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hanging_points_cnn

setup

pip install -e .

Create training dataset

Rendering

Download [Describable Textures Dataset](https://www.robots.ox.ac.uk/~vgg/data/dtd/) to .

Generate hanging points using hanging_points_generator. If you use ycb to generate hanging points run-many 'python generate_hanging_points.py'
you can get contact_points.json like
<path to ycb urdf> /019_pitcher_base/contact_points/pocky-2020-08-14-18-23-50-720607-41932/contact_points.json

Render the training image by loading contact points and textures.
Can be executed in parallel using eos run-many.

cd hangning_points_cnn/create_dataset
run-many 'python renderer.py -n 200 -i <path to ycb urdf> -s <save dir> --random-texture-path <random_texture_path>' -j 10 -n 10

Check annotated data

Use visualize-function-points app.

visualize-function-points -h
INFO - 2020-12-28 01:56:36,367 - topics - topicmanager initialized
pybullet build time: Sep 14 2020 02:23:24
usage: visualize-function-points [-h] [--input-dir INPUT_DIR] [--idx IDX]
                                 [--large-axis]

optional arguments:
  -h, --help            show this help message and exit
  --input-dir INPUT_DIR, -i INPUT_DIR
                        input urdf (default: /media/kosuke55/SANDISK-2/meshdat
                        a/ycb_eval/019_pitcher_base/pocky-2020-10-17-06-01-16-
                        481902-45682)
  --idx IDX             data idx (default: 0)
  --large-axis, -la     use large axis as visualizing marker (default: False)
INFO - 2020-12-28 01:56:39,356 - core - signal_shutdown [atexit]
left: hanging points   right: pouring points

Training

Specify the model config and the save path of the generated data

cd hanging_points_cnn/learning_scripts
python train_hpnet.py -g 2 -c config/gray_model.yaml  -bs 16 -dp <save dir>
./start_server.sh

Inference

Use infer-function-points app.

infer-function-points -h
INFO - 2020-12-29 22:41:01,673 - topics - topicmanager initialized
usage: infer-function-points [-h] [--input-dir INPUT_DIR] [--color COLOR]
                             [--depth DEPTH] [--camera-info CAMERA_INFO]
                             [--pretrained_model PRETRAINED_MODEL]
                             [--predict-depth PREDICT_DEPTH] [--task TASK]

optional arguments:
  -h, --help            show this help message and exit
  --input-dir INPUT_DIR, -i INPUT_DIR
                        input directory (default: None)
  --color COLOR, -c COLOR
                        color image (.png) (default: None)
  --depth DEPTH, -d DEPTH
                        depth image (.npy) (default: None)
  --camera-info CAMERA_INFO, -ci CAMERA_INFO
                        camera info file (.yaml) (default: None)
  --pretrained_model PRETRAINED_MODEL, -p PRETRAINED_MODEL
                        Pretrained models (default: /media/kosuke55/SANDISK-2/
                        meshdata/shapenet_pouring_render/1218_mug_cap_helmet_b
                        owl/hpnet_latestmodel_20201219_0213.pt)
  --predict-depth PREDICT_DEPTH, -pd PREDICT_DEPTH
                        predict-depth (default: 0)
  --task TASK, -t TASK  h(hanging) or p(pouring)
                        Not needed if roi size is the same in config. (default: h)

For multiple data.

infer-function-points -i <input directory> -p <trained model>

For specific data.

infer-function-points -c <color.png> -d <depth.npy> -ci <camera_info.yaml> -p <trained model>

Download ycb rgbd with annotation and trained model.
ycb_real_eval
pretrained_model

Manipulation Demo Example

Citation

@inproceedings{takeuchi_icra_2021,
 author = {Takeuchi, Kosuke and Yanokura, Iori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
 booktitle = {ICRA},
 month = {May},
 title = {Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation},
 year = {2021},
}

@inproceedings{takeuchi_iros_2021,
 author = {Takeuchi, Kosuke and Yanokura, Iori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
 booktitle = {IROS},
 month = {September},
 title = {Automatic Learning System for Object Function Points from Random Shape Generation and Physical Validation},
 year = {2021},
}