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Glimpse Training Data

Note: we recommend passing --depth=1 while cloning considering the size of the tracked files

The mocap/ directory includes compressed archives of the CMU motion capture data we use for rendering our training images.

The blender/ directory includes a glimpse-training.zip file containing a glimpse-training.blend file for use in conjunction with blender/addon/glimpse_data_generator and glimpse/glimpse-cli.py that helps us import the CMU mocap animations into Blender and render our training images.

After cloning this repository you need to run ./unpack.sh to decompress the CMU mocap archives and blender/glimpse-training.blend

After cloning this repository you need to follow the one-time instructions below to install and enable all the required Blender addons.

Before trying to render anything you also will need to pre-load some mocap animations into glimpse-training.blend.

Note: We don't store a .blend file with preloaded animations in this repository because the file size can balloon from to around 2GB.

The full Glimpse rendering and training process is documented below...

Glimpse Training TL;DR

Fetch and setup:

git clone --depth=1 https://github.com/glimpse-project/glimpse-training-data
cd glimpse-training-data
./unpack.sh
cd blender
./install-addons.sh

Pre-load mocap data:

./glimpse-generator.py \
    preload \
    --start 20 \
    --end 25

Note: the limited --start and --end range is just for a quick test; you wouldn't pass these for a full training run

Render training data:

glimpse-generator.py \
    render \
    --dest ./renders \
    --name "test-render" \
    --config ./render-configs/iphone-x-training.json \
    --start 20 \
    --end 25

Note: the limited --start and --end range is just for a quick test; you wouldn't pass these for a full training run

Pre-process images:

image-pre-processor \
    ./renders/test-render \
    ./pre-processed/test-render \
    ./label-maps/2018-11-render-to-2018-08-rdt-map.json \
    --config ./pre-processor-configs/iphone-x-config.json

Create index file for a test set

./glimpse-data-indexer.py \
    --without-replacement \
    -i test 20000 \
    ./pre-processed/test-render

Create index file for each tree to train (excluding test set images)

./glimpse-data-indexer.py \
    -e test \
    -i tree0 300000 \
    -i tree1 300000 \
    -i tree2 300000 \
    ./pre-processed/test-render

Create an index for joint parameter training:

./glimpse-data-indexer.py \
    -i joint-param-training 10000 \
    ./pre-processed/test-render

Build job descriptions for training:

./glimpse-build-training-jobs.py \
    --template training-job-templates/iphone-x-training.json \
    --param-list index_name,tree0,tree1,tree2 > training-jobs.json

Run the training jobs:

train_rdt --queue training-jobs.json

Train joint inference parameters:

train_joint_params \
    ./pre-processed/test-render \
    joint-param-training \
    ./joint-maps/2018-08-joint-map.json \
    joint-params.json --fast \
    -- \
    iphone-x-YYYY-MM-DD-tree0.json \
    iphone-x-YYYY-MM-DD-tree1.json \
    iphone-x-YYYY-MM-DD-tree2.json

Create binary-format decision trees for use at runtime:

json-to-rdt iphone-x-YYYY-MM-DD-tree0.json tree0.rdt
json-to-rdt iphone-x-YYYY-MM-DD-tree1.json tree1.rdt
json-to-rdt iphone-x-YYYY-MM-DD-tree2.json tree2.rdt

Rendering synthetic test recordings TL;DR

First use Blender to render a particular mocap sequence with a fixed camera, and fixed choice of body mesh and clothing...

./glimpse-generator.py \
    render \
    --dest ./renders \
    --name test-recording \
    --config ./render-configs/iphone-x-test-recording.json \
    --name-match 02_05

Then run the pre-processor to apply camera sensor noise:

image-pre-processor \
    ./renders/test-recording \
    ./pre-processed/test-recording \
    ./label-maps/2018-11-render-to-2018-08-rdt-map.json \
    --config ./pre-processor-configs/iphone-x-synthetic-renders-config.json

Note: double check you're using the latest 20xx-xx-render-20xx-xx-rdt-map.json Note: the pre-processor config is different to the one used for processing training data considering that we're not typically rendering at the same resolution here and we don't want to create flipped frames

Build an index of the frames that will be converted to a recording:

rm ./pre-processed/test-recording/index.full
./glimpse-data-indexer.py ./pre-processed/test-recording

Create a Glimpse Viewer recording with index-to-recording:

index-to-recording \
    ./pre-processed/test-recording \
    ../glimpse-assets/ViewerRecording/test-recording \
    --fps 30

Optimizing uvt_histograms_mem

Tuning uvt_histograms_mem can make a big difference to the total runtime of training by maximizing cache utilization within the performance critical inner loop that calculates histograms for candiate uv threshold combinations.

