app.py

import numpy as np
import gradio as gr
import argparse
import pdb
import torch
import torch.nn.functional as F
import torchvision.transforms as transforms
import cv2
from PIL import Image
import os
import subprocess
import matplotlib as mpl
import matplotlib.pyplot as plt
mpl.use('agg')

from monoarti.model import build_demo_model
from monoarti.detr.misc import interpolate
from monoarti.vis_utils import draw_properties, draw_affordance, draw_localization
from monoarti.detr import box_ops
from monoarti import axis_ops, depth_ops


mask_source_draw = "draw a mask on input image"
mask_source_segment = "type what to detect below"

def change_radio_display(task_type, mask_source_radio):
    text_prompt_visible = True
    inpaint_prompt_visible = False
    mask_source_radio_visible = False
    if task_type == "inpainting":
        inpaint_prompt_visible = True
    if task_type == "inpainting" or task_type == "remove":
        mask_source_radio_visible = True   
        if mask_source_radio == mask_source_draw:
            text_prompt_visible = False
    return  gr.Textbox.update(visible=text_prompt_visible), gr.Textbox.update(visible=inpaint_prompt_visible), gr.Radio.update(visible=mask_source_radio_visible)

os.makedirs('temp', exist_ok=True)

# initialize model
device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
# device = 'cpu'
model = build_demo_model().to(device)
checkpoint_path = 'checkpoint_20230515.pth'
if not os.path.exists(checkpoint_path):
    print("get {}".format(checkpoint_path))
    result = subprocess.run(['wget', 'https://fouheylab.eecs.umich.edu/~syqian/3DOI/{}'.format(checkpoint_path)], check=True)
    print('wget {} result = {}'.format(checkpoint_path, result))    
loaded_data = torch.load(checkpoint_path, map_location=device)
state_dict = loaded_data["model"]
model.load_state_dict(state_dict, strict=True)

data_transforms = transforms.Compose([
    transforms.Resize((768, 1024)),
    transforms.ToTensor(),
    transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])
])

movable_imap = {
    0: 'one_hand',
    1: 'two_hands',
    2: 'fixture',
    -100: 'n/a',
}

rigid_imap = {
    1: 'yes',
    0: 'no',
    2: 'bad',
    -100: 'n/a',
}

kinematic_imap = {
    0: 'freeform',
    1: 'rotation',
    2: 'translation',
    -100: 'n/a'
}

action_imap = {
    0: 'free',
    1: 'pull',
    2: 'push',
    -100: 'n/a',
}




def run_model(input_image):
    image = input_image['image']
    input_width, input_height = image.size
    image_tensor = data_transforms(image)
    image_tensor = image_tensor.unsqueeze(0)
    image_tensor = image_tensor.to(device)

    mask = np.array(input_image['mask'])[:, :, :3].sum(axis=2)
    if mask.sum() == 0:
        raise gr.Error("No query point!")
    ret, thresh = cv2.threshold(mask.astype(np.uint8), 50, 255, cv2.THRESH_BINARY)
    contours, hierarchy = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
    M = cv2.moments(contours[0])
    x = round(M['m10'] / M['m00'] / input_width * 1024) # width
    y = round(M['m01'] / M['m00'] / input_height * 768) # height
    keypoints = torch.ones((1, 15, 2)).long() * -1
    keypoints[:, :, 0] = x
    keypoints[:, :, 1] = y
    keypoints = keypoints.to(device)

    valid = torch.zeros((1, 15)).bool()
    valid[:, 0] = True
    valid = valid.to(device)

    out = model(image_tensor, valid, keypoints, bbox=None, masks=None, movable=None, rigid=None, kinematic=None, action=None, affordance=None, affordance_map=None, depth=None, axis=None, fov=None, backward=False)

    # visualization
    rgb = np.array(image.resize((1024, 768)))
    image_size = (768, 1024)
    bbox_preds = out['pred_boxes']
    mask_preds = out['pred_masks']
    mask_preds = interpolate(mask_preds, size=image_size, mode='bilinear', align_corners=False)
    mask_preds = mask_preds.sigmoid() > 0.5
    movable_preds = out['pred_movable'].argmax(dim=-1)
    rigid_preds = out['pred_rigid'].argmax(dim=-1)
    kinematic_preds = out['pred_kinematic'].argmax(dim=-1)
    action_preds = out['pred_action'].argmax(dim=-1)
    axis_preds = out['pred_axis']
    depth_preds = out['pred_depth']
    affordance_preds = out['pred_affordance']
    affordance_preds = interpolate(affordance_preds, size=image_size, mode='bilinear', align_corners=False)
    if depth_preds is not None:
        depth_preds = interpolate(depth_preds, size=image_size, mode='bilinear', align_corners=False)
    i = 0
    instances = []

    predictions = []
    for j in range(15):
        if not valid[i, j]:
            break
        export_dir = './temp'
        img_name = 'temp'

        axis_center = box_ops.box_xyxy_to_cxcywh(bbox_preds[i]).clone()
        axis_center[:, 2:] = axis_center[:, :2]
        axis_pred = axis_preds[i]
        axis_pred_norm = F.normalize(axis_pred[:, :2])
        axis_pred = torch.cat((axis_pred_norm, axis_pred[:, 2:]), dim=-1)
        src_axis_xyxys = axis_ops.line_angle_to_xyxy(axis_pred, center=axis_center)

