def eval_colllision(self):
coll_list = []
cont_list = []
for ii in range(8000):
filename = os.path.join(self.input_data_file, 'body_gen_{:06d}.pkl'.format(ii))
if not os.path.exists(filename):
continue
with open(filename, 'rb') as f:
body_param_input = pickle.load(f)
xh, self.cam_ext, self.cam_int= BodyParamParser.body_params_parse_fitting(body_param_input)
xhr = GeometryTransformer.convert_to_6D_rot(xh)
self.xhr_rec = xhr
T_mat = np.eye(4)
T_mat[1,:] = np.array([0,-1,0,0])
T_mat[2,:] = np.array([0,0,-1,0])
T_mat = torch.tensor(T_mat, dtype=torch.float32, device=self.device)
T_mat = T_mat.unsqueeze(0)
trans = torch.matmul(self.cam_ext[:1],T_mat)
loss_rec, loss_vposer, loss_contact, loss_collision = self.cal_loss(xhr, trans)
coll_list.append(loss_collision.item())
cont_list.append(loss_contact.item())
return coll_list, cont_list
def fitting(self, input_data_file):
with open(input_data_file, 'rb') as f:
body_param_input = pickle.load(f)
xh, self.cam_ext, self.cam_int = BodyParamParser.body_params_parse_fitting(
body_param_input)
xhr = GeometryTransformer.convert_to_6D_rot(xh)
self.xhr_rec.data = xhr.clone()
for ii in range(self.num_iter):
self.optimizer.zero_grad()
loss_rec, loss_vposer, loss_contact, loss_collision = self.cal_loss(
xhr, self.cam_ext)
loss = loss_rec + loss_vposer + loss_contact + loss_collision
if self.verbose:
print(
'[INFO][fitting] iter={:d}, l_rec={:f}, l_vposer={:f}, l_contact={:f}, l_collision={:f}'
.format(ii, loss_rec.item(), loss_vposer.item(),
loss_contact.item(), loss_collision.item()))
loss.backward(retain_graph=True)
self.optimizer.step()
print('[INFO][fitting] fitting finish, returning optimal value')
xh_rec = GeometryTransformer.convert_to_3D_rot(self.xhr_rec)
return xh_rec
def fitting(fittingconfig):
input_data_file = fittingconfig['input_data_file']
with open(input_data_file, 'rb') as f:
body_param_input = pickle.load(f)
xh, _, _ = BodyParamParser.body_params_parse_fitting(body_param_input)
return xh.detach().cpu().numpy()
def cal_loss(self, xhr, cam_ext):
### reconstruction loss
loss_rec = self.weight_loss_rec*F.l1_loss(xhr, self.xhr_rec)
xh_rec = GeometryTransformer.convert_to_3D_rot(self.xhr_rec)
### vposer loss
vposer_pose = xh_rec[:,16:48]
loss_vposer = self.weight_loss_vposer * torch.mean(vposer_pose**2)
### contact score and non-coll score
body_param_rec = BodyParamParser.body_params_encapsulate_batch(xh_rec)
joint_rot_batch = self.vposer.decode(body_param_rec['body_pose_vp'],
output_type='aa').view(self.batch_size, -1)
body_param_ = {}
for key in body_param_rec.keys():
if key in ['body_pose_vp']:
continue
else:
body_param_[key] = body_param_rec[key]
smplx_output = self.body_mesh_model(return_verts=True,
body_pose=joint_rot_batch,
**body_param_)
body_verts_batch = smplx_output.vertices #[b, 10475,3]
body_verts_batch = GeometryTransformer.verts_transform(body_verts_batch, cam_ext)
s_grid_min_batch = self.s_grid_min_batch.unsqueeze(1)
s_grid_max_batch = self.s_grid_max_batch.unsqueeze(1)
