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vis_diverse_grasp.py
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vis_diverse_grasp.py
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import os
import numpy as np
import torch
import mano
import json
import trimesh
import argparse
import mano
def fast_load_obj(file_obj, **kwargs):
"""
Code slightly adapted from trimesh (https://github.com/mikedh/trimesh)
Thanks to Michael Dawson-Haggerty for this great library !
loads an ascii wavefront obj file_obj into kwargs
for the trimesh constructor.
vertices with the same position but different normals or uvs
are split into multiple vertices.
colors are discarded.
parameters
----------
file_obj : file object
containing a wavefront file
returns
----------
loaded : dict
kwargs for trimesh constructor
"""
# make sure text is utf-8 with only \n newlines
text = file_obj.read()
if hasattr(text, 'decode'):
text = text.decode('utf-8')
text = text.replace('\r\n', '\n').replace('\r', '\n') + ' \n'
meshes = []
def append_mesh():
# append kwargs for a trimesh constructor
# to our list of meshes
if len(current['f']) > 0:
# get vertices as clean numpy array
vertices = np.array(
current['v'], dtype=np.float64).reshape((-1, 3))
# do the same for faces
faces = np.array(current['f'], dtype=np.int64).reshape((-1, 3))
# get keys and values of remap as numpy arrays
# we are going to try to preserve the order as
# much as possible by sorting by remap key
keys, values = (np.array(list(remap.keys())),
np.array(list(remap.values())))
# new order of vertices
vert_order = values[keys.argsort()]
# we need to mask to preserve index relationship
# between faces and vertices
face_order = np.zeros(len(vertices), dtype=np.int64)
face_order[vert_order] = np.arange(len(vertices), dtype=np.int64)
# apply the ordering and put into kwarg dict
loaded = {
'vertices': vertices[vert_order],
'faces': face_order[faces],
'metadata': {}
}
# build face groups information
# faces didn't move around so we don't have to reindex
if len(current['g']) > 0:
face_groups = np.zeros(len(current['f']) // 3, dtype=np.int64)
for idx, start_f in current['g']:
face_groups[start_f:] = idx
loaded['metadata']['face_groups'] = face_groups
# we're done, append the loaded mesh kwarg dict
meshes.append(loaded)
attribs = {k: [] for k in ['v']}
current = {k: [] for k in ['v', 'f', 'g']}
# remap vertex indexes {str key: int index}
remap = {}
next_idx = 0
group_idx = 0
for line in text.split("\n"):
line_split = line.strip().split()
if len(line_split) < 2:
continue
if line_split[0] in attribs:
# v, vt, or vn
# vertex, vertex texture, or vertex normal
# only parse 3 values, ignore colors
attribs[line_split[0]].append([float(x) for x in line_split[1:4]])
elif line_split[0] == 'f':
# a face
ft = line_split[1:]
if len(ft) == 4:
# hasty triangulation of quad
ft = [ft[0], ft[1], ft[2], ft[2], ft[3], ft[0]]
for f in ft:
# loop through each vertex reference of a face
# we are reshaping later into (n,3)
if f not in remap:
remap[f] = next_idx
next_idx += 1
# faces are "vertex index"/"vertex texture"/"vertex normal"
# you are allowed to leave a value blank, which .split
# will handle by nicely maintaining the index
f_split = f.split('/')
current['v'].append(attribs['v'][int(f_split[0]) - 1])
current['f'].append(remap[f])
elif line_split[0] == 'o':
# defining a new object
append_mesh()
# reset current to empty lists
current = {k: [] for k in current.keys()}
remap = {}
next_idx = 0
group_idx = 0
elif line_split[0] == 'g':
# defining a new group
group_idx += 1
current['g'].append((group_idx, len(current['f']) // 3))
if next_idx > 0:
append_mesh()
return meshes
def get_diameter(vp):
x = vp[:, 0].reshape((1, -1))
y = vp[:, 1].reshape((1, -1))
z = vp[:, 2].reshape((1, -1))
x_max, x_min, y_max, y_min, z_max, z_min = np.max(x), np.min(x), np.max(y), np.min(y), np.max(z), np.min(z)
diameter_x = abs(x_max - x_min)
diameter_y = abs(y_max - y_min)
