feat: add utils and qc scripts for decimation pipeline (#386)
This commit is contained in:
Michael Lingelbach
GitHub
parent
44cd4f3c1b
commit
81b3142992
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@ -9,6 +9,7 @@ src/
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pw
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*.o
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*.ipynb
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*.ipynb_checkpoints/
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*.out
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npz/
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*.npy
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@ -72,3 +73,10 @@ notebook
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build
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dist
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# Directories used for QC pipeline
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igibson/utils/data_utils/mesh_decimation/collision
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igibson/utils/data_utils/mesh_decimation/visual
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igibson/utils/data_utils/mesh_decimation/final_videos
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# libcryptopp
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igibson/render/mesh_renderer/libcryptopp.so.8.6
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Binary file not shown.
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@ -0,0 +1,24 @@
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import os
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import subprocess
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import igibson
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objects = []
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base_dir = os.path.join(igibson.ig_dataset_path, "objects")
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categories = os.listdir(base_dir)
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for category in categories:
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if "json" not in category:
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objs = os.listdir(os.path.join(base_dir, category))
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for obj in objs:
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objects.append({"category": category, "object_id": obj})
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for obj in objects:
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category = obj['category']
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object_id = obj['object_id']
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object_export_dir = base_dir + "/{}/{}/shape".format(category, object_id)
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urdf = os.path.join(base_dir, category, object_id, "{}.urdf".format(object_id))
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input_dir = os.path.join(object_export_dir, "collision", "decimated")
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if os.path.exists(input_dir):
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output_dir = os.path.join(object_export_dir, "collision")
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collision_mesh_script = os.path.join(igibson.root_path, "utils", "data_utils", "ext_object", "escripts", "step_2_collision_mesh.py")
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pipe = subprocess.run(["python", collision_mesh_script, "--input_dir", input_dir, "--output_dir", output_dir, "--object_name", object_id, "--urdf", urdf])
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@ -0,0 +1,62 @@
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import os
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import csv
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import subprocess
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from shutil import copyfile
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import igibson
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base_dir = os.path.join(igibson.ig_dataset_path, "objects")
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objects = []
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categories = os.listdir(base_dir)
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for category in categories:
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if "json" not in category:
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objs = os.listdir(os.path.join(base_dir, category))
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for obj in objs:
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objects.append({"category": category, "object_id": obj})
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mesh_names = []
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successes = []
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mesh_counts = []
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for obj in objects:
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category = obj['category']
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object_id = obj['object_id']
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object_export_dir = base_dir + "/{}/{}/shape".format(category, object_id)
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input_dir = os.path.join(object_export_dir, "collision")
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if not os.path.exists(input_dir) or len(os.listdir(input_dir)) == 0:
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print("Inputs dir {} does not exist, or is missing mesh files.".format(input_dir))
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continue
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success = True
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mesh_count = 0
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meshes = [ mesh for mesh in os.listdir(input_dir) if not mesh.endswith('_original.obj')]
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# if category != "swivel_chair" or object_id != "2627":
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# continue
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for mesh in meshes:
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# Copy the original mesh to a backup file
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backup_mesh = os.path.join(input_dir, os.path.splitext(mesh)[0] + '_original.obj')
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input_mesh = os.path.join(input_dir, mesh)
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if not os.path.exists(backup_mesh):
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copyfile(input_mesh, backup_mesh)
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try:
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vhacd_path = os.path.join(igibson.root_path, "utils", "data_utils", "blender_utils", "vhacd")
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# Note, probably should parse the output to make sure this was actually succesful
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pipe = subprocess.run([vhacd_path, "--input", backup_mesh, "--output", input_mesh])
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mesh_count += 1
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except:
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print("couldn't process {}".format(input_dir))
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success = False
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mesh_names.append("{}/{}".format(category, object_id))
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successes.append(success)
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mesh_counts.append(mesh_count)
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with open("vhacd_manifest.csv", "w") as f:
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writer = csv.writer(f)
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writer.writerow(["video_id", "category", "object_id"])
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for mesh_name, success, mesh_count in zip(mesh_names, successes, mesh_counts):
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writer.writerow([mesh_name, success, mesh_count])
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@ -0,0 +1,280 @@
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"""
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This file needs to be run in blender, and requires a DISPLAY (virtualgl may work):
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Requires the following on your path:
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* blender 2.9.x
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* ffmpeg
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Run as:
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blender -b --python mesh_decimation_visualization.py -- --ig_dataset $(pwd)/../../../data/ig_dataset
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"""
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import bpy
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import math
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import subprocess
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import os
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import csv
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import sys
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import argparse
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def collision_filter(x):
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if not x.endswith("original.obj") and x.endswith(".obj"):
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return True
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else:
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return False
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def visual_filter(x):
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if x.endswith(".obj"):
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return True
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else:
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return False
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def import_and_join_obj(meshes):
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# Import all of the visual meshes
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for mesh in meshes:
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bpy.ops.import_scene.obj(filepath=mesh)
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# Deselect all
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bpy.ops.object.select_all(action="DESELECT")
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# Select all imported meshes
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mesh_objects = [m for m in bpy.context.scene.objects if m.type == "MESH"]
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for objects in mesh_objects:
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objects.select_set(state=True)
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bpy.context.view_layer.objects.active = objects