This assumes you have an older fully trained tree with 20 levels at ../glimpse-assets/tree0.json and the corresponding pre-processed images under ./pre-processed/old.

The idea is to first cut the tree down to 15 levels and then profile the training performance at this depth, using different values for uvt_histograms_mem, and n_threads (which should be more representative than profiling the very early levels).

Create a modest sized index:

./glimpse-data-indexer.py -i profile 100000 ./pre-processed/old

Create and run a job for clipping a tree like:

./glimpse-build-training-jobs.py \
    --template training-job-templates/iphone-x-training.json \
    -s reload,../glimpse-assets/tree0.json \
    -s out_file,tree-depth-15.json \
    -s max_depth,15 \
    -s index_name,profile > clip-tree-job.json
train_rdt --log-stderr --queue ./clip-tree-job.json -d pre-processed/old

Build a list of jobs to try out different uvt_histograms_mem sizes and n_threads values:

./glimpse-build-training-jobs.py \
    --template training-job-templates/iphone-x-training.json \
    -s reload,./tree-depth-15.json \
    -s out_file,profile-tree-{job}.json \
    -s index_name,profile \
    -s max_nodes,500 \
    -l uvt_histograms_mem,4000000,8000000,16000000 \
    -l n_threads,8,16,30,31,32> profile-jobs.json
train_rdt --log profile.log --queue ./profile-jobs.json --profile -d pre-processed/old

Finally the results can be reviewed by looking at how long each iteration took.

grep 'Writing output' profile.log should look something like:

rdt: (00:00:43) Writing output to 'profile-tree-0.json'...
rdt: (00:00:22) Writing output to 'profile-tree-1.json'...
rdt: (00:00:21) Writing output to 'profile-tree-2.json'...
rdt: (00:00:28) Writing output to 'profile-tree-3.json'...
rdt: (00:00:20) Writing output to 'profile-tree-4.json'...
rdt: (00:00:43) Writing output to 'profile-tree-5.json'...
rdt: (00:00:21) Writing output to 'profile-tree-6.json'...
rdt: (00:00:26) Writing output to 'profile-tree-7.json'...
rdt: (00:00:19) Writing output to 'profile-tree-8.json'...
rdt: (00:00:19) Writing output to 'profile-tree-9.json'...
rdt: (00:00:44) Writing output to 'profile-tree-10.json'...
rdt: (00:00:23) Writing output to 'profile-tree-11.json'...
rdt: (00:00:22) Writing output to 'profile-tree-12.json'...
rdt: (00:00:22) Writing output to 'profile-tree-13.json'...
rdt: (00:00:21) Writing output to 'profile-tree-14.json'...

In this case then runs 8/9 are fastest and correspond to an 8MB histogram buffer with 31 or 32 threads.

About the CMU Motion captures

This mocap data originally comes from CMU at http://mocap.cs.cmu.edu/

With the following permissive licensing terms:

This data is free for use in research projects.
You may include this data in commercially-sold products,
but you may not resell this data directly, even in converted form.
If you publish results obtained using this data, we would appreciate it
if you would send the citation to your published paper to jkh+mocap@cs.cmu.edu,
and also would add this text to your acknowledgments section:

  "The data used in this project was obtained from mocap.cs.cmu.edu.
  The database was created with funding from NSF EIA-0196217."

and this in their FAQ:

  Q. How can I use this data?
  A. The motion capture data may be copied, modified, or redistributed without
     permission.

The files we're using contain a conversion of the original data to BVH format, which were published at cgspeed.com and now archived here: https://sites.google.com/a/cgspeed.com/cgspeed/motion-capture/cmu-bvh-conversion

Considering that the cgspeed files are hosted on mediaflare.com which requires interaction with a browser to download, we commit the files to our repository for convenience.

For reference, we also found that these files have been republished under http://codewelt.com/cmumocap where it's also possible to download these files non-interactively, but for downloading to Travis for CI (cached) we have better bandwidth cloning from github.

Setting up Blender automatically

After cloning this repository, then assuming you have Blender (2.79) installed you can install and enable all of the required addons like so:

cd blender/
./install-addons.sh

This will download and install the Makehuman BlenderTools addons (MakeTarget, MakeWalk and MakeClothes) and update your Blender user preferences to add glimpse-training-data/blender as a scripts directory so that Blender can find the glimpse_data_generator addon.

