def calc_hand_contact_prob(p_nums,
intents,
object_names,
contact_thresh=0.4,
search_r=15e-3,
hand_idx=1):
"""
hand_idx: 0 for left, 1 for right
"""
contact_probs = []
for p_num in p_nums:
for intent in intents:
if object_names is None:
object_names = get_object_names(p_num, intent)
for object_name in object_names:
print('{:d} : {:s} : {:s}'.format(p_num, intent, object_name))
cp = ContactPose(p_num, intent, object_name)
object_mesh = o3dio.read_triangle_mesh(cp.contactmap_filename)
v = np.array(object_mesh.vertices)
c = np.array(object_mesh.vertex_colors)[:, 0]
c = mutils.texture_proc(c)
idx = c >= contact_thresh
v = v[idx]
# read mano
hand = cp.mano_meshes()[hand_idx]
if hand is None:
continue
h_pc = o3dg.PointCloud()
h_pc.points = o3du.Vector3dVector(hand['vertices'])
tree = o3dg.KDTreeFlann(h_pc)
contact_prob = np.zeros(len(hand['vertices']))
for vv in v:
k, idx, dist2 = tree.search_hybrid_vector_3d(
vv, search_r, 10)
for i in range(k):
# contact_prob[idx[i]] += (1.0/np.sqrt(dist2[i]))
contact_prob[idx[i]] = 1
contact_probs.append(contact_prob)
contact_probs = np.mean(contact_probs, axis=0)
return contact_probs
def apply_semantic_colormap_to_mesh(mesh,
semantic_idx,
sigmoid_a=0.05,
invert=False):
colors = np.asarray(mesh.vertex_colors)[:, 0]
colors = mutils.texture_proc(colors, a=sigmoid_a, invert=invert)
# apply different colormaps based on finger
mesh_colors = np.zeros((len(colors), 3))
cmaps = ['Greys', 'Purples', 'Oranges', 'Greens', 'Blues', 'Reds']
cmaps = [plt.cm.get_cmap(c) for c in cmaps]
for semantic_id in np.unique(semantic_idx):
if (len(cmaps) <= semantic_id):
print('Not enough colormaps, ignoring semantic id {:d}'.format(
semantic_id))
continue
idx = semantic_idx == semantic_id
mesh_colors[idx] = cmaps[semantic_id](colors[idx])[:, :3]
mesh.vertex_colors = o3du.Vector3dVector(mesh_colors)
return mesh
def apply_colormap_to_mesh(mesh, sigmoid_a=0.05, invert=False):
colors = np.asarray(mesh.vertex_colors)[:, 0]
colors = mutils.texture_proc(colors, a=sigmoid_a, invert=invert)
colors = plt.cm.inferno(colors)[:, :3]
mesh.vertex_colors = o3du.Vector3dVector(colors)
return mesh
def discover_active_areas(finger_idx,
part_idx,
object_name,
intent,
p_nums=None,
color_thresh=0.4):
"""
finger_idx: 0->4 : thumb->little
part_idx: 0->3 : proximal to distal phalanges, 3 = finger tip
"""
p_nums = p_nums or get_p_nums(object_name, intent)
shuffle(p_nums)
data_dir = osp.join('data', 'contactpose_data')
# read object mesh
vertices = None
for p_num in p_nums:
filename = osp.join(data_dir, f'full{p_num}_{intent}', object_name,
f'{object_name}.ply')
if osp.isfile(filename):
mesh = o3dio.read_triangle_mesh(filename)
else:
print('{:s} does not exist'.format(filename))
continue
vertices = np.asarray(mesh.vertices)
break
if vertices is None:
print("no object model found")
return
line_ids = mutils.get_hand_line_ids()
n_lines_per_hand = len(line_ids)
n_parts_per_finger = 4
touched_by_part = np.zeros(len(vertices))
count = 0
for p_num in p_nums:
print(f'Processing full{p_num}_{intent} {object_name}')
# read contact from the mesh
filename = osp.join(data_dir, f'full{p_num}_{intent}', object_name,
f'{object_name}.ply')
if osp.isfile(filename):
mesh = o3dio.read_triangle_mesh(filename)
else:
print('{:s} does not exist'.format(filename))
continue
tex = np.asarray(mesh.vertex_colors)[:, 0]
tex = mutils.texture_proc(tex)
# read joints
filename = osp.join(data_dir, f'full{p_num}_{intent}', object_name,
'annotations.json')
try:
with open(filename, 'r') as f:
annotations = json.load(f)
except FileNotFoundError:
print('{:s} does not exist'.format(filename))
continue
ds = []
for hand_idx, hand in enumerate(annotations['hands']):
if hand['valid']:
joints = np.asarray(hand['joints'])
l0 = joints[line_ids[:, 0]]
l1 = joints[line_ids[:, 1]]
pl = mutils.closest_linesegment_point(l0, l1, vertices)
d = pl - vertices[:, np.newaxis, :]
d = np.linalg.norm(d, axis=2)
else:
d = np.inf * np.ones((len(vertices), n_lines_per_hand))
ds.append(d)
ds = np.hstack(ds)
hand_idxs, line_idxs = divmod(np.argmin(ds, axis=1), n_lines_per_hand)
finger_idxs, part_idxs = divmod(line_idxs, n_parts_per_finger)
this_touched_by_part = np.logical_and(
tex > color_thresh,
np.logical_and(
hand_idxs >= 0,
np.logical_and(finger_idxs == finger_idx,
part_idxs == part_idx)))
touched_by_part += this_touched_by_part
count += 1
touched_by_part /= count
touched_by_part /= touched_by_part.max()
filename = osp.join(
'data',
f'{object_name}_{intent}_{finger_idx}_{part_idx}_active_areas.npy')
np.save(filename, touched_by_part)
print('{:s} saved'.format(filename))