527 lines
24 KiB
Python
527 lines
24 KiB
Python
import os
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import sys
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import time
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import cv2
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import random
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import numpy as np
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import tensorflow as tf
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from custom_utils.custom_utils import nest_conditions, batch_to_dict
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# class DatasetSimple(tf.data.Dataset):
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# def _generator(folder):
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# # Opening the file
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# folder = folder.decode("utf-8")
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# uv_folder = os.path.join(folder, 'uv_posed')
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# pose_hape_folder = os.path.join(folder, 'poses_shapes')
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# frames = os.listdir(uv_folder)
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# random.shuffle(frames)
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# for frame in frames:
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# id, frame_nr = frame.split('.')[0].split('_')
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# uv_posed = np.load(os.path.join(folder, 'uv_posed', id + '_' + frame_nr + '.npz')); uv_posed = uv_posed['uv_gt']; uv_posed = np.transpose(uv_posed, [2, 0, 1])
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# uv_body_posed = np.load(os.path.join(folder, 'uv_body_posed', id + '_' + frame_nr + '.npz')); uv_body_posed = uv_body_posed['uv_body']; uv_body_posed = np.transpose(uv_body_posed, [2, 0, 1])
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# pose_shape = np.load(os.path.join(folder, 'pose_shape', id + '_' + frame_nr + '.npy'))
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# uv_static = np.load(os.path.join(folder, 'uv_static', id + '.npz')); uv_static = uv_static['uv_static']; uv_static = np.transpose(uv_static, [2, 0, 1])
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# mesh_static = np.load(os.path.join(folder, 'mesh_static', id + '.npz')); mesh_static = mesh_static['mesh_static']
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# mesh_body_posed = np.load(os.path.join(folder, 'mesh_body_posed', id + '_' + frame_nr + '.npy'))
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# mesh_mask = np.load(os.path.join(folder, 'mesh_mask', id + '.npy')); mesh_mask = mesh_mask.astype(np.float32)
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# uv_mask = np.load(os.path.join(folder, 'uv_mask', id + '.npz')); uv_mask=uv_mask['uv_mask']; uv_mask = uv_mask.astype(np.float32)
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# mesh_posed = np.load(os.path.join(folder, 'mesh_posed', id + '_' + frame_nr + '.npz')); mesh_posed = mesh_posed['mesh_posed']
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# mesh_unposed = np.load(os.path.join(folder, 'mesh_unposed', id + '_' + frame_nr + '.npz')); mesh_unposed = mesh_unposed['mesh_unposed']
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# uv_unposed = np.load(os.path.join(folder, 'uv_unposed', id + '_' + frame_nr + '.npz')); uv_unposed = uv_unposed['uv_unposed']; uv_unposed = np.transpose(uv_unposed, [2, 0, 1])
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# # uv_posed, (pose, shape, uv_static), mesh_static, mesh_body_posed, mask
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# yield uv_posed, (pose_shape[:72], pose_shape[72:], uv_static, uv_mask, uv_body_posed), mesh_static, mesh_body_posed, mesh_mask, mesh_posed, mesh_unposed, uv_unposed
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# def __new__(cls, folder, res=256):
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# return tf.data.Dataset.from_generator(
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# cls._generator,
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# output_signature = (tf.TensorSpec(shape = (3, res * 2, res,), dtype = tf.float32),
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# (tf.TensorSpec(shape = (72), dtype = tf.float32), tf.TensorSpec(shape = (11), dtype = tf.float32), tf.TensorSpec(shape = (3, res * 2, res,), dtype = tf.float32), tf.TensorSpec(shape = (res * 2, res,), dtype = tf.float32), tf.TensorSpec(shape = (3, res * 2, res,), dtype = tf.float32) ),
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# tf.TensorSpec(shape = (14475, 3,), dtype = tf.float32),
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# tf.TensorSpec(shape = (14475, 3,), dtype = tf.float32),
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# tf.TensorSpec(shape = (14475,), dtype = tf.float32),
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# tf.TensorSpec(shape = (14475, 3,), dtype = tf.float32),
