args:
        heatmaps (np.ndarray[N, K, H, W]): model predicted heatmaps.
        kernel (int): Gaussian kernel size (K) for modulation, which should
            match the heatmap gaussian sigma when training.
            K=17 for sigma=3 and k=11 for sigma=2.

    Returns:
        np.ndarray ([N, K, H, W]): Modulated heatmap distribution.
    """
    assert kernel % 2 == 1

    border = (kernel - 1) // 2
    batch_size = heatmaps.shape[0]
    num_joints = heatmaps.shape[1]
    height = heatmaps.shape[2]
    width = heatmaps.shape[3]
    for i in range(batch_size):
        for j in range(num_joints):
            origin_max = np.max(heatmaps[i, j])
            dr = np.zeros((height + 2 * border, width + 2 * border),
                          dtype=np.float32)
            dr[border:-border, border:-border] = heatmaps[i, j].copy()
            dr = cv2.GaussianBlur(dr, (kernel, kernel), 0)
            heatmaps[i, j] = dr[border:-border, border:-border].copy()
            heatmaps[i, j] *= origin_max / np.max(heatmaps[i, j])
    return heatmaps


def keypoints_from_regression(regression_preds, center, scale, img_size):
    """Get final keypoint predictions from regression vectors and transform
    them back to the image.

    Note:
        - batch_size: N
        - num_keypoints: K

    Args:
        regression_preds (np.ndarray[N, K, 2]): model prediction.
        center (np.ndarray[N, 2]): Center of the bounding box (x, y).
        scale (np.ndarray[N, 2]): Scale of the bounding box
            wrt height/width.
        img_size (list(img_width, img_height)): model input image size.

    Returns:
        tuple:

        - preds (np.ndarray[N, K, 2]): Predicted keypoint location in images.
        - maxvals (np.ndarray[N, K, 1]): Scores (confidence) of the keypoints.
    """
    N, K, _ = regression_preds.shape
    preds, maxvals = regression_preds, np.ones((N, K, 1), dtype=np.float32)

    preds = preds * img_size

    # Transform back to the image
    for i in range(N):
        preds[i] = transform_preds(preds[i], center[i], scale[i], img_size)

    return preds, maxvals


def keypoints_from_heatmaps(heatmaps,
                            center,
                            scale,
                            unbiased=False,
                            post_process='default',
                            kernel=11,
                            valid_radius_factor=0.0546875,
                            use_udp=False,
                            target_type='GaussianHeatmap'):
    """Get final keypoint predictions from heatmaps and transform them back to
    the image.

    Note:
        - batch size: N
        - num keypoints: K
        - heatmap height: H
        - heatmap width: W

    Args:
        heatmaps (np.ndarray[N, K, H, W]): model predicted heatmaps.
        center (np.ndarray[N, 2]): Center of the bounding box (x, y).
        scale (np.ndarray[N, 2]): Scale of the bounding box
            wrt height/width.
        post_process (str/None): Choice of methods to post-process
            heatmaps. Currently supported: None, 'default', 'unbiased',
            'megvii'.
        unbiased (bool): Option to use unbiased decoding. Mutually
            exclusive with megvii.
            Note: this arg is deprecated and unbiased=True can be replaced
            by post_process='unbiased'
            Paper ref: Zhang et al. Distribution-Aware Coordinate
            Representation for Human Pose Estimation (CVPR 2020).
        kernel (int): Gaussian kernel size (K) for modulation, which should
            match the heatmap gaussian sigma when training.
            K=17 for sigma=3 and k=11 for sigma=2.
        valid_radius_factor (float): The radius factor of the positive area
            in classification heatmap for UDP.
        use_udp (bool): Use unbiased data processing.
        target_type (str): 'GaussianHeatmap' or 'CombinedTarget'.
            GaussianHeatmap: Classification target with gaussian distribution.
            CombinedTarget: The combination of classification target
            (response map) and regression target (offset map).
            Paper ref: Huang et al. The Devil is in the Details: Delving into
            Unbiased Data Processing for Human Pose Estimation (CVPR 2020).

    Returns:
        tuple: A tuple containing keypoint predictions and scores.