norm_verts_batch = (body_verts_batch - s_grid_min_batch) / (s_grid_max_batch - s_grid_min_batch) *2 -1
n_verts = norm_verts_batch.shape[1]
body_sdf_batch = F.grid_sample(self.s_sdf_batch.unsqueeze(1),
norm_verts_batch[:,:,[2,1,0]].view(-1, n_verts,1,1,3),
padding_mode='border')
loss_contact = torch.tensor(1.0, dtype=torch.float32, device=self.device)
if body_sdf_batch.lt(0).sum().item() < 1: # if the number of negative sdf entries is less than one
loss_sdf_pene = torch.tensor(10475, dtype=torch.float32, device=self.device)
loss_contact = torch.tensor(0.0, dtype=torch.float32, device=self.device)
else:
loss_sdf_pene = (body_sdf_batch > 0).sum()
loss_collision = loss_sdf_pene.float() / 10475.0
return loss_rec, loss_vposer, loss_contact, loss_collision
def save_result(self, xh_rec, output_data_file):
dirname = os.path.dirname(output_data_file)
if not os.path.exists(dirname):
os.makedirs(dirname)
body_param_list = BodyParamParser.body_params_encapsulate(xh_rec)
print('[INFO] save results to: ' + output_data_file)
for _, body_param in enumerate(body_param_list):
body_param['cam_ext'] = self.cam_ext.detach().cpu().numpy()
body_param['cam_int'] = self.cam_int.detach().cpu().numpy()
outfile = open(output_data_file, 'wb')
pickle.dump(body_param, outfile)
outfile.close()
def fitting(self, input_data_file):
with open(input_data_file, 'rb') as f:
body_param_input = pickle.load(f)
xh, self.cam_ext, self.cam_int= BodyParamParser.body_params_parse_fitting(body_param_input)
xhr = GeometryTransformer.convert_to_6D_rot(xh)
self.xhr_rec.data = xhr.clone()
T_mat = np.eye(4)
T_mat[1,:] = np.array([0,-1,0,0])
T_mat[2,:] = np.array([0,0,-1,0])
T_mat = torch.tensor(T_mat, dtype=torch.float32, device=self.device)
T_mat = T_mat.unsqueeze(0)
trans = torch.matmul(self.cam_ext[:1],T_mat)
for ii in range(self.num_iter):
self.optimizer.zero_grad()
loss_rec, loss_vposer, loss_contact, loss_collision = self.cal_loss(xhr, trans)
loss = loss_rec + loss_vposer + loss_contact + loss_collision
if self.verbose:
print('[INFO][fitting] iter={:d}, l_rec={:f}, l_vposer={:f}, l_contact={:f}, l_collision={:f}'.format(
ii, loss_rec.item(), loss_vposer.item(),
loss_contact.item(), loss_collision.item()) )
loss.backward(retain_graph=True)
self.optimizer.step()
print('[INFO][fitting] fitting finish, returning optimal value')
xh_rec = GeometryTransformer.convert_to_3D_rot(self.xhr_rec)
return xh_rec
def cal_loss(self, xs, xh, eps_g, eps_l, cam_ext, cam_int, max_d,
scene_verts, scene_face,
s_grid_min_batch, s_grid_max_batch, s_grid_sdf_batch,
ep):
# normalize global trans
xhn = GeometryTransformer.normalize_global_T(xh, cam_int, max_d)
# convert global rotation
xhnr = GeometryTransformer.convert_to_6D_rot(xhn)
[xhnr_rec, mu_g, logsigma2_g,
mu_l, logsigma2_l] = self.model_h(xhnr, eps_g, eps_l, xs)
xhn_rec = GeometryTransformer.convert_to_3D_rot(xhnr_rec)
# recover global trans
xh_rec = GeometryTransformer.recover_global_T(xhn_rec, cam_int, max_d)
loss_rec_t = self.weight_loss_rec_h*( 0.5*F.l1_loss(xhnr_rec[:,:3], xhnr[:,:3])
+0.5*F.l1_loss(xh_rec[:,:3], xh[:,:3]))
