Add code for generating s3o4d data

PiperOrigin-RevId: 535584807
2025-12-16 05:34:12 +08:00 · 2023-05-26 12:49:41 +01:00
parent 9176a9f23c
commit f5de0ede84
1 changed files with 172 additions and 0 deletions
--- a/geomancer/data_writer.py
+++ b/geomancer/data_writer.py
@@ -0,0 +1,172 @@
+# Copyright 2023 DeepMind Technologies Limited.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Data writer for Stanford Bunny experiments and other objects."""
+
+# pylint: disable=unused-import
+import copy
+import io
+import os
+import time
+
+from absl import app
+from absl import flags
+from absl import logging
+
+from dm_control import mujoco
+
+import numpy as np
+
+
+_SHARD = flags.DEFINE_integer('shard', 0, 'Shard index')
+_SIZE = flags.DEFINE_integer('size', 1000,
+                             'Number of images to save to a shard')
+_OBJECT = flags.DEFINE_string('object', 'dragon', 'Which object to render')
+_PATH = flags.DEFINE_string('path', '', 'Path to folder with .stl files')
+
+
+render_height = 1024
+render_width = 1024
+
+height = 256
+width = 256
+
+
+def get_normal(x):
+  """Get vectors normal to a unit vector."""
+  _, _, v = np.linalg.svd(x[None, :])
+  return v[:, 1:]
+
+
+def render(quat, light, mesh='bunny', meshdir='data'):
+  """Script to render an image."""
+  scale, pos = None, None
+  if mesh == 'bunny':
+    scale = 0.03
+    pos = -1.0
+  elif mesh == 'dragon':
+    scale = 0.06
+    pos = -0.3
+
+  simple_world_mjcf_template = """
+  <mujoco>
+   <visual>
+     <headlight active="0"/>
+     <global offwidth="%s" offheight="%s"/>
+   </visual>
+   <compiler meshdir="%s"/>
+   <asset>
+     <mesh name="%s" file="%s.stl" scale="%g %g %g"/>
+   </asset>
+    <worldbody>
+      <camera name="main" pos="0 0 5" xyaxes="1 0 0 0 1 0"/>
+      <body name="obj" quat="{} {} {} {}">
+        <geom name="%s" type="mesh" mesh="%s" pos="0 0 %g"/>
+      </body>
+      <light pos="{} {} {}" directional="true" dir="{} {} {}"/>
+      <light pos="{} {} {}" directional="true" dir="{} {} {}"/>
+    </worldbody>
+  </mujoco>
+  """ % (render_width, render_height, meshdir, mesh, mesh,
+         scale, scale, scale, mesh, mesh, pos)
+
+  light /= np.linalg.norm(light)
+  quat /= np.linalg.norm(quat)
+
+  simple_world_mjcf = simple_world_mjcf_template.format(
+      *(np.concatenate((quat,
+                        5*light, -5*light,
+                        -5*light, 5*light)).tolist()))
+  physics = mujoco.Physics.from_xml_string(simple_world_mjcf)
+  data = physics.render(camera_id='main',
+                        height=render_height,
+                        width=render_width).astype(np.float32)
+  data = data.reshape((width, int(render_width/width),
+                       height, int(render_height/height), 3))
+  return np.mean(np.mean(data, axis=1), axis=2)
+
+
+def get_tangent(quat, light, mesh='bunny', meshdir='data',
+                eps=0.03, use_light=True, use_quat=True):
+  """Render image along with its tangent vectors by finite differences."""
+  assert use_light or use_quat
+  n = 0
+  light_tangent = None
+  quat_tangent = None
+  if use_light:
+    light_tangent = get_normal(light)
+    n += 2
+  if use_quat:
+    quat_tangent = get_normal(quat)
+    n += 3
+
+  # a triple-wide pixel buffer
+  try:
+    data = render(quat, light, mesh=mesh, meshdir=meshdir)
+    image_tangent = np.zeros((n, height, width, 3), dtype=np.float32)
+
+    if use_quat:
+      for i in range(3):
+        perturbed = render(quat + eps * quat_tangent[:, i],
+                           light, mesh=mesh, meshdir=meshdir)
+        image_tangent[i] = (perturbed - data).astype(np.float32) / eps
+
+    if use_light:
+      j = 3 if use_quat else 0
+      for i in range(2):
+        perturbed = render(quat, light + eps * light_tangent[:, i],
+                           mesh=mesh, meshdir=meshdir)
+        image_tangent[i+j] = (perturbed - data) / eps
+
+    image_tangent -= np.mean(image_tangent, axis=0)[None, ...]
+    latent_tangent = np.block(
+        [[quat_tangent, np.zeros((4, 2), dtype=np.float32)],
+         [np.zeros((3, 3), dtype=np.float32), light_tangent]])
+
+    return (np.mean(data, axis=-1),
+            np.mean(image_tangent, axis=-1),
+            latent_tangent)
+  except:  # pylint: disable=bare-except
+    logging.info('Failed with latents (quat: %s, light: %s)', quat, light)
+
+
+def main(_):
+  images = np.zeros((_SIZE.value, height, width), dtype=np.float32)
+  latents = np.zeros((_SIZE.value, 7), dtype=np.float32)
+
+  image_tangents = np.zeros((_SIZE.value, 5, height, width), dtype=np.float32)
+  latent_tangents = np.zeros((_SIZE.value, 7, 5), dtype=np.float32)
+
+  for i in range(_SIZE.value):
+    light = np.random.randn(3)
+    light /= np.linalg.norm(light)
+
+    quat = np.random.randn(4)  # rotation represented as quaternion
+    quat /= np.linalg.norm(quat)
+
+    latents[i] = np.concatenate((light, quat))
+    images[i], image_tangents[i], latent_tangents[i] = (
+        get_tangent(quat, light, mesh=_OBJECT.value, meshdir=_PATH.value))
+    logging.info('Rendered image %d of %d', i, _SIZE.value)
+
+  os.makedirs(os.path.join(_PATH.value, _OBJECT.value), exist_ok=True)
+  with open(os.path.join(
+      _PATH.value, _OBJECT.value, 'shard_%03d.npz' % _SHARD.value), 'wb') as f:
+    io_buffer = io.BytesIO()
+    np.savez(io_buffer, images, latents, image_tangents, latent_tangents)
+    f.write(io_buffer.getvalue())
+
+
+if __name__ == '__main__':
+  app.run(main)