diameter_z = abs(z_max - z_min)
diameter = np.sqrt(diameter_x**2 + diameter_y**2 + diameter_z**2)
return diameter
def load_objects_HO3D(obj_root):
object_names = ['011_banana', '021_bleach_cleanser', '003_cracker_box', '035_power_drill', '025_mug',
'006_mustard_bottle', '019_pitcher_base', '010_potted_meat_can', '037_scissors', '004_sugar_box']
obj_pc, obj_face, obj_scale, obj_pc_resampled, obj_resampled_faceid = {}, {}, {}, {}, {}
for obj_name in object_names:
texture_path = os.path.join(obj_root, obj_name, 'textured_simple.obj')
texture = fast_load_obj(open(texture_path))[0]
obj_pc[obj_name] = texture['vertices']
obj_face[obj_name] = texture['faces']
obj_scale[obj_name] = get_diameter(texture['vertices'])
obj_pc_resampled[obj_name] = np.load(texture_path.replace('textured_simple.obj', 'resampled.npy'))
obj_resampled_faceid[obj_name] = np.load(texture_path.replace('textured_simple.obj', 'resample_face_id.npy'))
#resample_obj_xyz(texture['vertices'], texture['faces'], texture_path)
return obj_pc, obj_face, obj_scale, obj_pc_resampled, obj_resampled_faceid
def mapping_obj_name(obj_id):
object_names = ['011_banana', '021_bleach_cleanser', '003_cracker_box', '035_power_drill', '025_mug',
'006_mustard_bottle', '019_pitcher_base', '010_potted_meat_can', '037_scissors', '004_sugar_box']
name = [it for it in object_names if int(it[:3]) == obj_id]
assert len(name) == 1
return name[0]
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument("--obj_id", type=int, default=6)
args = parser.parse_args()
assert args.obj_id in [3, 4, 6, 10, 11, 19, 21, 25, 35, 37]
obj_root = './models/HO3D_Object_models' # root of the object models
obj_pc_dict, obj_face_dict, obj_scale_dict, obj_pc_resample_dict, obj_resample_faceid_dict = load_objects_HO3D(obj_root)
# load results, obj id are in line 139
obj_id = args.obj_id
diverse_grasp_result = json.load(open('./diverse_grasp/ho3d/obj_id_{}.json'.format(obj_id)))
recon_params = diverse_grasp_result['recon_params'] # list of predicted MANO params
R_list = diverse_grasp_result['R_list'] # list of Random Rotation MATRIX for rotating the object, in so(3)
r_list = diverse_grasp_result['r_list'] # list of Random Rotation ANGLES for rotating the object, in R^(3)
trans_list = diverse_grasp_result['trans_list'] # list of Random Translation for translating the object, in R^(3)
# change the mano layer here
with torch.no_grad():
rh_mano = mano.load(model_path='./models/mano/MANO_RIGHT.pkl',
model_type='mano',
use_pca=True,
num_pca_comps=45,
batch_size=1,
flat_hand_mean=True)
rh_faces = torch.from_numpy(rh_mano.faces.astype(np.int32)).view(1, -1, 3) # [1, 1538, 3], face triangle indexes
rh_mano.eval()
meshes_all = []
# load object mesh
obj_name = mapping_obj_name(obj_id)
obj_xyz_origin = np.array(obj_pc_dict[obj_name])
obj_face_origin = np.array(obj_face_dict[obj_name])
obj_mesh = trimesh.Trimesh(vertices=obj_xyz_origin, faces=obj_face_origin,
face_colors=[240,128,128])
for i in range(len(recon_params)): # 100 is the number of generated grasps
recon_param = np.array(recon_params[i])
recon_param = torch.tensor(recon_param, dtype=torch.float32) # [1, 61]
R = np.array(R_list[i])
trans = np.array(trans_list[i])
r = np.array(r_list[i])
# hand mesh
pred_mano = rh_mano(betas=recon_param[:, :10],
global_orient=recon_param[:, 10:13],
hand_pose=recon_param[:, 13:58],
transl=recon_param[:, 58:])
hand_verts = pred_mano.vertices
hand_verts = hand_verts.detach().squeeze(0).numpy() # [778,3]
recon_xyz = np.matmul(np.linalg.inv(R[:3, :3]), (hand_verts - R[:3, 3].reshape(1, -1)).T).T
hand_mesh = trimesh.Trimesh(vertices=recon_xyz, faces=rh_faces.numpy().reshape((-1, 3)),
face_colors=[int(0.85882353*255), int(0.74117647*255), int(0.65098039*255)])
# vis current affordance
meshes = [hand_mesh, obj_mesh]
trimesh.Scene(meshes).show()
meshes_all.append(hand_mesh)
# vis all affordance
meshes_all.append(obj_mesh)
trimesh.Scene(meshes_all).show()