diff --git a/README.md b/README.md index cd3b93bd98eb39b8043823ad4142b2d67bb47290..434d73b6458e78ff8ee1bc24993cb71251dfd577 100644 --- a/README.md +++ b/README.md @@ -26,17 +26,21 @@ viewer: false ## 📖 Overview ActionBench is a benchmark dataset of **128 paired video ↔ animated point-cloud samples** for evaluating animated 3D mesh generation from video. +The dataset consists of synthetic scenes of animated objects from [ObjaverseXL](https://objaverse.allenai.org/), rendered using **Blender 3.5.1**. Each sample contains: - **Video**: 16 RGBA frames with alpha mask +- **Camera** (`camera.json`): Camera parameters using Blender convention (`X_cam = X @ R^T + T`, camera looks along -Z). See [`projection.py`](projection.py) for how to project the point cloud onto the image plane. - **Animated Point Cloud**: Surface points sampled on the animated object with shape `(T, V, 6)` where: - `T=16`: number of keyframes - - `V`: number of vertices (points randomly sampled on the mesh surface) + - `V=100_000`: number of vertices (points randomly sampled on the mesh surface) - `6`: position `(x, y, z)` + normal `(nx, ny, nz)` for each point > **Note:** The point cloud is **tracked**: each point index corresponds to the same surface point deformed across timesteps, providing dense correspondences over time. -The dataset consists of synthetic scenes of animated objects from [ObjaverseXL](https://objaverse.allenai.org/), rendered using **Blender 3.5.1**. + The animation lie in normalized space `[-1., 1.]^3`. + + ## 📊 Evaluation diff --git a/data/000-000_03b69da8d2c94b5999bcf2605ee2ecd9/camera.json b/data/000-000_03b69da8d2c94b5999bcf2605ee2ecd9/camera.json new file mode 100644 index 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mode 100644 index 0000000000000000000000000000000000000000..e1c48fd300b7653b402d14a024bcfbb7462b7c1b --- /dev/null +++ b/projection.py @@ -0,0 +1,94 @@ +"""Project animated point cloud onto image using camera parameters.""" + +import json + +import numpy as np +from PIL import Image +from scipy.ndimage import gaussian_filter + + +def project_points( + points: np.ndarray, camera: dict, img_size: int +) -> tuple[np.ndarray, np.ndarray]: + """Project 3D points to pixel coordinates. + + Uses Blender camera convention: + X_cam = points @ R^T + T, camera looks along -Z. + + Args: + points: (N, 3) world-space points. + camera: dict with R, T, focal_length_ndc, principal_point_ndc. + img_size: output image resolution (square). + + Returns: + (x_pixels, y_pixels): each (N,) array of pixel coordinates. + """ + R = np.asarray(camera["R"], dtype=np.float64) + T = np.asarray(camera["T"], dtype=np.float64) + focal = camera["focal_length_ndc"] + pp = camera["principal_point_ndc"] + + X_cam = points @ R.T + T + depth = -X_cam[:, 2] + Z = np.clip(depth, 1e-4, None) + + x_ndc = focal[0] * X_cam[:, 0] / Z + pp[0] + y_ndc = focal[1] * X_cam[:, 1] / Z + pp[1] + + x_px = img_size / 2.0 * (1.0 + x_ndc) + y_px = img_size / 2.0 * (1.0 - y_ndc) + return x_px, y_px + + +def render_projection( + image: Image.Image, x_px: np.ndarray, y_px: np.ndarray, img_size: int +) -> np.ndarray: + """Overlay projected points as a heatmap on an image. + + Returns: + (H, W, 3) float32 blended image in [0, 1]. + """ + valid = (x_px >= 0) & (x_px < img_size) & (y_px >= 0) & (y_px < img_size) + mask = np.zeros((img_size, img_size), dtype=np.float32) + mask[y_px[valid].astype(int), x_px[valid].astype(int)] = 1.0 + mask = np.clip(gaussian_filter(mask, sigma=1.5) * 5.0, 0, 1) + + img_np = np.array(image.convert("RGB")).astype(np.float32) / 255.0 + overlay = np.array([1.0, 0.3, 0.1]) + alpha = 0.4 * mask[..., None] + blended = img_np * (1 - alpha) + overlay * alpha + return np.clip(blended, 0, 1) + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(description="Project point cloud onto an image.") + parser.add_argument("--image", required=True, help="Path to input image") + parser.add_argument("--points", required=True, help="Path to surfaces.npy (T,V,6)") + parser.add_argument( + "-t", + "--timestep", + type=int, + default=0, + help="Keyframe index to project (default: 0)", + ) + parser.add_argument("--camera", required=True, help="Path to camera.json") + parser.add_argument("--output", required=True, help="Path to output image") + args = parser.parse_args() + + # (T, V, 6) -> take keyframe t, xyz only + surfaces = np.load(args.points) + points = surfaces[args.timestep, :, :3].astype(np.float64) + + with open(args.camera) as f: + camera = json.load(f) + image = Image.open(args.image) + img_size = image.size[0] + + x_px, y_px = project_points(points, camera, img_size) + result = render_projection(image, x_px, y_px, img_size) + + out = Image.fromarray((result * 255).astype(np.uint8)) + out.save(args.output) + print(f"Saved projection to {args.output}")