def smpl_align(points, correspondences, weights=None, max_iter=30):
"""
Args:
points: [N, 3] numpy array
correspondences: [N]
Returns:
indices: [N] updated correspondence
"""
N = points.shape[0]
model = helper.loadSMPLModels()[0]
if weights is None:
weights = np.ones(N)
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
pcd.estimate_normals()
normals = np.array(pcd.normals)
params = align(points,
correspondences,
normals,
model,
weights,
max_iter=max_iter)
model.update_params(params)
tree = NN(n_neighbors=1, n_jobs=10).fit(model.verts)
dists, indices = tree.kneighbors(points)
indices = indices[:, 0]
return indices
def __init__(self,
descriptor_dim,
sampler=None,
split='train',
transform=DefaultTransform,
cls=False,
build_graph=False):
super(SurrealFEPts5k).__init__()
self.name = 'SurrealFEPts5k'
self.split = split
if self.split == 'train':
self.IDlist = IDlist[:, :-(num_test * num_views)].reshape(-1)
elif self.split == 'test':
self.IDlist = IDlist[:, -(num_test * num_views):].reshape(-1)
elif self.split == 'val':
self.IDlist = IDlist[:, :num_views].reshape(-1)
self.file_path = '{}/scans/{{0:06d}}/{{1:03d}}.mat'.format(
PATH_TO_SURREAL)
self.template_feats = helper.loadSMPLDescriptors()[:, :descriptor_dim]
self.template_points = helper.loadSMPLModels()[0].verts
self.cls = cls
if build_graph:
self.transform = T.Compose(
[transform, T.KNNGraph(k=6),
T.ToDense(5000)])
else:
self.transform = T.Compose([transform, T.ToDense(5000)])
def __init__(self, args):
super(HybridModel, self).__init__()
self.feat_dim = args.embed_dim
if args.cls:
oup_dim = 6890
else:
oup_dim = self.feat_dim
self.fe = PointNet2(inp_dim=0, oup_dim=self.feat_dim)
if args.transf_reg:
if args.RegNet == 'Reg2':
self.reg = Regularization2Module()
else:
if args.RegNet == 'Reg':
self.reg = RegularizationModule(init=args.init)
if args.animals:
gt_feats = torch.Tensor(
helper.loadSMALDescriptors(args.desc)[:, :self.feat_dim])
gt_points = torch.Tensor(
np.array(helper.loadSMALModels()['cat'].vertices))
else:
gt_feats = torch.Tensor(
helper.loadSMPLDescriptors(args.desc)[:, :self.feat_dim])
gt_points = torch.Tensor(helper.loadSMPLModels()[0].verts)
self.register_buffer('gt_feats', gt_feats)
self.register_buffer('gt_points', gt_points)
self.transf_reg = args.transf_reg
def __init__(self, descriptor_dim, split='train', desc='Laplacian_n',
transform='default', cls=False):
super(SurrealFEPts).__init__()
self.name = 'SurrealFEPts'
if (split == 'train') or (split == 'val'):
self.num_views = 20
else:
self.num_views = 100
self.IDlist = np.stack([np.arange(100000*self.num_views),
np.arange(115000*self.num_views,
215000*self.num_views)],
axis=0)
self.split = split
if self.split == 'train':
self.IDlist = self.IDlist[:, :-(num_test*self.num_views)].reshape(-1)
self.file_path = '{}/scans/{{0:06d}}/{{1:03d}}.mat'.format(hc.PATH_TO_SURREAL)
elif self.split == 'test':
self.IDlist = self.IDlist[:, -(num_test*self.num_views):].reshape(-1)
self.file_path = '{}/scans/{{0:06d}}/{{1:03d}}.mat'.format(hc.PATH_TO_SURREAL_TEST)
elif self.split == 'val':
self.IDlist = self.IDlist[:, :(5*self.num_views)].reshape(-1)
self.file_path = '{}/scans/{{0:06d}}/{{1:03d}}.mat'.format(hc.PATH_TO_SURREAL)
#ll = [20,24,25,26,28,35,36,37,39,52,53,106,128,152,160,178,187,191]
#self.IDlist = np.array([self.IDlist[l] for l in ll])