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# tf.TensorSpec(shape = (14475, 3,), dtype = tf.float32),
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# tf.TensorSpec(shape = (3, res * 2, res,), dtype = tf.float32), ),
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# args=(folder, )
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# )
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class StaticDataset():
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def __init__(self, folder, signature, use_filled=False, resolutions=[512], in_memory=True) -> None:
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self.store = dict()
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self.signature = signature
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self.folder = folder
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self.in_memory = in_memory
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assert set(resolutions).issubset(set([32, 128, 512]))
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self.possible_keys = ['uv_static', 'uv_static_32', 'uv_static_128', 'mesh_static', 'mesh_mask', 'uv_mask', 'uv_mask_32', 'uv_mask_128', 'uv_shaped_body']
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self.keys = [value for value in signature.keys() if value in self.possible_keys]
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if 'uv_static_128' in signature.keys() and 'uv_static_128' not in self.keys:
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self.keys.append('uv_static_128')
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self.resolutions = resolutions
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self.filled = ''
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if use_filled:
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self.filled = '_filled'
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def read(self, id):
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data = dict()
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for res in self.resolutions:
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res_string = ''
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if res != 512:
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res_string = '_' + str(res)
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if 'uv_static' + res_string in self.signature.keys():
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uv_static = np.load(os.path.join(self.folder, 'uv_static' + self.filled + res_string, id + '.npz')); uv_static = uv_static['uv_static' + self.filled]; data['uv_static' + res_string] = uv_static
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if 'uv_mask' + res_string in self.signature.keys():
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uv_mask = np.load(os.path.join(self.folder, 'uv_mask' + res_string, id + '.npz')); uv_mask=uv_mask['uv_mask']; uv_mask = uv_mask.astype(np.float32); data['uv_mask' + res_string] = uv_mask
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if 'mesh_static' in self.signature.keys():
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mesh_static = np.load(os.path.join(self.folder, 'mesh_static', id + '.npz')); mesh_static = mesh_static['mesh_static']; data['mesh_static'] = mesh_static
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if 'mesh_mask' in self.signature.keys():
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mesh_mask = np.load(os.path.join(self.folder, 'mesh_mask', id + '.npy')); mesh_mask = mesh_mask.astype(np.float32); data['mesh_mask'] = mesh_mask
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if 'uv_shaped_body' in self.signature.keys():
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uv_shaped_body = np.load(os.path.join(self.folder, 'uv_shaped_body', id + '.npz')); uv_shaped_body = uv_shaped_body['uv_shaped_body']; data['uv_shaped_body'] = uv_shaped_body
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return data
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def __getitem__(self, id) -> dict:
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if id not in self.store:
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item = self.read(id)
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if not self.in_memory:
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return item
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else:
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self.store[id] = item
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return self.store[id]
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def expand_batch(self, batch):
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for key in self.keys:
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batch[key] = tf.zeros(((0,) + self.signature[key]))
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for i in range(batch['id'].shape[0]):
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item = self.__getitem__(batch['id'][i].numpy().decode('UTF-8'))