Setting up Blender manually

Firstly, follow the instructions here to install the Makehuman BlenderTools addons: http://www.makehumancommunity.org/wiki/Documentation:Getting_and_installing_BlenderTools

Within Blender's User Preferences -> File tab:

Point the 'Scripts:' entry to the glimpse-training-data/blender/ directory

Press 'Save User Settings' and quit and reopen Blender

Under User Preferences -> Addons now enable these Addons:

  • Make Walk
  • Make Clothes
  • Make Target
  • Glimpse Rig Paint
  • Glimpse Training Data Generator

Pre-load CMU mocap animations in glimpse-training.blend

First, you need to have unpacked the mocap data via ./unpack.sh and installed the required Blender addons as described above.

You can get some help with running glimpse-generator.py by running like:

./glimpse-generator.py --help

Here it's good to understand that mocap/index-cpu.json is an index of all the different CMU .bvh mocap files under the mocap/ directory. The file lets us blacklist certain files, tag files for filtering or specify overrides for how they should be handled when rendering.

Before the glimpse_data_generator addon can be used to render, it requires there to be some number of pre-loaded motion capture animations. We pre-load these because it's quite a slow process to retarget them to the animation rigs within glimpse-training-data.blend and we don't want to be repeating this work for each run of rendering.

The units used for specifying what to pre-load are the sequential indices for mocap files tracked within mocap/index.json, whereby it's possible to pre-load a subset of the data by specifying a --start and --end index. (Blacklisted files within the given range will be automatically skipped over) If no --start and --end range is given then the default behaviour will be to preload all mocap sequences.

A small number of motion capture files can be pre-loaded as follows:

./glimpse-generator.py \
    preload \
    --start 20 \
    --end 25

Note: the limited --start and --end range is just for a quick test; you wouldn't pass these for a full training run

Render Training Images

Note: before rendering you must pre-load some motion capture data as described above

The units often used for limiting what to render are the sequential indices for mocap files tracked within mocap/index.json, the same as used for pre-loading data. If no --start and --end range is given then the default behaviour will be to preload all mocap sequences. Alternatively it's also possible to select what to render using --name-match and optionally filter out sequences e.g. by tag using --tags-blacklist or --tags-whitelist

A small number of images can be rendered as follows:

./glimpse-generator.py \
    render \
    --dest ./renders \
    --name "test-render" \
    --config ./render-configs/iphone-x-training.json \
    --start 20 \
    --end 25

Run ./glimpse-generator.py render --help for more details E.g. about filtering options.

See for more info on controlling the behaviour of rendering.

Pre-process rendered images

At this point it's assumed that you've used glimpse-generator.py to render some training images, as described above.

Before starting training we process the images rendered by Blender so we can increase the amount of training data we have by e.g. mirroring images and we add noise to make the data more representative of images captured by a camera instead of being rendered.

Since different cameras exhibit different kinds of sensor noise we have some per-device config files under pre-processor-configs/. (See pre-processor-configs/README.md for more details)

The pre-processor is responsible for mapping the greyscale values found in rendered image for body part labels into a tightly packed sequence of greyscale values that will serve as label indices while training. The greyscale values in rendered images aren't necessarily tightly packed but in pre-processed images they are. It's also possible we don't want to learn about all the rendered labels so the pre-processor accepts a "label map" configuration (found under the label-maps/ directory). (See label-maps/README.md for more details)

If we have rendered data via glimpse-generator.py render under /path/to/glimpse-training-data/renders/test-render then these images can be processed with image-pre-processor found in glimpse build folder (e.g. build-release) as follows:

image-pre-processor \
    ./renders/test-render \
    ./pre-processed/test-render \
    ./label-maps/2018-11-render-to-2018-08-rdt-map.json \
    --config ./pre-processor-configs/iphone-x-config.json

Assemble a video out of rendered images (optional)

It is possible to optionally assemble a video out of rendered images given that you've used glimpse-generator.py as described above.

The video assembler will additionally create a subtitles file in .srt format containing captions for all used image frames. Captions are used to easily identify the locations of individual image frames and bvh files that they came from.

If we have rendered images via glimpse-generator.py render and processed them with image-pre-processor found in glimpse build folder (e.g. build-release) so that they can be found under /path/to/glimpse-training-data/pre-processed/test-render then we can assemble a video as follows:

./glimpse-video-assembler.py \
    --source /path/to/glimpse-training-data/pre-processed/test-render

The video and subtitles files will appear in lazily created /path/to/glimpse-training-data/films directory.

Index frames to train with

For specifying which frames to train with, an index should be created with the glimpse-data-indexer.py script.

