Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinement

This is the official implementation of the paper:

Wang, Jian et al. "Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinement." CVPR. (2024).

[Project Page] <--- The dataset link in the project page might have expired.

[EgoWholeBody Training Dataset]

[EgoWholeBody Test Dataset]

[SceneEgo Hand Annotations]

Installation

We base our code on the 0.x version of MMPose.

1. First create the conda environment and activate it:

shell conda create -n egowholemocap python=3.9 -y conda activate egowholemocap

1. Then install the pytorch version (tested on python 1.3.x) that matches your CUDA version. For example, if you have CUDA 11.7, you can install pytorch 1.13.1 with the following command: shell conda install pytorch==1.13.1 torchvision==0.14.1 torchaudio==0.13.1 pytorch-cuda=11.7 -c pytorch -c nvidia

2. Install this project:

shell pip install openmim mim install mmcv-full==1.7.1 pip install -e .

1. Install the dependencies of this project:

shell pip3 install -r requirements.txt

1. If smplx installed open3d-python, you should uninstall it by running:

shell pip uninstall open3d-python

1. Change the torchgeometry code following this issue.

2. Finally, download the mano hand model, then put it under ./human_models/. The structure of ./human_models/ should be like this:

shell human_models |-- mano |-- |-- MANO_RIGHT.pkl |-- |-- MANO_LEFT.pkl

Run the demo

1. Download the pretrained models

1. Download the pretrained human body pose estimation model (FisheyeViT + pixel-aligned 3D heatmap) from NextCloud and put it under ./checkpoints/.
2. Download the pretrained hand detection model from NextCloud and put it under ./checkpoints/.
3. Download the pretrained hand pose estimation model from NextCloud and put it under ./checkpoints/.
4. Download the pretrained whole-body motion diffusion model from NextCloud and put it under ./checkpoints/.

2. Prepare the data

The input data should be a image sequence in directory ./demo/resources/imgs/.

For example, you can download the example sequence from NextCloud, unzip the file and put it under ./demo/resources/.

3. Run the single-frame whole-body pose estimation method

shell tools/python_test.sh configs/egofullbody/egowholebody_single_demo.py none The result data will be saved in ./work_dirs/egowholebody_single_demo.

(Optional) Visualize the result

Note: the headless server is not supported.

shell python scripts/visualization_script/vis_single_frame_whole_body_result.py \ --pred_path work_dirs/egowholebody_single_demo/outputs.pkl \ --image_id 0

4. Run the diffusion-based whole-body motion refinement method

shell python demo/demo_whole_body_diffusion.py \ --pred_path work_dirs/egowholebody_single_demo/outputs.pkl The result will be saved in ./work_dirs/egowholebody_diffusion_demo.

(Optional) Visualize the result

Note: the headless server is not supported.

shell python scripts/visualization_script/vis_diffusion_whole_body_result.py \ --pred_path work_dirs/egowholebody_diffusion_demo/outputs.pkl \ --image_id 0

Training

Prepare the training data

1. Download the EgoWholeBody synthetic dataset from NextCloud.

2. Unzip all of the files. The file structure should be like this:

shell path_to_dataset_dir |-- renderpeople_adanna |-- renderpeople_amit |-- ...... |-- renderpeople_mixamo_labels_old.pkl |-- ......

Train the single-frame pose estimation model

1. Download the pre-trained ViT model from here and put it under ./pretrained_models/.

2. Modify the config file configs/egofullbody/fisheye_vit/undistort_vit_heatmap_3d.py. Modify paths in line: 1, 19, 28, 29, 149, 150.

3. Modify the paths between line 22-35 in file mmpose\datasets\datasets\egocentric\mocap_studio_dataset.py to the paths of SceneEgo test dataset.

4. Train the model:

shell tools/python_train.sh configs/egofullbody/fisheye_vit/undistort_vit_heatmap_3d.py

Finetune the single-frame pose estimation model on the SceneEgo training dataset

1. Modify the paths in config file configs/egofullbody/fisheye_vit/undistort_vit_heatmap_3d_finetune_size_0.2_better_init.py.
2. Modify the paths in file: mmpose\datasets\datasets\egocentric\mocap_studio_finetune_dataset.py to the SceneEgo training dataset.
3. Finetune the model:

shell tools/python_train.sh configs/egofullbody/fisheye_vit/undistort_vit_heatmap_3d_finetune_size_0.2_better_init.py

Finetune the single-frame hand pose estimation model

1. Download the hand4whole model from here (in this github repo).
2. To finetune the model on SceneEgo:
   • Modify the paths in config file configs/egofullbody/egohand/hands4whole_train.py.
   • tools/python_train.sh configs/egofullbody/egohand/hands4whole_train.py
3. To finetune the model on EgoWholeBody:
   • Modify the paths in config file configs/egofullbody/egohand/hands4whole_train_synthetic.py.
   • tools/python_train.sh configs/egofullbody/egohand/hands4whole_train_synthetic.py

Test the trained single-frame hand pose estimation model

• For testing on SceneEgo dataset, see configs/egofullbody/egohand/hands4whole_test_finetuned.py.
• For testing on synthetic EgoWholeBody dataset, see configs/egofullbody/egofullbody_test_synthetic_fisheye.py.

How to modify

Since we are using mmpose as the training and evaluating framework, please see get_started.md for the basic usage of MMPose. There are also tutorials:

• learn about configs
• finetune model
• add new dataset
• customize data pipelines
• add new modules
• export a model to ONNX
• customize runtime settings

Citation

If you find this project useful in your research, please consider cite:

```bibtex @inproceedings{wang2024egocentric, title={Egocentric whole-body motion capture with fisheyevit and diffusion-based motion refinement}, author={Wang, Jian and Cao, Zhe and Luvizon, Diogo and Liu, Lingjie and Sarkar, Kripasindhu and Tang, Danhang and Beeler, Thabo and Theobalt, Christian}, booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition}, pages={777--787}, year={2024} }

```

License

This project is released under the Apache 2.0 license.