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for key in self.keys:
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batch[key] = tf.concat((batch[key], tf.expand_dims(item[key], axis=0)), axis=0)
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return batch
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class DatasetIdx(tf.data.Dataset):
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def __new__(cls, folder, shuffle=True):
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uv_static_folder = os.path.join(folder, 'pose_shape')
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frames = sorted(os.listdir(uv_static_folder))
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frames = [frame.split('.')[0] for frame in frames] # .split('_')[0]
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if shuffle:
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random.shuffle(frames)
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return tf.data.Dataset.from_tensor_slices(frames)
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# class DatasetFactory(tf.data.Dataset):
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class DatasetFactory():
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def __init__(self):
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super(DatasetFactory, self).__init__()
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def _build_tf_signature(self, signature):
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tf_signature = []
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for key in signature.keys():
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if key == 'id':
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tf_signature.append(tf.TensorSpec(shape = (), dtype = tf.string))
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elif key == 'mesh_curvature':
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tf_signature.append(tf.TensorSpec(shape = signature[key], dtype = tf.int32))
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else:
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tf_signature.append(tf.TensorSpec(shape = signature[key], dtype = tf.float32))
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return tf_signature
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def get_dataset(self, folder, batch_size, signature, shuffle=True, use_filled=False, resolutions=[512], in_memory=True):
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# assert (use_filled and len(resolutions) >= 1) or (not use_filled and len(resolutions) == 1)
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assert set(resolutions).issubset(set([32, 128, 512]))
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# static_data = StaticDataset(folder, signature)
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dataset_idx = DatasetIdx(folder, shuffle)
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filled = ''
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if use_filled:
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filled = '_filled'
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def read_item(frame):
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frame_split = tf.strings.split(frame, sep='_')
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id, frame_nr = frame_split[0].numpy().decode("utf-8"), frame_split[1].numpy().decode("utf-8")
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# id, frame_nr = frame_split[0].numpy(), frame_split[1].numpy()
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# static_info = static_data[id]
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item = dict()
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if 'id' in signature.keys():
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item['id'] = id
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if 'pose_shape' in signature.keys():
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pose_shape = np.load(os.path.join(folder, 'pose_shape', id + '_' + frame_nr + '.npy'))
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##############################
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pose_shape[:3] = 0
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##############################
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item['pose_shape'] = pose_shape
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if 'uv_posed' in signature.keys():
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uv_posed = np.load(os.path.join(folder, 'uv_posed', id + '_' + frame_nr + '.npz')); uv_posed = uv_posed['uv_gt']
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item['uv_posed'] = uv_posed
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# if 'uv_body_posed' in signature.keys():
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# uv_body_posed = np.load(os.path.join(folder, 'uv_body_posed', id + '_' + frame_nr + '.npz')); uv_body_posed = uv_body_posed['uv_body']; uv_body_posed = np.transpose(uv_body_posed, [2, 0, 1])