This script builds an index of all available rendered frames in a given directory and can then split that into multiple sub sets with no overlap. For example you could index three sets of 300k images out of a larger set of 1 million images for training three separate decision trees.

For example to create a 'test' index of 10000 images (without duplicates) you could run:

glimpse-data-indexer.py \
    --without-replacement \
    -i test 10000 \
    ./pre-processed/test-render

(Note: this will also automatically create an index.full file)

and then create three tree index files (sampled with replacement, but excluding the test set images):

./glimpse-data-indexer.py \
    -e test \
    -i tree0 100000 \
    -i tree1 100000 \
    -i tree2 100000 \
    ./pre-processed/test-render

Note: there may be overlapping frames listed in tree0, tree1 and tree2 but none of them will contain test-set frames. See --help for details.

Finally create an index for joint parameter training:

glimpse-data-indexer.py \
    -i joint-param-training 10000 \
    ./pre-processed/test-render

Note: glimpse-data-indexer.py supports a number of filtering options that also make it possible to exclude frames that are associated with particular tags or e.g. ignore flipped frames. See ./glimpse-data-indexer.py --help for more details.

Training decision trees

train_rdt is the tool which handles training our decision trees based on a set of indexed training data. The tool can be configured and run directly with command line arguments (See train_rdt --help) but it's recommended build a .json description of the training work based on a pre-existing job template under ./training-job-templates

To describe three jobs to train three trees (assuming we have three index files index.tree0, index.tree1 and index.tree2) run:

./glimpse-build-training-jobs.py \
    --template ./training-job-templates/iphone-x-training.json \
    --param-list index_name,tree0,tree1,tree2 > training-jobs.json

Constant properties for all jobs can be set (or overriden) with --param-set <name>,<value>. A list of alternative property values can be set with --param-list <name>,<value0>,<value1>... which will result in separate jobs for each value. To help optimize hyperparameters it's also possible to build jobs that test many values over a range, via --param-range.

See the output of train_rdt --help for more details on what properties can be configured within a job desciption.

Now the queue of training jobs can be run:

train_rdt --queue training-jobs.json

Creating a joint map

To know which bones from the training data are of interest, and what body labels they are associated with, these tools need a joint-map file. This is a human-readable JSON text file that describes what bones map to which labels.

It's an array of objects where each object specifies a joint, an array of label indices and an array of other joints it connects to. A joint name is comprised of a bone name follow by .head or .tail to specify which end of the bone. For example:

[
    {
        "joint": "head.tail",
        "labels": [ 2, 3 ],
        "connections": [ "neck_01.head" ]
    },
    {
        "joint": "neck_01.head",
        "labels": [ 4 ],
        "connections": [ "upperarm_l.head" ]
    },
    {
        "joint": "upperarm_l.head",
        "labels": [ 7 ],
        "connections": []
    },
    ...
]

Typically the latest joint-maps/YEAR-MONTH-joint-map.json file should be used.

Training joint inference parameters

Run the tool train_joint_params to train joint parameters. Running it with no parameters, or with the -h/--help parameter will print usage details, with details about the default parameters.

Note that this tool doesn't currently scale to handling as many images as the decision tree training tool so it's recommended to create a smaller dedicated index for training joint params.

For example, if you have an index.joint-param-training file then to train joint parameters from a decision forest of three trees named tree0.json, tree1.json and tree2.json you could run:

train_joint_params /path/to/glimpse-training-data/pre-processed/test-render \
                   joint-param-training \
                   /path/to/glimpse-training-data/joint-maps/2018-08-joint-map.json \
                   joint-params.json --fast -- tree0.json tree1.json tree2.json

Note: the YEAR-MONTH prefix for the chosen joint-map should typically match the -to-YEAR-MONTH-rdt-map.json suffix of the label map used when running the pre-processor.

The -f,--fast option tells the tool to train with the assumption that _infer_fast() is going to be used at runtime instead of using mean shift (slow) and in this case won't output bandwidth parameters.

Note: also beware that the thresholds derived by this tool for clustering aren't re-usable between the mean shity _infer() and _infer_fast(), so it's not recommended to run without --fast and use the same config for comparing the fast/slow inference paths

Convert .json trees to .rdt for runtime usage

To allow faster loading of decision trees at runtime we have a simple binary .rdt file format for trees.

For example, to create an tree0.rdt file from a tree0.json you can run:

json-to-rdt tree0.json tree0.rdt

Note: .rdt files only include the information needed at runtime and so training tools don't support loading these files.

*Note: We don't aim to support forwards compatibility for .rdt besides having a version check that lets us recognise incompatibility. Newer versions of Glimpse may require you to recreate .rdt files.