        - preds (np.ndarray[N, K, 2]): Predicted keypoint location in images.
        - maxvals (np.ndarray[N, K, 1]): Scores (confidence) of the keypoints.
    """
    # Avoid being affected
    heatmaps = heatmaps.copy()

    # detect conflicts
    if unbiased:
        assert post_process not in [False, None, 'megvii']
    if post_process in ['megvii', 'unbiased']:
        assert kernel > 0
    if use_udp:
        assert not post_process == 'megvii'

    # normalize configs
    if post_process is False:
        warnings.warn(
            'post_process=False is deprecated, '
            'please use post_process=None instead', DeprecationWarning)
        post_process = None
    elif post_process is True:
        if unbiased is True:
            warnings.warn(
                'post_process=True, unbiased=True is deprecated,'
                " please use post_process='unbiased' instead",
                DeprecationWarning)
            post_process = 'unbiased'
        else:
            warnings.warn(
                'post_process=True, unbiased=False is deprecated, '
                "please use post_process='default' instead",
                DeprecationWarning)
            post_process = 'default'
    elif post_process == 'default':
        if unbiased is True:
            warnings.warn(
                'unbiased=True is deprecated, please use '
                "post_process='unbiased' instead", DeprecationWarning)
            post_process = 'unbiased'

    # start processing
    if post_process == 'megvii':
        heatmaps = _gaussian_blur(heatmaps, kernel=kernel)

    N, K, H, W = heatmaps.shape
    if use_udp:
        if target_type.lower() == 'GaussianHeatMap'.lower():
            preds, maxvals = _get_max_preds(heatmaps)
            preds = post_dark_udp(preds, heatmaps, kernel=kernel)
        elif target_type.lower() == 'CombinedTarget'.lower():
            for person_heatmaps in heatmaps:
                for i, heatmap in enumerate(person_heatmaps):
                    kt = 2 * kernel + 1 if i % 3 == 0 else kernel
                    cv2.GaussianBlur(heatmap, (kt, kt), 0, heatmap)
            # valid radius is in direct proportion to the height of heatmap.
            valid_radius = valid_radius_factor * H
            offset_x = heatmaps[:, 1::3, :].flatten() * valid_radius
            offset_y = heatmaps[:, 2::3, :].flatten() * valid_radius
            heatmaps = heatmaps[:, ::3, :]
            preds, maxvals = _get_max_preds(heatmaps)
            index = preds[..., 0] + preds[..., 1] * W
            index += W * H * np.arange(0, N * K / 3)
            index = index.astype(int).reshape(N, K // 3, 1)
            preds += np.concatenate((offset_x[index], offset_y[index]), axis=2)
        else:
            raise ValueError('target_type should be either '
                             "'GaussianHeatmap' or 'CombinedTarget'")
    else:
        preds, maxvals = _get_max_preds(heatmaps)
        if post_process == 'unbiased':  # alleviate biased coordinate
            # apply Gaussian distribution modulation.
            heatmaps = np.log(
                np.maximum(_gaussian_blur(heatmaps, kernel), 1e-10))
            for n in range(N):
                for k in range(K):
                    preds[n][k] = _taylor(heatmaps[n][k], preds[n][k])
        elif post_process is not None:
            # add +/-0.25 shift to the predicted locations for higher acc.
            for n in range(N):
                for k in range(K):
                    heatmap = heatmaps[n][k]
                    px = int(preds[n][k][0])
                    py = int(preds[n][k][1])
                    if 1 < px < W - 1 and 1 < py < H - 1:
                        diff = np.array([
                            heatmap[py][px + 1] - heatmap[py][px - 1],
                            heatmap[py + 1][px] - heatmap[py - 1][px]
                        ])
                        preds[n][k] += np.sign(diff) * .25
                        if post_process == 'megvii':
                            preds[n][k] += 0.5

    # Transform back to the image
    for i in range(N):
        preds[i] = transform_preds(
            preds[i], center[i], scale[i], [W, H], use_udp=use_udp)

    if post_process == 'megvii':
        maxvals = maxvals / 255.0 + 0.5

    return preds, maxvals


def keypoints_from_heatmaps3d(heatmaps, center, scale):
    """Get final keypoint predictions from 3d heatmaps and transform them back
    to the image.

    Note:
        - batch size: N
        - num keypoints: K
        - heatmap depth size: D
        - heatmap height: H
        - heatmap width: W

    Args:
        heatmaps (np.ndarray[N, K, D, H, W]): model predicted heatmaps.
        center (np.ndarray[N, 2]): Center of the bounding box (x, y).
        scale (np.ndarray[N, 2]): Scale of the bounding box
            wrt height/width.