self.result_path = '{}/result/SURREAL/'.format(hc.PATH_TO_DATA)
self.template_feats = helper.loadSMPLDescriptors(desc)[:, :descriptor_dim]
self.template_points = helper.loadSMPLModels()[0].verts
self.cls = cls
if transform == 'default':
if self.split == 'train':
self.transform = TrainTransform
else:
self.transform = TestTransform
else:
self.transform = transform
def __init__(self,
descriptor_dim,
split='train',
desc='Laplacian_n',
transform='default',
cls=False):
super(Shrec19FEPts).__init__()
self.name = 'Shrec19FEPts'
self.num_views = 100
self.result_path = '{}/result/SHREC19/'.format(hc.PATH_TO_DATA)
self.IDlist = np.arange(1 * num_views, 45 * num_views)
self.split = split
if self.split == 'train':
raise RuntimeError("This dataset is Test Only")
elif self.split == 'test':
self.IDlist = self.IDlist
elif self.split == 'val':
self.IDlist = self.IDlist[:num_views]
self.file_path = '{}/scans/{{}}/{{:03d}}.mat'.format(
hc.PATH_TO_SHREC19)
self.template_feats = helper.loadSMPLDescriptors(
desc)[:, :descriptor_dim]
self.template_points = helper.loadSMPLModels()[0].verts
self.cls = cls
if transform == 'default':
if self.split == 'train':
self.transform = TestTransform
else:
self.transform = TrainTransform
else:
self.transform = transform
def __init__(self,
descriptor_dim,
split='train',
desc='Laplacian_n',
transform='default',
cls=False):
super(DGFSurrealFEPts).__init__()
self.name = 'DGFSurrealFEPts'
self.num_views = 20
self.split = split
self.result_path = '{}/result/DGFSURREAL/'.format(hc.PATH_TO_DATA)
if self.split == 'train':
self.IDlist = IDlist.reshape(-1)
elif self.split == 'test':
self.IDlist = IDlist[-(num_test * num_views):].reshape(-1)
elif self.split == 'val':
self.IDlist = IDlist[:num_views * 5].reshape(-1)
#ll = [20,24,25,26,28,35,36,37,39,52,53,106,128,152,160,178,187,191]
#self.IDlist = np.array([self.IDlist[l] for l in ll])
self.file_path = '{}/scans/{{0:06d}}/{{1:03d}}.mat'.format(
hc.PATH_TO_DGFSURREAL)
self.template_feats = helper.loadSMPLDescriptors(
desc)[:, :descriptor_dim]
self.template_points = helper.loadSMPLModels()[0].verts
self.cls = cls
if transform == 'default':
if self.split == 'train':
self.transform = TrainTransform
else:
self.transform = TestTransform
else:
self.transform = transform
def __init__(self,
descriptor_dim,
split='train',
desc='Laplacian_n',
transform='default',
cls=False):
super(FaustTestFEPts).__init__()
self.name = 'FaustTestFEPts'
self.num_views = 200
self.result_path = '{}/result/FAUST-Test/'.format(hc.PATH_TO_DATA)
self.IDlist = np.arange(20000)
self.split = split
if self.split == 'train':
raise RuntimeError("This dataset is Test Only")
elif self.split == 'test':
self.IDlist = self.IDlist
elif self.split == 'val':
self.IDlist = self.IDlist[:40]
self.file_path = '{}/scans/{{0:03d}}_{{1:03d}}.mat'.format(
hc.PATH_TO_FAUST_TEST_SCANS)
self.template_feats = helper.loadSMPLDescriptors(
desc)[:, :descriptor_dim]
self.template_points = helper.loadSMPLModels()[0].verts
#self.cls = cls
if transform == 'default':
if self.split == 'train':
self.transform = TrainTransform
else:
self.transform = TestTransform
else:
self.transform = transform
def __init__(self, split='train'):
super(SurrealMesh).__init__()
self.name = 'SurrealMesh'
self.num_views = 100
self.split = split
self.IDlist = IDlist
if self.split == 'train':
assert False, 'SurrealMesh is test only!'