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# item['uv_body_posed'] = uv_body_posed
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# if 'mesh_body_posed' in signature.keys():
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# mesh_body_posed = np.load(os.path.join(folder, 'mesh_body_posed', id + '_' + frame_nr + '.npy'))
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# item['mesh_body_posed'] = mesh_body_posed
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# if 'mesh_posed_body_no_orient' in signature.keys():
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# mesh_posed_body_no_orient = np.load(os.path.join(folder, 'mesh_posed_body_no_orient', id + '_' + frame_nr + '.npz')); mesh_posed_body_no_orient = mesh_posed_body_no_orient['mesh_posed_body_no_orient']
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# item['mesh_posed_body_no_orient'] = mesh_posed_body_no_orient
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if 'mesh_body_posed' in signature.keys():
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mesh_posed_body_no_orient = np.load(os.path.join(folder, 'mesh_posed_body_no_orient', id + '_' + frame_nr + '.npz')); mesh_posed_body_no_orient = mesh_posed_body_no_orient['mesh_posed_body_no_orient']
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item['mesh_body_posed'] = mesh_posed_body_no_orient
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if 'mesh_posed' in signature.keys():
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mesh_posed = np.load(os.path.join(folder, 'mesh_posed', id + '_' + frame_nr + '.npz')); mesh_posed = mesh_posed['mesh_posed']
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item['mesh_posed'] = mesh_posed
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# if 'mesh_unposed' in signature.keys():
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# mesh_unposed = np.load(os.path.join(folder, 'mesh_unposed', id + '_' + frame_nr + '.npz')); mesh_unposed = mesh_unposed['mesh_unposed']
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# item['mesh_unposed'] = mesh_unposed
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# if 'uv_unposed' in signature.keys():
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# uv_unposed = np.load(os.path.join(folder, 'uv_unposed', id + '_' + frame_nr + '.npz')); uv_unposed = uv_unposed['uv_unposed']; uv_unposed = np.transpose(uv_unposed, [2, 0, 1])
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# item['uv_unposed'] = uv_unposed
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if 'mesh_unposed' in signature.keys():
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mesh_unposed_no_shape = np.load(os.path.join(folder, 'mesh_unposed_no_shape', id + '_' + frame_nr + '.npz')); mesh_unposed_no_shape = mesh_unposed_no_shape['mesh_unposed_no_shape']
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item['mesh_unposed'] = mesh_unposed_no_shape
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if 'mesh_curvature' in signature.keys():
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mesh_curvature = np.load(os.path.join(folder, 'mesh_curvature', id + '_' + frame_nr + '.npz')); mesh_curvature = mesh_curvature['mesh_curvature']
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item['mesh_curvature'] = mesh_curvature.astype(np.int32)
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for res in resolutions:
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res_string = ''
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if res != 512:
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res_string = '_' + str(res)
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if 'uv_curvature' + res_string in signature.keys():
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uv_curvature = np.load(os.path.join(folder, 'uv_curvature' + filled + res_string, id + '_' + frame_nr + '.npz'));
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if filled != '' or res_string != '':
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uv_curvature = uv_curvature['uv_curvature' + filled]
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else:
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uv_curvature = uv_curvature['curvature_uv']
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uv_curvature = tf.one_hot(uv_curvature, 7)
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item['uv_curvature' + res_string] = uv_curvature
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if 'uv_unposed' + res_string in signature.keys():
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uv_unposed_no_shape = np.load(os.path.join(folder, 'uv_unposed_no_shape' + filled + res_string, id + '_' + frame_nr + '.npz')); uv_unposed_no_shape = uv_unposed_no_shape['uv_unposed_no_shape' + filled]
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item['uv_unposed' + res_string] = uv_unposed_no_shape
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if 'uv_body_posed' + res_string in signature.keys():