    Returns:
        tuple: A tuple containing keypoint predictions and scores.

        - preds (np.ndarray[N, K, 3]): Predicted 3d keypoint location \
            in images.
        - maxvals (np.ndarray[N, K, 1]): Scores (confidence) of the keypoints.
    """
    N, K, D, H, W = heatmaps.shape
    preds, maxvals = _get_max_preds_3d(heatmaps)
    # Transform back to the image
    for i in range(N):
        preds[i, :, :2] = transform_preds(preds[i, :, :2], center[i], scale[i],
                                          [W, H])
    return preds, maxvals


def multilabel_classification_accuracy(pred, gt, mask, thr=0.5):
    """Get multi-label classification accuracy.

    Note:
        - batch size: N
        - label number: L

    Args:
        pred (np.ndarray[N, L, 2]): model predicted labels.
        gt (np.ndarray[N, L, 2]): ground-truth labels.
        mask (np.ndarray[N, 1] or np.ndarray[N, L] ): reliability of
        ground-truth labels.

    Returns:
        float: multi-label classification accuracy.
    """
    # we only compute accuracy on the samples with ground-truth of all labels.
    valid = (mask > 0).min(axis=1) if mask.ndim == 2 else (mask > 0)
    pred, gt = pred[valid], gt[valid]

    if pred.shape[0] == 0:
        acc = 0.0  # when no sample is with gt labels, set acc to 0.
    else:
        # The classification of a sample is regarded as correct
        # only if it's correct for all labels.
        acc = (((pred - thr) * (gt - thr)) > 0).all(axis=1).mean()
    return acc



def get_transform(center, scale, res, rot=0):
    """Generate transformation matrix."""
    # res: (height, width), (rows, cols)
    crop_aspect_ratio = res[0] / float(res[1])
    h = 200 * scale
    w = h / crop_aspect_ratio
    t = np.zeros((3, 3))
    t[0, 0] = float(res[1]) / w
    t[1, 1] = float(res[0]) / h
    t[0, 2] = res[1] * (-float(center[0]) / w + .5)
    t[1, 2] = res[0] * (-float(center[1]) / h + .5)
    t[2, 2] = 1
    if not rot == 0:
        rot = -rot  # To match direction of rotation from cropping
        rot_mat = np.zeros((3, 3))
        rot_rad = rot * np.pi / 180
        sn, cs = np.sin(rot_rad), np.cos(rot_rad)
        rot_mat[0, :2] = [cs, -sn]
        rot_mat[1, :2] = [sn, cs]
        rot_mat[2, 2] = 1
        # Need to rotate around center
        t_mat = np.eye(3)
        t_mat[0, 2] = -res[1] / 2
        t_mat[1, 2] = -res[0] / 2
        t_inv = t_mat.copy()
        t_inv[:2, 2] *= -1
        t = np.dot(t_inv, np.dot(rot_mat, np.dot(t_mat, t)))
    return t


def transform(pt, center, scale, res, invert=0, rot=0):
    """Transform pixel location to different reference."""
    t = get_transform(center, scale, res, rot=rot)
    if invert:
        t = np.linalg.inv(t)
    new_pt = np.array([pt[0] - 1, pt[1] - 1, 1.]).T
    new_pt = np.dot(t, new_pt)
    return np.array([round(new_pt[0]), round(new_pt[1])], dtype=int) + 1


def bbox_from_detector(bbox, input_resolution=(224, 224), rescale=1.25):
    """
    Get center and scale of bounding box from bounding box.
    The expected format is [min_x, min_y, max_x, max_y].
    """
    CROP_IMG_HEIGHT, CROP_IMG_WIDTH = input_resolution
    CROP_ASPECT_RATIO = CROP_IMG_HEIGHT / float(CROP_IMG_WIDTH)

    # center
    center_x = (bbox[0] + bbox[2]) / 2.0
    center_y = (bbox[1] + bbox[3]) / 2.0
    center = np.array([center_x, center_y])