loss_rec_p = self.weight_loss_rec_h*F.l1_loss(xhnr_rec[:,3:], xhnr[:,3:])
### kl divergence loss
fca = 1.0
if self.loss_weight_anealing:
fca = min(1.0, max(float(ep) / (self.epoch*0.75),0) )
loss_KL_g = fca**2 *self.weight_loss_kl * 0.5*torch.mean(torch.exp(logsigma2_g) +mu_g**2 -1.0 -logsigma2_g)
loss_KL_l = fca**2 *self.weight_loss_kl * 0.5*torch.mean(torch.exp(logsigma2_l) +mu_l**2 -1.0 -logsigma2_l)
### Vposer loss
vposer_pose = xh_rec[:,16:48]
loss_vposer = self.weight_loss_vposer * torch.mean(vposer_pose**2)
### contact loss
## (1) get the reconstructed body mesh
body_param_rec = BodyParamParser.body_params_encapsulate_batch(xh_rec)
joint_rot_batch = self.vposer.decode(body_param_rec['body_pose_vp'],
output_type='aa').view(self.batch_size, -1)
body_param_ = {}
for key in body_param_rec.keys():
if key in ['body_pose_vp']:
continue
else:
body_param_[key] = body_param_rec[key]
smplx_output = self.body_mesh_model(return_verts=True,
body_pose=joint_rot_batch,
**body_param_)
body_verts_batch = smplx_output.vertices #[b, 10475,3]
body_verts_batch = GeometryTransformer.verts_transform(body_verts_batch, cam_ext)
## (2) select contact vertex according to prox annotation
vid, fid = GeometryTransformer.get_contact_id(body_segments_folder=self.contact_id_folder,
contact_body_parts=self.contact_part)
body_verts_contact_batch = body_verts_batch[:, vid, :]
## (3) compute chamfer loss between pcd_batch and body_verts_batch
dist_chamfer_contact = ext.chamferDist()
contact_dist, _ = dist_chamfer_contact(body_verts_contact_batch.contiguous(),
scene_verts.contiguous())
fcc = 0.0
if ep > 0.75*self.epoch:
fcc = 1.0
loss_contact = fcc *self.weight_contact * torch.mean(torch.sqrt(contact_dist+1e-4)/(torch.sqrt(contact_dist+1e-4)+1.0) )
### SDF scene penetration loss
s_grid_min_batch = s_grid_min_batch.unsqueeze(1)
s_grid_max_batch = s_grid_max_batch.unsqueeze(1)
norm_verts_batch = (body_verts_batch - s_grid_min_batch) / (s_grid_max_batch - s_grid_min_batch) *2 -1
n_verts = norm_verts_batch.shape[1]
body_sdf_batch = F.grid_sample(s_grid_sdf_batch.unsqueeze(1),
norm_verts_batch[:,:,[2,1,0]].view(-1, n_verts,1,1,3),
padding_mode='border')
# if there are no penetrating vertices then set sdf_penetration_loss = 0
if body_sdf_batch.lt(0).sum().item() < 1:
loss_sdf_pene = torch.tensor(0.0, dtype=torch.float32, device=self.device)
else:
loss_sdf_pene = body_sdf_batch[body_sdf_batch < 0].abs().mean()
fsp = 0.0
if ep > 0.75*self.epoch:
fsp = 1.0
loss_sdf_pene = fsp*self.weight_collision*loss_sdf_pene
return loss_rec_t, loss_rec_p, loss_KL_g, loss_KL_l, loss_contact, loss_vposer, loss_sdf_pene
def test(self):
self.model_h.eval()
self.model_h.to(self.device)
self.vposer.to(self.device)
self.body_mesh_model.to(self.device)
## load checkpoints
ckp_list = sorted(glob.glob(os.path.join(self.ckpt_dir,
'epoch-*.ckp')),
key=os.path.getmtime)
ckp_path = ckp_list[-1]
checkpoint = torch.load(ckp_path)
print('[INFO] load checkpoints: ' + ckp_path)
self.model_h.load_state_dict(checkpoint['model_h_state_dict'])