        # original image + keypoint
        vis = rgb.copy()
        kp = keypoints[i, j].cpu().numpy()
        vis = cv2.circle(vis, kp, 24, (255, 255, 255), -1)
        vis = cv2.circle(vis, kp, 20, (31, 73, 125), -1)
        vis = Image.fromarray(vis)
        predictions.append(vis)

        # physical properties
        movable_pred = movable_preds[i, j].item()
        rigid_pred = rigid_preds[i, j].item()
        kinematic_pred = kinematic_preds[i, j].item()
        action_pred = action_preds[i, j].item()
        output_path = os.path.join(export_dir, '{}_kp_{:0>2}_02_phy.png'.format(img_name, j))
        draw_properties(output_path, movable_pred, rigid_pred, kinematic_pred, action_pred)
        property_pred = Image.open(output_path)
        predictions.append(property_pred)

        # box mask axis
        axis_pred = src_axis_xyxys[j]
        if kinematic_imap[kinematic_pred] != 'rotation':
            axis_pred = [-1, -1, -1, -1]
        img_path = os.path.join(export_dir, '{}_kp_{:0>2}_03_loc.png'.format(img_name, j))
        draw_localization(
            rgb, 
            img_path, 
            None,
            mask_preds[i, j].cpu().numpy(),
            axis_pred,
            colors=None,
            alpha=0.6,    
        )
        localization_pred = Image.open(img_path)
        predictions.append(localization_pred)

        # affordance
        affordance_pred = affordance_preds[i, j].sigmoid()
        affordance_pred = affordance_pred.detach().cpu().numpy() #[:, :, np.newaxis]
        aff_path = os.path.join(export_dir, '{}_kp_{:0>2}_04_affordance.png'.format(img_name, j))
        aff_vis = draw_affordance(rgb, aff_path, affordance_pred)
        predictions.append(aff_vis)

        # depth
        depth_pred = depth_preds[i]
        depth_pred_metric = depth_pred[0] * 0.945 + 0.658
        depth_pred_metric = depth_pred_metric.detach().cpu().numpy()
        fig = plt.figure()
        plt.imshow(depth_pred_metric, cmap=mpl.colormaps['plasma'])
        plt.axis('off')
        depth_path = os.path.join(export_dir, '{}_kp_{:0>2}_05_depth.png'.format(img_name, j))
        plt.savefig(depth_path, bbox_inches='tight', pad_inches=0)
        plt.close(fig)
        depth_pred = Image.open(depth_path)
        predictions.append(depth_pred)

    return predictions


examples = [
    'examples/AR_4ftr44oANPU_34_900_35.jpg',
    'examples/AR_0Mi_dDnmF2Y_6_2610_15.jpg',
    'examples/EK_0037_P28_101_frame_0000031096.jpg',
    'examples/EK_0056_P04_121_frame_0000018401.jpg',
    'examples/taskonomy_bonfield_point_42_view_6_domain_rgb.png',
    'examples/taskonomy_wando_point_156_view_3_domain_rgb.png',
]

title = 'Understanding 3D Object Interaction from a Single Image'
description = """
<p style='text-align: center'> <a href='https://jasonqsy.github.io/3DOI/' target='_blank'>Project Page</a> | <a href='#' target='_blank'>Paper</a> | <a href='https://github.com/JasonQSY/3DOI' target='_blank'>Code</a></p>
Gradio demo for Understanding 3D Object Interaction from a Single Image. \n
You may click on of the examples or upload your own image. \n
After having the image, you can click on the image to create a single query point. You can then hit Run.\n
Our approach can predict 3D object interaction from a single image, including Movable (one hand or two hands), Rigid, Articulation type and axis, Action, Bounding box, Mask, Affordance and Depth.
"""  # noqa

with gr.Blocks().queue() as demo:
    gr.Markdown("<h1 style='text-align: center; margin-bottom: 1rem'>" + title + "</h1>")
    gr.Markdown(description)

    with gr.Row():
        with gr.Column(scale=1):
            input_image = gr.Image(source='upload', elem_id="image_upload", tool='sketch', type='pil', label="Upload", brush_radius=20)  
            run_button = gr.Button(label="Run")

        with gr.Column():
            examples_handler = gr.Examples(
                examples=examples,
                inputs=input_image,
                examples_per_page=10,
            )

    with gr.Row():
        with gr.Column(scale=1):
                query_image = gr.outputs.Image(label="Image + Query", type="pil")

        with gr.Column(scale=1):
            pred_localization = gr.outputs.Image(label="Localization", type="pil")

        with gr.Column(scale=1):
            pred_properties = gr.outputs.Image(label="Properties", type="pil")

    with gr.Row():
        with gr.Column(scale=1):
            pred_affordance = gr.outputs.Image(label="Affordance", type="pil")

        with gr.Column(scale=1):
            pred_depth = gr.outputs.Image(label="Depth", type="pil")

        with gr.Column(scale=1):
            pass

    output_components = [query_image, pred_properties, pred_localization, pred_affordance, pred_depth]

    run_button.click(fn=run_model, inputs=[input_image], outputs=output_components)


if __name__ == "__main__":
    demo.launch(server_name='0.0.0.0')