    # scale
    bbox_w = bbox[2] - bbox[0]
    bbox_h = bbox[3] - bbox[1]
    bbox_size = max(bbox_w * CROP_ASPECT_RATIO, bbox_h)

    scale = np.array([bbox_size / CROP_ASPECT_RATIO, bbox_size]) / 200.0
    # scale = bbox_size / 200.0
    # adjust bounding box tightness
    scale *= rescale
    return center, scale


def crop(img, center, scale, res):
    """
    Crop image according to the supplied bounding box.
    res: [rows, cols]
    """
    # Upper left point
    ul = np.array(transform([1, 1], center, max(scale), res, invert=1)) - 1
    # Bottom right point
    br = np.array(transform([res[1] + 1, res[0] + 1], center, max(scale), res, invert=1)) - 1

    # Padding so that when rotated proper amount of context is included
    pad = int(np.linalg.norm(br - ul) / 2 - float(br[1] - ul[1]) / 2)

    new_shape = [br[1] - ul[1], br[0] - ul[0]]
    if len(img.shape) > 2:
        new_shape += [img.shape[2]]
    new_img = np.zeros(new_shape, dtype=np.float32)

    # Range to fill new array
    new_x = max(0, -ul[0]), min(br[0], len(img[0])) - ul[0]
    new_y = max(0, -ul[1]), min(br[1], len(img)) - ul[1]
    # Range to sample from original image
    old_x = max(0, ul[0]), min(len(img[0]), br[0])
    old_y = max(0, ul[1]), min(len(img), br[1])
    try:
        new_img[new_y[0]:new_y[1], new_x[0]:new_x[1]] = img[old_y[0]:old_y[1], old_x[0]:old_x[1]]
    except Exception as e:
        print(e)

    new_img = cv2.resize(new_img, (res[1], res[0]))  # (cols, rows)
    return new_img, new_shape, (old_x, old_y), (new_x, new_y)  # , ul, br


def split_kp2ds_for_aa(kp2ds, ret_face=False):
    kp2ds_body = (kp2ds[[0, 6, 6, 8, 10, 5, 7, 9, 12, 14, 16, 11, 13, 15, 2, 1, 4, 3, 17, 20]] + kp2ds[[0, 5, 6, 8, 10, 5, 7, 9, 12, 14, 16, 11, 13, 15, 2, 1, 4, 3, 18, 21]]) / 2
    kp2ds_lhand = kp2ds[91:112]
    kp2ds_rhand = kp2ds[112:133]
    kp2ds_face = kp2ds[22:91]
    if ret_face:
        return kp2ds_body.copy(), kp2ds_lhand.copy(), kp2ds_rhand.copy(), kp2ds_face.copy()
    return kp2ds_body.copy(), kp2ds_lhand.copy(), kp2ds_rhand.copy()

def load_pose_metas_from_kp2ds_seq_list(kp2ds_seq, width, height):
    metas = []
    for kps in kp2ds_seq:
        if len(kps) != 1:
            return None
        kps = kps[0].copy()
        kps[:, 0] /= width
        kps[:, 1] /= height
        kp2ds_body, kp2ds_lhand, kp2ds_rhand, kp2ds_face = split_kp2ds_for_aa(kps, ret_face=True)

        if kp2ds_body[:, :2].min(axis=1).max() < 0:
            kp2ds_body = last_kp2ds_body
        last_kp2ds_body = kp2ds_body

        meta = {
            "width": width,
            "height": height,
            "keypoints_body": kp2ds_body.tolist(),
            "keypoints_left_hand": kp2ds_lhand.tolist(),
            "keypoints_right_hand": kp2ds_rhand.tolist(),
            "keypoints_face": kp2ds_face.tolist(),
        }
        metas.append(meta)
    return metas


def load_pose_metas_from_kp2ds_seq(kp2ds_seq, width, height):
    metas = []
    for kps in kp2ds_seq:
        kps = kps.copy()
        kps[:, 0] /= width
        kps[:, 1] /= height
        kp2ds_body, kp2ds_lhand, kp2ds_rhand, kp2ds_face = split_kp2ds_for_aa(kps, ret_face=True)

        # 排除全部小于0的情况
        if kp2ds_body[:, :2].min(axis=1).max() < 0:
            kp2ds_body = last_kp2ds_body
        last_kp2ds_body = kp2ds_body

        meta = {
            "width": width,
            "height": height,
            "keypoints_body": kp2ds_body,
            "keypoints_left_hand": kp2ds_lhand,
            "keypoints_right_hand": kp2ds_rhand,
            "keypoints_face": kp2ds_face,
        }
        metas.append(meta)
    return metas