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uv_posed_body_no_orient = np.load(os.path.join(folder, 'uv_posed_body_no_orient' + filled + res_string, id + '_' + frame_nr + '.npz')); uv_posed_body_no_orient = uv_posed_body_no_orient['uv_posed_body_no_orient' + filled]
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item['uv_body_posed' + res_string] = uv_posed_body_no_orient
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# item = { **static_info, **item }
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as_list = []
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for key in signature.keys():
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if key in item:
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as_list.append(item[key])
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return as_list
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# dataset = dataset_idx.map(lambda i: tf.py_function(func=read_item,
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# inp=[i],
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# Tout=self._build_tf_signature(signature)
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# ), num_parallel_calls=tf.data.AUTOTUNE).cache().batch(batch_size=batch_size, drop_remainder=True).repeat()
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if in_memory:
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dataset = dataset_idx.map(lambda i: tf.py_function(func=read_item,
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inp=[i],
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Tout=self._build_tf_signature(signature)
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), num_parallel_calls=tf.data.AUTOTUNE).cache().batch(batch_size=batch_size, drop_remainder=True).repeat()
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else:
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dataset = dataset_idx.map(lambda i: tf.py_function(func=read_item,
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inp=[i],
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Tout=self._build_tf_signature(signature)
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), num_parallel_calls=tf.data.AUTOTUNE).batch(batch_size=batch_size, drop_remainder=True).repeat()
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# dataset = dataset_idx.map(read_item, num_parallel_calls=tf.data.AUTOTUNE).cache().batch(batch_size=batch_size, drop_remainder=True).repeat()
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return dataset
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# def __new__(cls, folder):
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# return tf.data.Dataset.from_generator(
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# cls._generator,
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# # output_signature = (tf.TensorSpec(shape = (), dtype = tf.string), ),
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# output_types=(tf.string),
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# args=(folder, )
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# )
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if __name__ == '__main__':
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os.environ["CUDA_VISIBLE_DEVICES"] = "6"
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from custom_utils.custom_utils import batch_to_dict, UV2Mesh, _maskFaces
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import plotly.graph_objects as go
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# import plotly.express as ex
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# import cmapy as cm
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uv2mesh = UV2Mesh(is_skirt=True)
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F = np.load("custom_utils/smpl_faces_skirt.npy")
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# dataset = DatasetIdx('/home/workspace/data/dataset/stylegan_new/train')
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# for d in dataset:
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# print(d)
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factory = DatasetFactory()
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signature_dynamic = { 'id': (),
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# 'pose_shape': (72 + 11,),
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# 'uv_posed': (3, 512, 256,),
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#'uv_body_posed': (3, 512, 256,),
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# 'uv_body_posed_32': (3, 32, 16,),
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# 'mesh_body_posed': (14475, 3,),
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# 'mesh_posed': (14475, 3,),
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# 'mesh_unposed': (14475, 3,),
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'uv_unposed': (512, 256, 3),
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# 'uv_unposed_32': (3, 32, 16,),
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# 'uv_curvature': (512, 256, 7),