elif self.split == 'test':
self.IDlist = self.IDlist[:, -num_test:].reshape(-1)
elif self.split == 'val':
self.IDlist = self.IDlist[:, :5].reshape(-1)
self.models = helper.loadSMPLModels()
param_file = hc.PATH_TO_SURREAL_PARAMS
self.surreal_params = sio.loadmat(param_file)['params']
def __init__(self, num_points, descriptor_dim, split='train'):
super(SurrealFEDepthImgs).__init__()
self.name = 'SurrealFEDepthImgs'
self.split = split
self.num_sample_points = num_points
if self.split == 'train':
self.IDlist = IDlist[:, :-(num_test * num_views)].reshape(-1)
elif self.split == 'test':
self.IDlist = IDlist[:, -(num_test * num_views):].reshape(-1)
elif self.split == 'val':
self.IDlist = IDlist[:, :num_views].reshape(-1)
#self.file_path = '{}/scans/%d_%d.mat'.format(PATH_TO_SURREAL)
self.file_path = '{}/scans/{{0:06d}}/{{1:03d}}.mat'.format(
PATH_TO_SURREAL)
self.template_feats = helper.loadSMPLDescriptors()[:, :descriptor_dim]
self.template_points = helper.loadSMPLModels()[0].verts
thetas = np.linspace(0, np.pi * 2, n_views)
rotations = [
linalg.rodriguez(
np.array([0., 1., 0.]) * thetas[i] + np.random.randn(3) * 0.2)
for i in range(n_views)
]
for i, rotation in enumerate(rotations):
np.savetxt('%s/%d.txt' % (rotation_path, i), rotation)
else:
rotations = [
np.loadtxt('%s/%d.txt' % (rotation_path, i)).reshape((3, 3))
for i in range(n_views)
]
os.system('mkdir -p %s' % render_path)
rest_mesh = helper.loadSMPLModels()[0]
rest_mesh = vis.getTriangleMesh(rest_mesh.verts, rest_mesh.faces)
#gt_descriptors = helper.loadSMPLDescriptors('Laplacian_N')['male']
#dsc_tree = NN(n_neighbors=1, n_jobs=10).fit(gt_descriptors)
IDlist = np.arange(1, 45)
for scan_id in IDlist[args.offset:(args.offset + args.length)]:
""" Correspondence translation """
#raw_mesh = o3d.io.read_triangle_mesh(SCAN.format(scan_id)) # raw mesh
#reg_mesh = o3d.io.read_triangle_mesh(REG.format(scan_id)) # registration mesh
#tree = NN(n_neighbors=1, n_jobs=10).fit(np.array(reg_mesh.vertices))
#dists, indices = tree.kneighbors(np.array(raw_mesh.vertices))
#scan2reg = indices[:, 0]
#Nraw = np.array(raw_mesh.vertices).shape[0]
#Nreg = np.array(reg_mesh.vertices).shape[0]
n_views=args.num_views
#if not os.path.exists('{}/{}.txt'.format(rotation_path, n_views-1)):
# thetas = np.linspace(0, np.pi*2, n_views)
# rotations = [linalg.rodriguez(np.random.randn(3)) for i in range(n_views)]
# #rotations = [linalg.rodriguez(np.array([1.,0.,0.])*thetas[i] + np.random.randn(3)*0.2) for i in range(n_views)]
# for i, rotation in enumerate(rotations):
# np.savetxt('{}/{}.txt'.format(rotation_path, i), rotation)
#else:
# rotations = [np.loadtxt('{}/{}.txt'.format(rotation_path, i)).reshape((3, 3)) for i in range(n_views)]
render_path = '{}/surreal-test/scans'.format(PATH_TO_DATA)
MAT_PATH = '{}/{{0:06d}}'.format(render_path)
MAT = '{}/{{0:06d}}/{{1:03d}}.mat'.format(render_path)
OBJ = '{}/{{0:06d}}/{{1:03d}}.obj'.format(render_path)
os.system('mkdir -p %s' % render_path)
models = helper.loadSMPLModels()
