diff --git a/.gitattributes b/.gitattributes index c08605c3d943844aeb3b0f587912946f8c554abc..44332a00464d1987faf0977f9e30c7ef08ed721b 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1026,3 +1026,5 @@ data/flattening/flattening_dataset.z96 filter=lfs diff=lfs merge=lfs -text data/flattening/flattening_dataset.z97 filter=lfs diff=lfs merge=lfs -text data/flattening/flattening_dataset.z98 filter=lfs diff=lfs merge=lfs -text data/flattening/flattening_dataset.z99 filter=lfs diff=lfs merge=lfs -text +data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/128/0.0.0 filter=lfs diff=lfs merge=lfs -text +data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00074/volume/nocs_winding_number_field/128/0.0.0 filter=lfs diff=lfs merge=lfs -text diff --git a/data/data_examples/README.md b/data/data_examples/README.md new file mode 100644 index 0000000000000000000000000000000000000000..6cf2ce80ecf7e0ec29ba4bafd4424f17f25f6e10 --- /dev/null +++ b/data/data_examples/README.md @@ -0,0 +1,57 @@ +# Samples of VR-Folding dataset +## Data structure +We provide 1 video sequence for *Folding* task. +### RGB images +The following diretory contains RGB images of the video sequence rendered with Unity. Note that these images are only for visualization, so we have rendered both hands additionally. +- `Tshirt_folding_hands_rgb` +### Processed Data: Zarr data +All the multi-view RGB-D images will be transformed into point clouds and merged together into [zarr](https://zarr.readthedocs.io/en/stable/) format. All the other annotations are also contained in the data with [zarr](https://zarr.readthedocs.io/en/stable/) format. The following diretory contain samples for *Folding* task in [zarr](https://zarr.readthedocs.io/en/stable/) format. +- `VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt` + +Here is the detailed tree structure of a data example of one frame. +``` +00068_Tshirt_000000_000000 + ├── grip_vertex_id + │ ├── left_grip_vertex_id (1,) int32 + │ └── right_grip_vertex_id (1,) int32 + ├── hand_pose + │ ├── left_hand_euler (25, 3) float32 + │ ├── left_hand_pos (25, 3) float32 + │ ├── right_hand_euler (25, 3) float32 + │ └── right_hand_pos (25, 3) float32 + ├── marching_cube_mesh + │ ├── is_vertex_on_surface (6410,) bool + │ ├── marching_cube_faces (12816, 3) int32 + │ └── marching_cube_verts (6410, 3) float32 + ├── mesh + │ ├── cloth_faces_tri (8312, 3) int32 + │ ├── cloth_nocs_verts (4434, 3) float32 + │ └── cloth_verts (4434, 3) float32 + └── point_cloud + ├── cls (30000,) uint8 + ├── nocs (30000, 3) float16 + ├── point (30000, 3) float16 + ├── rgb (30000, 3) uint8 + └── sizes (4,) int64 +``` +## Visualization +We provide a simple script for visualizing data in [zarr](https://zarr.readthedocs.io/en/stable/) format. This script will filter out the static frames (i.e. garment pose remains unchanged) in the video and only visualize dynamic frames. +### Setup +Requirements: Python >= 3.8 + +This code has been tested on Windows 10 and Ubuntu 18.04. +``` +pip install -r requirements.txt +``` +### Run +``` +python vis_samples.py +``` +This script will use Open3D to visualize the following elements: +- the input partial point cloud with colors +- the grasping points of both hands (represented by blue and red spheres) +- the complete GT mesh colored with NOCS coordinates + +Note that our recorded data in Zarr format contains complete hand poses (positions and euler angles of 25 bones for each hand). + +In this simplified 3D visualization script, we only visualize the valid grasping points on the garment surface instead of complete hands for fast implementation. \ No newline at end of file diff --git a/data/data_examples/Tshirt_folding_hands_rgb/000045.jpg 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file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/.zgroup b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/.zgroup b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/.zgroup b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/128/.zarray b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/128/.zarray new file mode 100644 index 0000000000000000000000000000000000000000..ba3b463d5fd03e448a1a13768ff87754a10825f5 --- /dev/null +++ b/data/data_examples/VR_Folding/vr_simulation_folding_dataset_example.zarr/Tshirt/instances/00068/volume/nocs_winding_number_field/128/.zarray @@ -0,0 +1,24 @@ +{ + "chunks": [ + 128, + 128, + 128 + ], + "compressor": { + "blocksize": 0, + "clevel": 5, + "cname": "lz4", + "id": "blosc", + "shuffle": 1 + }, + "dtype": " dict: + dataset_idx = idx + row = self.groups_df.iloc[dataset_idx] + group = self.samples_group[row.group_key] + + # io + attrs = group.attrs.asdict() + instance_id = attrs['instance_id'] + scale = attrs['scale'] + pc_group = group['point_cloud'] + mesh_group = group['mesh'] + grip_point_group = group['grip_vertex_id'] + hand_pose_group = group['hand_pose'] + if 'cls' in pc_group: + pc_cls = pc_group['cls'][:] + pc_cls[pc_cls > 0] = 1 # only two classes (foreground + background) + else: + pc_cls = np.zeros(pc_group['point'][:].shape[0]).astype(np.uint8) + data = { + 'cloth_sim_verts': mesh_group['cloth_verts'][:], # complete mesh vertices in task space + 'cloth_nocs_verts': mesh_group['cloth_nocs_verts'][:], # complete mesh vertices in NOCS space + 'cloth_faces_tri': mesh_group['cloth_faces_tri'][:], # mesh faces triangles + 'pc_nocs': pc_group['nocs'][:], # NOCS coordinates of input partial point cloud + 'pc_sim': pc_group['point'][:], # XYZ of input partial point cloud + 'pc_sim_rgb': pc_group['rgb'][:], # RGB of input partial point cloud + 'pc_sizes': pc_group['sizes'][:], # per-view number of points in input partial point cloud + 'pc_cls': pc_cls, # classification label of input partial point cloud + 'left_grip_vertex_ids': grip_point_group['left_grip_vertex_id'][:], # left-hand grasped mesh vertex id + 'right_grip_vertex_ids': grip_point_group['right_grip_vertex_id'][:], # right-hand grasped mesh vertex id + 'left_hand_pos': hand_pose_group['left_hand_pos'][:], # the positions of 25 finger bones in left hand + 'right_hand_pos': hand_pose_group['right_hand_pos'][:], # the positions of 25 finger bones in right hand + 'left_hand_euler': hand_pose_group['left_hand_euler'][:], # the euler angles of 25 finger bones in left hand + 'right_hand_euler': hand_pose_group['right_hand_euler'][:], # the euler angles of 25 finger bones in right hand + 'video_id': attrs['video_id'], # video id + 'scale': scale + } + + return data + + def get_base_data(self, idx:int, seed:int, data_in: dict) -> dict: + num_pc_sample = self.num_pc_sample + num_views = self.num_views + if self.only_foreground_pc: + foreground_idxs = data_in['pc_cls'] == 0 + if data_in['pc_cls'].shape[0] != data_in['pc_sim_rgb'].shape[0]: + foreground_idxs = np.arange(data_in['pc_sim_rgb'].shape[0]) + data_in['pc_sim_rgb'] = data_in['pc_sim_rgb'][foreground_idxs] + data_in['pc_sim'] = data_in['pc_sim'][foreground_idxs] + data_in['pc_nocs'] = data_in['pc_nocs'][foreground_idxs] + data_in['pc_cls'] = data_in['pc_cls'][foreground_idxs] + + rs = np.random.RandomState(seed=seed) + all_idxs = np.arange(len(data_in['pc_sim'])) + all_num_views = len(data_in['pc_sizes']) + if num_views < all_num_views: + idxs_mask = np.zeros_like(all_idxs, dtype=np.bool) + selected_view_idxs = np.sort(rs.choice(all_num_views, size=num_views, replace=False)) + view_idxs = np.concatenate([[0], np.cumsum(data_in['pc_sizes'])]) + for i in selected_view_idxs: + idxs_mask[view_idxs[i]: view_idxs[i+1]] = True + all_idxs = all_idxs[idxs_mask] + + if all_idxs.shape[0] >= num_pc_sample: + selected_idxs = rs.choice(all_idxs, size=num_pc_sample, replace=False) + else: + np.random.seed(seed) + np.random.shuffle(all_idxs) + res_num = len(all_idxs) - num_pc_sample + selected_idxs = np.concatenate([all_idxs, all_idxs[:res_num]], axis=0) + + pc_sim_rgb = data_in['pc_sim_rgb'][selected_idxs].astype(np.float32) / 255 + pc_sim = data_in['pc_sim'][selected_idxs].astype(np.float32) + pc_nocs = data_in['pc_nocs'][selected_idxs].astype(np.float32) + pc_cls = data_in['pc_cls'][selected_idxs].astype(np.int64) + pc_nocs[pc_cls != 0, :] = -1.0 + + dataset_idx = np.array([idx]) + video_id = np.array([int(data_in['video_id'])]) + scale = np.array([data_in['scale']]) + + cloth_sim_verts = data_in['cloth_sim_verts'] + cloth_nocs_verts = data_in['cloth_nocs_verts'] + left_grip_vertex_ids = data_in['left_grip_vertex_ids'] + right_grip_vertex_ids = data_in['right_grip_vertex_ids'] + left_grip_point_sim = np.array([-10., -10., -10.], dtype=np.float32) + right_grip_point_sim = np.array([-10., -10., -10.], dtype=np.float32) + left_grip_point_nocs = np.array([-2., -2., -2.], dtype=np.float32) + right_grip_point_nocs = np.array([-2., -2., -2.], dtype=np.float32) + is_left_hand_valid_grasp = False + is_right_hand_valid_grasp = False + for hand_id, grip_vertex_ids in enumerate((left_grip_vertex_ids, right_grip_vertex_ids)): + if grip_vertex_ids[0] != -1: + # valid grasp point on the garment + grip_vertices_sim = cloth_sim_verts[grip_vertex_ids, :] + mean_grip_point_sim = np.mean(grip_vertices_sim, axis=0) + grip_vertices_nocs = cloth_nocs_verts[grip_vertex_ids, :] + mean_grip_point_nocs = np.mean(grip_vertices_nocs, axis=0) + if hand_id == 0: + left_grip_point_sim = mean_grip_point_sim.astype(np.float32) + left_grip_point_nocs = mean_grip_point_nocs.astype(np.float32) + is_left_hand_valid_grasp = True + else: + right_grip_point_sim = mean_grip_point_sim.astype(np.float32) + right_grip_point_nocs = mean_grip_point_nocs.astype(np.float32) + is_right_hand_valid_grasp = True + + data = { + 'x': pc_sim_rgb, # RGB of input partial point cloud + 'y': pc_nocs, # NOCS coordinates of input partial point cloud + 'pos': pc_sim, # XYZ of input partial point cloud + 'cls': pc_cls, # classification label of input partial point cloud + 'dataset_idx': dataset_idx, # dataset index + 'video_id': video_id, # video id + 'left_grip_point_sim': left_grip_point_sim, # left hand grasp-point in task space + 'left_grip_point_nocs': left_grip_point_nocs, # left hand grasp-point in NOCS space + 'right_grip_point_sim': right_grip_point_sim, # right hand grasp-point in task space + 'right_grip_point_nocs': right_grip_point_nocs, # right hand grasp-point in NOCS space + 'scale': scale + } + + if self.vis: + vis_list = [] + pc_rgb_sim_pcd = o3d.geometry.PointCloud() + pc_rgb_sim_pcd.points = o3d.utility.Vector3dVector(pc_sim) + pc_rgb_sim_pcd.colors = o3d.utility.Vector3dVector(pc_sim_rgb) + vis_list.append(pc_rgb_sim_pcd) + + mesh_sim_pcd = o3d.geometry.PointCloud() + mesh_sim_pcd.points = o3d.utility.Vector3dVector(cloth_sim_verts) + mesh_sim_pcd.colors = o3d.utility.Vector3dVector(cloth_nocs_verts) + vis_list.append(mesh_sim_pcd.translate((0.8, 0., 0.))) + + if is_left_hand_valid_grasp: + left_grasp_sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.05) + left_grasp_sphere.paint_uniform_color([0.9, 0.1, 0.1]) # red + left_grasp_sphere = left_grasp_sphere.translate(left_grip_point_sim) + vis_list.append(left_grasp_sphere) + + if is_right_hand_valid_grasp: + right_grasp_sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.05) + right_grasp_sphere.paint_uniform_color([0.1, 0.1, 0.9]) # blue + right_grasp_sphere = right_grasp_sphere.translate(right_grip_point_sim) + vis_list.append(right_grasp_sphere) + + # visualization + vis = o3d.visualization.Visualizer() + vis.create_window(window_name='Press q or Esc to quit', width=1640, height=1080) + for item in vis_list: + vis.add_geometry(item) + vis.get_render_option().load_from_json(osp.join(osp.curdir, 'render_option.json')) + param = o3d.io.read_pinhole_camera_parameters(osp.join(os.getcwd(), 'view_point.json')) + vis.get_view_control().convert_from_pinhole_camera_parameters(param) + vis.run() + param = vis.get_view_control().convert_to_pinhole_camera_parameters() + o3d.io.write_pinhole_camera_parameters(osp.join(os.getcwd(), 'view_point.json'), param) + vis.close() + + return data + + def __getitem__(self, idx: int) -> dict: + raw_data = self.data_io(idx) + input_data = self.get_base_data(idx, seed=idx, data_in=raw_data) + return input_data + +if __name__=='__main__': + os.chdir(osp.dirname(osp.realpath(__file__))) + zarr_path = osp.join(osp.dirname(osp.realpath(__file__)), 'VR_Folding', 'vr_simulation_folding_dataset_example.zarr', 'Tshirt') + print(zarr_path) + dataset = VRFoldingDatasetExample(zarr_path=zarr_path, vis=True) + for i in range(len(dataset)): + if dataset.idx_to_interval_list[i] == -1: + # skip static frame without valid grasp point + continue + data = dataset[i] + video_id = data['video_id'] + print(f'Reading sample {i}, video {video_id}! Press q or Esc on the window to quit visualization of current frame!')