vis_demo.py

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 if self.dtype != "h2o1" else False
            side="right",
            center_idx=0,
            mano_assets_root="data/mano_v1_2",
        )
        self.mano_layer_left = ManoLayer(
            flat_hand_mean=True if self.dtype != "h2o1" else False
            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)