gt_dsc = helper.loadSMPLDescriptors(desc='Laplacian_n')
edges = computeGraph(6890, models[0].faces, knn=args.knn)
for mesh_id in range(offset, offset+length):
os.system('mkdir -p %s' % MAT_PATH.format(mesh_id))
params = np.array(smpl_params[mesh_id, :])
params[11:14] = 0.0
gender = int(params[0])
model = models[gender]
zero_params = np.zeros(85)
model.update_params(zero_params)
rest_mesh = vis.getTriangleMesh(model.verts, model.faces)
params = np.concatenate([np.zeros(3), params[1:]], axis=0)
model.update_params(params)
mesh = vis.getTriangleMesh(model.verts, model.faces)
point_rotations, point_translations = helper.computeLocalRotations(np.array(mesh.vertices), np.array(mesh.triangles), np.array(rest_mesh.vertices), np.arange(np.array(mesh.vertices).shape[0]), edges=edges) # [N, 3]
REFINED = '../data/result/FAUST/{}.mesh_corres_icp'
pairs, gt_indices_list = helper.read_FAUST_inter_pairs()
PAIR_ERRORS = '../data/result/FAUST/{}_{}_inter.errors'
PAIR_CORRES = '../data/result/FAUST/{}_{}_inter.npy'
elif args.dataset == 'FAUST-intra':
mesh_dataset = hc.datasets.FaustMesh(split='test')
MESH_CORRES = '../data/result/FAUST/{}.mesh_corres'
REFINED = '../data/result/FAUST/{}.mesh_corres_icp'
pairs, gt_indices_list = helper.read_FAUST_intra_pairs()
PAIR_ERRORS = '../data/result/FAUST/{}_{}_intra.errors'
PAIR_CORRES = '../data/result/FAUST/{}_{}_intra.npy'
elif args.dataset == 'SURREAL':
mesh_dataset = hc.datasets.SurrealMesh(split='test')
#MESH_CORRES = '../data/result/FAUST/{}.mesh_corres'
REFINED = '../data/result/FAUST/{}.mesh_corres_icp'
template_points = helper.loadSMPLModels()[0].verts
errors_list = []
for i in range(100):
mesh_corres = np.loadtxt(REFINED.format(i)).astype(np.int32)[:, 1]
mesh = mesh_dataset[i]
errors = np.linalg.norm(template_points[mesh_corres, :] -
template_points,
2,
axis=-1)
print(errors.mean())
errors_list.append(errors)
errors = np.concatenate(errors_list, axis=-1)
print(errors.mean())
print((errors < 0.05).astype(np.float32).mean())
print((errors < 0.1).astype(np.float32).mean())
assert False
exit(-1)
if args.pointcloud is not None:
geometry = o3d.io.read_point_cloud(args.pointcloud)
points = np.array(geometry.points)
o3d.estimate_normals(geometry,
search_param=o3d.geometry.KDTreeSearchParamHybrid(
radius=0.1, max_nn=30))
normals = np.array(geometry.normals)
else:
geometry = o3d.io.read_triangle_mesh(args.mesh)
geometry.compute_vertex_normals()
points = np.array(geometry.vertices)
normals = np.array(geometry.vertex_normals)
model = helper.loadSMPLModels()[0]
source_ids = []
smpl_ids = []
confidences = []
with open(args.correspondence, 'r') as fin:
for line in fin.readlines()[1:]:
tokens = line.strip().split(' ')
source_ids.append(int(tokens[0]))
smpl_ids.append(int(tokens[1]))
confidences.append(float(tokens[2]))
source_ids = np.array(source_ids).astype(np.int32)
smpl_ids = np.array(smpl_ids).astype(np.int32)
confidences = np.array(confidences).astype(np.int32)
correspondences = smpl_ids.astype(np.int32)
print(correspondences.dtype)