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# Join all imported meshes into a single object
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bpy.ops.object.join()
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def render_frame(
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visual_meshes,
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collision_meshes,
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coll_tmpdir="collision/tmp",
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vis_tmpdir="visual/tmp",
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):
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# Delete all scene objects except light
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scene = bpy.data.scenes[0]
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for o in bpy.context.scene.objects:
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if o.type != "LIGHT":
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o.select_set(True)
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bpy.ops.object.delete()
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# Import and join the meshes
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import_and_join_obj(visual_meshes)
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# Get the current scene handle
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scn = bpy.context.scene
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# Set the target for the camera to the joined object
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target = bpy.context.selected_objects[0]
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bpy.context.view_layer.objects.active = target
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# Center the origin on mesh
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bpy.ops.object.origin_set(type="ORIGIN_GEOMETRY")
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cam_x_pos = max([v[0] for v in target.bound_box]) * 5
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cam_y_pos = max([v[1] for v in target.bound_box]) * 5
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cam_z_pos = max([v[2] for v in target.bound_box]) * 5
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# Set the rotational center to the active object
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rot_centre = bpy.data.objects.new("rot_centre", None)
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bpy.context.collection.objects.link(rot_centre)
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rot_centre.location = target.location
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# Create a camera and link it to the active rotational center object
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camera = bpy.data.objects.new("camera", bpy.data.cameras.new("camera"))
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scn.camera = camera
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bpy.context.scene.collection.objects.link(camera)
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# Set the camera location
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camera.location = (cam_x_pos, cam_y_pos, cam_z_pos)
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camera.parent = rot_centre
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# Track the camera to the rotational center
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m = camera.constraints.new("TRACK_TO")
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m.target = target
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m.track_axis = "TRACK_NEGATIVE_Z"
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m.up_axis = "UP_Y"
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# Set up the rotational center to rotate
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rot_centre.rotation_euler.z = 0.0
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rot_centre.keyframe_insert("rotation_euler", index=2, frame=1)
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rot_centre.rotation_euler.z = math.radians(360.0)
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rot_centre.keyframe_insert("rotation_euler", index=2, frame=101)
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# Linearly interpolate the rotation across 100 frames
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for c in rot_centre.animation_data.action.fcurves:
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for k in c.keyframe_points:
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k.interpolation = "LINEAR"
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scn.frame_end = 100
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# Set the output render path to a temporary file
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scene.render.filepath = vis_tmpdir
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# Render the animation to the file
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bpy.ops.render.render(animation=True)
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# Delete the mesh but keep the camera
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for o in bpy.context.scene.objects:
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if o.type == "MESH":
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o.select_set(True)
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bpy.ops.object.delete()
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# Import and join the meshes
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import_and_join_obj(collision_meshes)
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target = bpy.context.collection.objects["rot_centre"]
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bpy.context.view_layer.objects.active = target
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m.target = target
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# Set the output render path to a temporary file
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scene.render.filepath = coll_tmpdir
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# Render the animation to the file
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bpy.ops.render.render(animation=True)
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def main():
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argv = sys.argv
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if "--" not in argv:
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argv = [] # as if no args are passed
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else:
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argv = argv[argv.index("--") + 1:] # get all args after "--"
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parser = argparse.ArgumentParser(description="Process some integers.")
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parser.add_argument(
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"--ig_dataset",
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required=True,
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type=str,
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help="path to ig_dataset (typically /path/to/iGibson/igibson/data/ig_dataset)",
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)
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args = parser.parse_args(argv)
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basedir = os.path.join(args.ig_dataset, 'objects')
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# Set up scene for eevee, this is faster than cycles with CUDA
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scene = bpy.data.scenes[0]
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scene.render.engine = "BLENDER_EEVEE"
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scene.render.resolution_x = 720
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scene.render.resolution_y = 720
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scene.render.resolution_percentage = 50
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scene.eevee.volumetric_samples = 2
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scene.eevee.taa_render_samples = 2
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# Make a list of all object categories/ids
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objects = []
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categories = os.listdir(basedir)
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for category in categories:
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if "json" not in category:
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objs = os.listdir(os.path.join(basedir, category))
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for obj in objs:
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objects.append({"category": category, "object_id": obj})
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# This will store the metadata matching categories, object_ids, and video ids
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categories = []
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object_ids = []
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video_ids = []
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# Generate the videos across the dataset
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for idx, obj in enumerate(objects):
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category = obj["category"]
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object_id = obj["object_id"]
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categories.append(obj["category"])
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object_ids.append(obj["object_id"])
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video_ids.append(idx)
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object_export_dir = os.path.join(basedir, category, object_id, "shape")
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visual_dir = os.path.join(object_export_dir, "visual")
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collision_dir = os.path.join(object_export_dir, "collision")
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if not os.path.exists(visual_dir) or len(os.listdir(visual_dir)) == 0:
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continue
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if not os.path.exists(collision_dir) or len(os.listdir(collision_dir)) == 0:
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continue
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visual_meshes = [item for item in os.listdir(visual_dir) if visual_filter(item)]
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visual_mesh_paths = []
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for mesh in visual_meshes:
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visual_mesh_paths.append(os.path.join(visual_dir, mesh))
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collision_meshes = [
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item for item in os.listdir(collision_dir) if collision_filter(item)