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# 'mesh_curvature': (14475)
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}
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signature_static = { #'uv_static': (3, 512, 256,),
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# 'uv_static_32': (3, 32, 16,),
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# 'mesh_static': (14475, 3,),
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# 'mesh_mask': (14475,),
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'uv_mask': (512, 256,),
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# 'uv_shaped_body': (3, 512, 256,),
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}
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dataset = factory.get_dataset(folder='/home/workspace/local-data/train_skirt_25_2',
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batch_size=300,
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signature=signature_dynamic,
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use_filled=False,
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resolutions=[512])
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static_dataset = StaticDataset(folder='/home/workspace/local-data/train_skirt_25_2',
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signature=signature_static,
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use_filled=False,
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resolutions=[512])
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sum_uv = np.zeros((512, 256, 3), dtype=np.float32)
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sum_mask = np.zeros((512, 256), dtype=np.float32)
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for i, batch in enumerate(dataset):
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print(i)
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batch = static_dataset.expand_batch(batch_to_dict(batch, signature_dynamic))
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sum_uv += batch['uv_unposed'].numpy().sum(axis=0)
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sum_mask += batch['uv_mask'].numpy().sum(axis=0)
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sum_mask[sum_mask == 0] = 1
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avg_jumpsuit = sum_uv / sum_mask[:, :, np.newaxis]
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x = np.transpose(avg_jumpsuit, [1,2,0])
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x = uv2mesh(avg_jumpsuit[tf.newaxis,:,:,:])[0]
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go.Figure(data=[
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go.Mesh3d(
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# 8 vertices of a cube
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x=x[:,0],
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y=x[:,1],
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z=x[:,2],
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# i, j and k give the vertices of triangles
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i = F[:,0],
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j = F[:,1],
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k = F[:,2]
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)]).show()
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np.save('custom_data/train_skirt_25_2_no_shape_avg_uv.npy', np.transpose(avg_jumpsuit, [1,2,0]))
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print()
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uv_res = 256
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def m2uv_array(m2uv):
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result = np.zeros((14475, 2), dtype=np.int32)
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for k, v in m2uv.items():
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if len(v) == 2:
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result[k] = list(v)
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elif len(v) == 1:
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x = v.pop()
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result[k] = [x, x]
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else:
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assert False
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return result
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def unique_uv_map_mask(uv_map_discreet):
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mask = np.zeros((uv_map_discreet.shape[0]), dtype=bool)
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temp = np.zeros((uv_res * 2, uv_res))
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for p in uv_map_discreet:
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temp[p[0], p[1]] += 1
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# temp = temp == 1
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for i, p in enumerate(uv_map_discreet):
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if temp[p[0], p[1]] == 1:
