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import numpy as np
import os
import pickle
import torch
import open3d as o3d
from manotorch.manolayer import ManoLayer
import glob
class VisDemo:
def __init__(self, demo_path, dtype):
self.demo_path = demo_path
self.dtype = dtype
assert dtype in ["h1o1", "h2o1", "h2o2"], f"Unsupported dtype: {dtype}"
self.demo_list = os.listdir(f"{demo_path}/{dtype}")
self.demo_list = sorted(self.demo_list)
self.mano_layer_right = ManoLayer(
flat_hand_mean=True,
side="right",
center_idx=0,
mano_assets_root="data/mano_v1_2",
)
self.mano_layer_left = ManoLayer(
flat_hand_mean=True,
side="left",
center_idx=0,
mano_assets_root="data/mano_v1_2",
)
def visualize(self, idx):
vis = o3d.visualization.Visualizer()
vis.create_window(window_name=f"Demo", width=720, height=720)
vis.add_geometry(o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.1))
class HandMesh:
def __init__(self, parent, idx, side):
self.parent = parent
self.side = side
self.data = self._load(parent, idx, side)
self.t = 0
mano_layer = getattr(parent, f"mano_layer_{side}")
faces = mano_layer.get_mano_closed_faces()
pose = torch.tensor(self.data["mano_pose"])
betas = torch.tensor(self.data["mano_betas"])
tsl = self.data["mano_tsl"]
self.d_verts = mano_layer(pose.reshape(-1, 16 * 3), betas).verts.numpy() + tsl[:, None]
self.mesh = o3d.geometry.TriangleMesh()
self.mesh.vertices = o3d.utility.Vector3dVector(self.d_verts[self.t])
self.mesh.triangles = o3d.utility.Vector3iVector(faces)
if self.side == "right":
self.mesh.paint_uniform_color([0.55, 0.78, 0.78])
else:
self.mesh.paint_uniform_color([0.31, 0.55, 0.78])
self.mesh.compute_vertex_normals()
def _load(self, parent, idx, side):
pkl_path = os.path.join(parent.demo_path, parent.dtype, idx, f"{side}_hand.pkl")
with open(pkl_path, "rb") as f:
return pickle.load(f)
def update(self):
self.t = (self.t + 1) % len(self.d_verts)
self.mesh.vertices = o3d.utility.Vector3dVector(self.d_verts[self.t])
self.mesh.compute_vertex_normals()
return self.mesh
class ObjMesh:
def __init__(self, parent, idx, side=None): # None for h2o1
self.parent = parent
self.side = side
self.data = self._load(parent, idx, side)
self.t = 0
self.mesh = self._load_mesh(parent, idx, side)
self.mesh.paint_uniform_color([1.0, 0.42, 0.04])
self.mesh.transform(self.data["obj_trajectory"][self.t])
def _load(self, parent, idx, side):
if side is None:
pkl_path = os.path.join(parent.demo_path, parent.dtype, idx, "obj.pkl")
else:
pkl_path = os.path.join(parent.demo_path, parent.dtype, idx, f"{side}_obj.pkl")
with open(pkl_path, "rb") as f:
return pickle.load(f)
def _load_mesh(self, parent, idx, side):
if side is None:
base = os.path.join(parent.demo_path, parent.dtype, idx, "urdf")
else:
base = os.path.join(parent.demo_path, parent.dtype, idx, f"{side}_urdf")
mesh_path = (glob.glob(os.path.join(base, "*.ply")) or glob.glob(os.path.join(base, "*.obj")))[0]
mesh = o3d.io.read_triangle_mesh(mesh_path)
mesh.compute_vertex_normals()
return mesh
def update(self):
cur = self.data["obj_trajectory"][self.t]
self.t = (self.t + 1) % len(self.data["obj_trajectory"])
self.mesh.transform(self.data["obj_trajectory"][self.t] @ np.linalg.inv(cur))
return self.mesh
if self.dtype == "h1o1":
only_rh = os.path.exists(os.path.join(self.demo_path, self.dtype, idx, "right_hand.pkl"))
meshes = []
if self.dtype != "h1o1" or only_rh:
meshes.append(HandMesh(self, idx, "right"))
if self.dtype != "h1o1" or not only_rh:
meshes.append(HandMesh(self, idx, "left"))
if self.dtype != "h2o1":
if self.dtype == "h2o2" or not only_rh:
meshes.append(ObjMesh(self, idx, side="left"))
if self.dtype == "h2o2" or only_rh:
meshes.append(ObjMesh(self, idx, side="right"))
else:
meshes.append(ObjMesh(self, idx, side=None))
for mesh in meshes:
vis.add_geometry(mesh.mesh)
while True:
should_close = not vis.poll_events()
if should_close:
break
for mesh in meshes:
vis.update_geometry(mesh.update())
vis.update_renderer()
vis.destroy_window()
if __name__ == "__main__":
demo_path = "data/train_sample"
dtype = "h2o2"
vis_demo = VisDemo(demo_path, dtype)
for idx in vis_demo.demo_list:
print(f"Visualizing demo: {idx}")
vis_demo.visualize(idx)
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