## read data from here!
cam_file_list = sorted(glob.glob(self.test_data_path + '/cam_*'))
for ii, cam_file in enumerate(cam_file_list):
cam_params = np.load(cam_file,
allow_pickle=True,
encoding='latin1').item()
depth0 = torch.tensor(np.load(cam_file.replace('cam', 'depth')),
dtype=torch.float32,
device=self.device)
seg0 = torch.tensor(np.load(cam_file.replace('cam', 'seg')),
dtype=torch.float32,
device=self.device)
cam_ext = torch.tensor(cam_params['cam_ext'],
dtype=torch.float32,
device=self.device).unsqueeze(0) #[1,4,4]
cam_int = torch.tensor(cam_params['cam_int'],
dtype=torch.float32,
device=self.device).unsqueeze(0) # [1,3,3]
depth, _, max_d = self.data_preprocessing(
depth0, 'depth', target_domain_size=[128, 128]) #[1,1,128,128]
max_d = max_d.view(1)
seg, _, _ = self.data_preprocessing(seg0,
'depth',
target_domain_size=[128, 128])
xs = torch.cat([depth, seg], dim=1)
xs_batch = xs.repeat(self.n_samples, 1, 1, 1)
max_d_batch = max_d.repeat(self.n_samples)
cam_int_batch = cam_int.repeat(self.n_samples, 1, 1)
cam_ext_batch = cam_ext.repeat(self.n_samples, 1, 1)
xhnr_gen = self.model_h.sample(xs_batch)
xhn_gen = GeometryTransformer.convert_to_3D_rot(xhnr_gen)
xh_gen = GeometryTransformer.recover_global_T(
xhn_gen, cam_int_batch, max_d_batch)
body_param_list = BodyParamParser.body_params_encapsulate(xh_gen)
if not os.path.exists(self.outdir):
os.makedirs(self.outdir)
print('[INFO] save results to: ' + self.outdir)
for jj, body_param in enumerate(body_param_list):
body_param['cam_ext'] = cam_ext_batch.detach().cpu().numpy()
body_param['cam_int'] = cam_int_batch.detach().cpu().numpy()
outfilename = os.path.join(
self.outdir,
'body_gen_{:06d}.pkl'.format(self.n_samples * ii + jj))
outfile = open(outfilename, 'wb')
pickle.dump(body_param, outfile)
outfile.close()
def test(self, batch_gen):
self.model_h.eval()
self.model_h.to(self.device)
self.vposer.to(self.device)
self.body_mesh_model.to(self.device)
## load checkpoints
ckp_list = sorted(glob.glob(os.path.join(self.ckpt_dir,
'epoch-*.ckp')),
key=os.path.getmtime)
ckp_path = ckp_list[-1]
checkpoint = torch.load(ckp_path)
print('[INFO] load checkpoints: ' + ckp_path)
self.model_h.load_state_dict(checkpoint['model_h_state_dict'])
## get a batch of data for testing
batch_gen.reset()
test_data = batch_gen.next_batch(batch_size=1)
depth_batch = test_data[0]
seg_batch = test_data[1]
max_d_batch = test_data[2]
cam_int_batch = test_data[3]
cam_ext_batch = test_data[4]
## pass data to network
xs = torch.cat([depth_batch, seg_batch], dim=1)
xs_n = xs.repeat(self.n_samples, 1, 1, 1)
noise_batch_g = torch.randn([self.n_samples, self.model_h_latentD],
dtype=torch.float32,
device=self.device)
noise_batch_l = torch.randn([self.n_samples, self.model_h_latentD],
dtype=torch.float32,
device=self.device)
if self.use_cont_rot:
xhnr_gen = self.model_h.sample(xs_n, noise_batch_g, noise_batch_l)
xhn_gen = GeometryTransformer.convert_to_3D_rot(xhnr_gen)