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]
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collision_mesh_paths = []
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for mesh in collision_meshes:
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collision_mesh_paths.append(os.path.join(collision_dir, mesh))
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# Make the output directory
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if not os.path.exists("final_videos"):
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os.mkdir("final_videos")
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# Render each set of frames into a video, and then process this into a side by side video
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try:
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render_frame(
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visual_meshes=visual_mesh_paths, collision_meshes=collision_mesh_paths
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)
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subprocess.run(
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[
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"ffmpeg",
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"-y",
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"-i",
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"visual/tmp%04d.png",
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"-c:v",
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"libx264",
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"-vf",
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"fps=25",
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"-pix_fmt",
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"yuv420p",
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"visual/visual.mp4",
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],
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capture_output=True,
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)
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subprocess.run(
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[
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"ffmpeg",
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"-y",
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"-i",
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"collision/tmp%04d.png",
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"-c:v",
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"libx264",
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"-vf",
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"fps=25",
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"-pix_fmt",
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"yuv420p",
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"collision/collision.mp4",
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],
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capture_output=True,
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)
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subprocess.run(
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[
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"ffmpeg",
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"-y",
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"-i",
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"visual/visual.mp4",
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"-i",
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"collision/collision.mp4",
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"-filter_complex",
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"hstack",
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"final_videos/{}.mp4".format(idx),
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],
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capture_output=True,
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)
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except:
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print("couldn't process {}".format(visual_dir))
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# Control blender's memory usage
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if idx % 10 == 0:
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bpy.ops.outliner.orphans_purge(do_recursive=True)
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with open("final_videos/manifest.csv", "w") as f:
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writer = csv.writer(f)
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writer.writerow(["video_id", "category", "object_id"])
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for video_id, category, object_id in zip(video_ids, categories, video_ids):
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writer.writerow([video_id, category, object_id])
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main()
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@ -0,0 +1,92 @@
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import os
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import igibson
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import numpy as np
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import open3d as o3d
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import pandas as pd
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base_dir = os.path.join(igibson.ig_dataset_path, "objects")
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object_models = []
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categories = os.listdir(base_dir)
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for category in categories:
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if "json" not in category:
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objs = os.listdir(os.path.join(base_dir, category))
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for obj_id in objs:
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obj_model_dir = base_dir + "/{}/{}/shape/collision".format(category, obj_id)
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if os.path.exists(obj_model_dir):
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model_files = [
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os.path.join(obj_model_dir, obj)
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for obj in os.listdir(obj_model_dir)
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if obj.endswith(".obj") and "original.obj" not in obj
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]
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object_models.append(
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{
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"category": category,
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"object_id": obj_id,
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"model_files": model_files,
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}
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)
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else:
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print(
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"Warning: collision mesh missing for {}/{}".format(category, obj_id)
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)
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vals = []
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names = []
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original_vertices_ls = []
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original_triangles_ls = []
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compressed_vertices_ls = []
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compressed_triangles_ls = []
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for obj in object_models:
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original_vertices = 0
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original_triangles = 0
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compressed_vertices = 0
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compressed_triangles = 0
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for model_file in obj["model_files"]:
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original_mesh = o3d.io.read_triangle_mesh(
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os.path.splitext(model_file)[0] + "_original.obj"
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)
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mesh = o3d.io.read_triangle_mesh(str(model_file))
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original_vertices += np.asarray(original_mesh.vertices).shape[0]
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original_triangles += np.asarray(original_mesh.triangles).shape[0]
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compressed_vertices += np.asarray(mesh.vertices).shape[0]
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compressed_triangles += np.asarray(mesh.triangles).shape[0]
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original_vertices_ls.append(original_vertices)
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original_triangles_ls.append(original_triangles)
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compressed_vertices_ls.append(compressed_vertices)
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compressed_triangles_ls.append(compressed_triangles)
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names.append("{}/{}".format(obj["category"], obj["object_id"]))
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vals.append(
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[
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"{}/{}".format(obj["category"], obj["object_id"]),
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compressed_vertices,
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original_vertices,
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]
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)
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df = pd.DataFrame(
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{
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"model_names": names,
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"original_vertices": original_vertices_ls,
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"original_triangles": original_triangles_ls,
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"compressed_vertices": compressed_vertices_ls,
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"compressed_triangles": compressed_triangles_ls,
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}
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)
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df = df.sort_values("original_vertices")
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||||
print("Sorted by original vertices")
|
||||
print(df)
|
||||
|
||||
df.to_csv("model_qc.csv")
|
||||
|
||||
df = df.sort_values("compressed_vertices")
|
||||
print("Sorted by compressed vertices")
|
||||
print(df)
|
||||
Loading…
Reference in New Issue