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mask[i] = True
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elif temp[p[0], p[1]] == 2:
|
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mask[i] = True
|
|
temp[p[0], p[1]] = 0
|
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return mask
|
|
|
|
def uv_to_mesh(uv, m2uv):
|
|
res = uv.shape[0]
|
|
mesh = np.zeros((14475, 3))
|
|
uv_pixels = uv_map_discreet[m2uv]
|
|
# counter = np.ones((14475))
|
|
# counter[m2uv[:, 0] == m2uv[:, 1]] = 2
|
|
mesh = np.mean(uv[uv_pixels[:, :, 0], uv_pixels[:, :, 1], :], axis=1) # / counter[:, np.newaxis]
|
|
return mesh
|
|
|
|
|
|
uv_map = np.load('custom_utils/stretched_uv_map_3.npy')
|
|
m2uv = np.load('custom_utils/m2uv.npy', allow_pickle=True).item()
|
|
m2uv = m2uv_array(m2uv)
|
|
uv_mask = np.load('custom_utils/mask_256x512.npy')
|
|
curvature_label_type = '6_25'
|
|
|
|
uv_res = 256
|
|
uv_mask = (cv2.resize(uv_mask * 255.0, (uv_res, uv_res * 2)) / 255).astype(bool)[:, :, np.newaxis]
|
|
uv_mask = cv2.dilate(uv_mask.astype(np.float32), cv2.getStructuringElement(cv2.MORPH_RECT, (2 * 2 + 1, 2 * 2 + 1), (2, 2)), iterations=2).astype(bool)[:, :, np.newaxis]
|
|
|
|
uv_map_discreet = np.floor(uv_map * uv_res).astype(np.int32)
|
|
uv_map_mask = unique_uv_map_mask(uv_map_discreet)
|
|
uv_counter = np.zeros((uv_map.shape[0]))
|
|
uv_counter[m2uv[:, 0]] = 1
|
|
uv_counter[m2uv[:, 1]] += 1
|
|
uv_counter = uv_counter[uv_map_mask]
|
|
|
|
|
|
|
|
for i, batch in enumerate(dataset):
|
|
print(i)
|
|
batch = static_dataset.expand_batch(batch_to_dict(batch, signature_dynamic))
|
|
|
|
uv_unposed = np.squeeze(batch['uv_unposed'].numpy())
|
|
mesh_unposed = np.squeeze(batch['mesh_unposed'].numpy())
|
|
mask = np.squeeze(batch['mesh_mask'].numpy()).astype(bool)
|
|
|
|
|
|
values = mesh_unposed
|
|
uv_values = np.zeros((uv_map.shape[0], 3))
|
|
uv_values[m2uv[:, 0]] = values
|
|
uv_values[m2uv[:, 1]] += values
|
|
uv_counter = np.zeros((uv_map.shape[0]))
|
|
uv_counter[m2uv[:, 0]] = 1
|
|
uv_counter[m2uv[:, 1]] += 1
|
|
uv_values /= uv_counter[:, np.newaxis]
|
|
x = uv_values
|
|
# verts = np.concatenate((verts, np.zeros((15068, 1))), axis=-1)
|
|
im = ((x - x.min()) / (x.max() - x.min())) * 255
|
|
|
|
|
|
x = np.transpose(uv_unposed, [1,2,0])
|
|
x = uv2mesh(uv_unposed[tf.newaxis,:,:,:])[0].numpy()[mask, :]
|
|
_, faces = _maskFaces(np.zeros((14475, 3), dtype=np.float32), F, mask)
|
|
go.Figure(data=[
|
|
go.Mesh3d(
|
|
# 8 vertices of a cube
|
|
x=x[:,0],
|
|
y=x[:,1],
|
|
z=x[:,2],
|
|
# i, j and k give the vertices of triangles
|
|
i = faces[:,0],
|
|
j = faces[:,1],
|
|
k = faces[:,2]
|
|
)]).show()
|
|
|
|
|
|
print()
|
|
|
|
|
|
|
|
|
|
# @tf.function
|
|
def euclid_error(mask, gt, pred):
|
|
# return tf.reduce_sum(tf.math.sqrt(tf.reduce_sum(mask[:,:,tf.newaxis] * (gt - pred) ** 2, axis=-1)), axis=-1) / tf.reduce_sum(mask, axis=-1)
|
|
return tf.math.sqrt(tf.reduce_sum(mask[:,:,tf.newaxis] * (gt - pred) ** 2, axis=-1))
|
|
|
|
all_error = []
|
|
for batch in dataset:
|
|
batch = static_dataset.expand_batch(batch_to_dict(batch, signature_dynamic))
|
|
mesh_reconstruct = uv2mesh(batch['uv_posed'])
|
|
err = euclid_error(batch['mesh_mask'], batch['mesh_posed'], uv2mesh(batch['uv_posed']))
|
|
|
|
i = 296
|
|
err_normed = (err[i].numpy() - err[i].numpy().min()) / (err[i].numpy().max() - err[i].numpy().min())
|
|
colors = np.array([cm.color('jet', 1 - i) for i in err_normed])
|
|
|
|
_, faces = _maskFaces(batch['mesh_posed'][i].numpy(), F, batch['mesh_mask'][i].numpy().astype(bool))
|
|
x = batch['mesh_posed'][i].numpy()[batch['mesh_mask'][i].numpy().astype(bool), :]
|
|
y = mesh_reconstruct[i].numpy()[batch['mesh_mask'][i].numpy().astype(bool), :]
|
|
colors = colors[batch['mesh_mask'][i].numpy().astype(bool), :]
|
|
fig = go.Figure(data=[
|
|
go.Mesh3d(
|
|
# 8 vertices of a cube
|
|
x=x[:,0],
|
|
y=x[:,1],
|
|
z=x[:,2],
|
|
# i, j and k give the vertices of triangles
|
|
i = faces[:,0],
|
|
j = faces[:,1],
|
|
k = faces[:,2]
|
|
),
|
|
go.Mesh3d(
|
|
# 8 vertices of a cube
|
|
x=y[:,0],
|
|
y=y[:,1],
|
|
z=y[:,2],
|
|
# i, j and k give the vertices of triangles
|
|
i = faces[:,0],
|
|
j = faces[:,1],
|
|
k = faces[:,2],
|
|
)])
|
|
fig.show()
|
|
|
|
fig = ex.scatter_3d(x=x[:,0], y=x[:,1], z=x[:,2])
|
|
fig.update_traces(marker={'color': colors, 'size': 5})
|
|
fig.show()
|
|
|
|
all_error.append(err.numpy().sum())
|
|
# b = nest_conditions(static_dataset.expand_batch(batch_to_dict(d, signature_dynamic)))
|
|
print(len(all_error))
|
|
|
|
|
|
dataset = DatasetSimple('/home/workspace/data/dataset/stylegan_new/train').batch(2)
|
|
|
|
from losses import collision_loss as collision_penalty
|
|
from losses import collision_penalty as collision_penalty_2
|
|
|
|
|
|
for d in dataset:
|
|
d
|
|
|
|
v = uv2mesh(d[0])
|
|
b = d[3]
|
|
m = d[4]
|
|
|
|
b2 = tf.concat((b[1][tf.newaxis,:,:], b[0][tf.newaxis,:,:]), axis=0)
|
|
|
|
c = collision_penalty(v, b, m)
|
|
c2 = collision_penalty(v, b2, m)
|
|
|
|
c_ = collision_penalty_2(v, b, m)
|
|
c2_ = collision_penalty_2(v, b2, m)
|
|
|
|
print()
|
|
pass
|
|
|