else:
xhnr_gen = self.model_h.sample(xs_n, noise_batch_g, noise_batch_l)
xh_gen = GeometryTransformer.recover_global_T(xhn_gen, cam_int_batch,
max_d_batch)
body_param_list = BodyParamParser.body_params_encapsulate(xh_gen)
scene_name = os.path.abspath(
self.scene_file_path).split("/")[-2].split("_")[0]
outdir = os.path.join(self.output_dir, scene_name)
if not os.path.exists(outdir):
os.makedirs(outdir)
print('[INFO] save results to: ' + outdir)
for ii, body_param in enumerate(body_param_list):
body_param['cam_ext'] = cam_ext_batch.detach().cpu().numpy()
body_param['cam_int'] = cam_int_batch.detach().cpu().numpy()
outfilename = os.path.join(outdir,
'body_gen_{:06d}.pkl'.format(ii + 900))
outfile = open(outfilename, 'wb')
pickle.dump(body_param, outfile)
outfile.close()
def cal_loss(self, xhr, cam_ext):
### reconstruction loss
loss_rec = self.weight_loss_rec*F.l1_loss(xhr, self.xhr_rec)
xh_rec = GeometryTransformer.convert_to_3D_rot(self.xhr_rec)
### vposer loss
vposer_pose = xh_rec[:,16:48]
loss_vposer = self.weight_loss_vposer * torch.mean(vposer_pose**2)
### contact loss
body_param_rec = BodyParamParser.body_params_encapsulate_batch(xh_rec)
joint_rot_batch = self.vposer.decode(body_param_rec['body_pose_vp'],
output_type='aa').view(self.batch_size, -1)
body_param_ = {}
for key in body_param_rec.keys():
if key in ['body_pose_vp']:
continue
else:
body_param_[key] = body_param_rec[key]
smplx_output = self.body_mesh_model(return_verts=True,
body_pose=joint_rot_batch,
**body_param_)
body_verts_batch = smplx_output.vertices #[b, 10475,3]
body_verts_batch = GeometryTransformer.verts_transform(body_verts_batch, cam_ext)
vid, fid = GeometryTransformer.get_contact_id(
body_segments_folder=self.contact_id_folder,
contact_body_parts=self.contact_part)
body_verts_contact_batch = body_verts_batch[:, vid, :]
dist_chamfer_contact = ext.chamferDist()
contact_dist, _ = dist_chamfer_contact(body_verts_contact_batch.contiguous(),
self.s_verts_batch.contiguous())
loss_contact = self.weight_contact * torch.mean(torch.sqrt(contact_dist+1e-4)/(torch.sqrt(contact_dist+1e-4)+1.0))
### sdf collision loss
s_grid_min_batch = self.s_grid_min_batch.unsqueeze(1)
s_grid_max_batch = self.s_grid_max_batch.unsqueeze(1)
norm_verts_batch = (body_verts_batch - s_grid_min_batch) / (s_grid_max_batch - s_grid_min_batch) *2 -1
n_verts = norm_verts_batch.shape[1]
body_sdf_batch = F.grid_sample(self.s_sdf_batch.unsqueeze(1),
norm_verts_batch[:,:,[2,1,0]].view(-1, n_verts,1,1,3),
padding_mode='border')
# if there are no penetrating vertices then set sdf_penetration_loss = 0
if body_sdf_batch.lt(0).sum().item() < 1:
loss_sdf_pene = torch.tensor(0.0, dtype=torch.float32, device=self.device)
else:
loss_sdf_pene = body_sdf_batch[body_sdf_batch < 0].abs().mean()
loss_collision = self.weight_collision*loss_sdf_pene
return loss_rec, loss_vposer, loss_contact, loss_collision
