Add eval script for body metrics

5_eval_body_metrics.py

@@ -0,0 +1,168 @@
+"""Example script for computing body metrics on the test split of the AMASS dataset.
+
+This is not the exact script we used for the paper metrics, but should have the
+details that matter matched. Below are some metrics from this script when our
+released checkpoint is passed in.
+
+For --subseq-len 128:
+
+     mpjpe 118.340 +/- 1.350             (in paper: 119.7 +/- 1.3)
+     pampjpe 100.026 +/- 1.349           (in paper: 101.1 +/- 1.3)
+     T_head 0.006 +/- 0.000              (in paper: 0.0062 +/- 0.0001)
+     foot_contact (GND) 1.000 +/- 0.000  (in paper: 1.0 +/- 0.0)
+     foot_skate 0.417 +/- 0.017          (not reported in paper)
+
+
+For --subseq-len 32:
+
+     mpjpe 129.193 +/- 1.108             (in paper: 129.8 +/- 1.1)
+     pampjpe 109.489 +/- 1.147           (in paper: 109.8 +/- 1.1)
+     T_head 0.006 +/- 0.000              (in paper: 0.0064 +/- 0.0001)
+     foot_contact (GND) 0.985 +/- 0.003  (in paper: 0.98 +/- 0.00)
+     foot_skate 0.185 +/- 0.005          (not reported in paper)
+"""
+
+from pathlib import Path
+
+import jax.tree
+import numpy as np
+import torch.optim.lr_scheduler
+import torch.utils.data
+import tyro
+
+from egoallo import fncsmpl
+from egoallo.data.amass import EgoAmassHdf5Dataset
+from egoallo.fncsmpl_extensions import get_T_world_root_from_cpf_pose
+from egoallo.inference_utils import load_denoiser
+from egoallo.metrics_helpers import (
+    compute_foot_contact,
+    compute_foot_skate,
+    compute_head_trans,
+    compute_mpjpe,
+)
+from egoallo.sampling import run_sampling_with_stitching
+from egoallo.transforms import SE3, SO3
+
+
+def main(
+    dataset_hdf5_path: Path,
+    dataset_files_path: Path,
+    subseq_len: int = 128,
+    guidance_inner: bool = False,
+    checkpoint_dir: Path = Path("./egoallo_checkpoint_april13/checkpoints_3000000/"),
+    smplh_npz_path: Path = Path("./data/smplh/neutral/model.npz"),
+    num_samples: int = 1,
+) -> None:
+    """Compute body metrics on the test split of the AMASS dataset."""
+    device = torch.device("cuda")
+
+    # Setup.
+    denoiser_network = load_denoiser(checkpoint_dir).to(device)
+    dataset = EgoAmassHdf5Dataset(
+        dataset_hdf5_path,
+        dataset_files_path,
+        splits=("test",),
+        # We need an extra timestep in order to compute the relative CPF pose. (T_cpf_tm1_cpf_t)
+        subseq_len=subseq_len + 1,
+        cache_files=True,
+        slice_strategy="deterministic",
+        random_variable_len_proportion=0.0,
+    )
+    body_model = fncsmpl.SmplhModel.load(smplh_npz_path).to(device)
+
+    metrics = list[dict[str, np.ndarray]]()
+
+    for i in range(len(dataset)):
+        sequence = dataset[i].to(device)
+
+        samples = run_sampling_with_stitching(
+            denoiser_network,
+            body_model=body_model,
+            guidance_mode="no_hands",
+            guidance_inner=guidance_inner,
+            guidance_post=True,
+            Ts_world_cpf=sequence.T_world_cpf,
+            hamer_detections=None,
+            aria_detections=None,
+            num_samples=num_samples,
+            floor_z=0.0,
+            device=device,
+            guidance_verbose=False,
+        )
+
+        assert samples.hand_rotmats is not None
+        assert samples.betas.shape == (num_samples, subseq_len, 16)
+        assert samples.body_rotmats.shape == (num_samples, subseq_len, 21, 3, 3)
+        assert samples.hand_rotmats.shape == (num_samples, subseq_len, 30, 3, 3)
+        assert sequence.hand_quats is not None
+
+        # We'll only use the body joint rotations.
+        pred_posed = body_model.with_shape(samples.betas).with_pose(
+            T_world_root=SE3.identity(device, torch.float32).wxyz_xyz,
+            local_quats=SO3.from_matrix(
+                torch.cat([samples.body_rotmats, samples.hand_rotmats], dim=2)
+            ).wxyz,
+        )
+        pred_posed = pred_posed.with_new_T_world_root(
+            get_T_world_root_from_cpf_pose(pred_posed, sequence.T_world_cpf[1:, ...])
+        )
+
+        label_posed = body_model.with_shape(sequence.betas[1:, ...]).with_pose(
+            sequence.T_world_root[1:, ...],
+            torch.cat(
+                [
+                    sequence.body_quats[1:, ...],
+                    sequence.hand_quats[1:, ...],
+                ],
+                dim=1,
+            ),
+        )
+
+        metrics.append(
+            {
+                "mpjpe": compute_mpjpe(
+                    label_T_world_root=label_posed.T_world_root,
+                    label_Ts_world_joint=label_posed.Ts_world_joint[:, :21, :],
+                    pred_T_world_root=pred_posed.T_world_root,
+                    pred_Ts_world_joint=pred_posed.Ts_world_joint[:, :, :21, :],
+                    per_frame_procrustes_align=False,
+                ),
+                "pampjpe": compute_mpjpe(
+                    label_T_world_root=label_posed.T_world_root,
+                    label_Ts_world_joint=label_posed.Ts_world_joint[:, :21, :],
+                    pred_T_world_root=pred_posed.T_world_root,
+                    pred_Ts_world_joint=pred_posed.Ts_world_joint[:, :, :21, :],
+                    per_frame_procrustes_align=True,
+                ),
+                # We didn't report foot skating metrics in the paper. It's not
+                # really meaningful: since we optimize foot skating in the
+                # guidance optimizer, it's easy to "cheat" this metric.
+                "foot_skate": compute_foot_skate(
+                    pred_Ts_world_joint=pred_posed.Ts_world_joint[:, :, :21, :],
+                ),
+                "foot_contact (GND)": compute_foot_contact(
+                    pred_Ts_world_joint=pred_posed.Ts_world_joint[:, :, :21, :],
+                ),
+                "T_head": compute_head_trans(
+                    label_Ts_world_joint=label_posed.Ts_world_joint[:, :21, :],
+                    pred_Ts_world_joint=pred_posed.Ts_world_joint[:, :, :21, :],
+                ),
+            }
+        )
+
+        print("=" * 80)
+        print("=" * 80)
+        print("=" * 80)
+        print(f"Metrics ({i}/{len(dataset)} processed)")
+        for k, v in jax.tree.map(
+            lambda *x: f"{np.mean(x):.3f} +/- {np.std(x) / np.sqrt(len(metrics) * num_samples):.3f}",
+            *metrics,
+        ).items():
+            print("\t", k, v)
+        print("=" * 80)
+        print("=" * 80)
+        print("=" * 80)
+
+
+if __name__ == "__main__":
+    tyro.cli(main)

pyproject.toml

@@ -45,6 +45,7 @@ select = [
     "PLW",  # Pylint warnings.
 ]
 ignore = [
+    "E731",  # Do not assign a lambda expression, use a def.
     "E741", # Ambiguous variable name. (l, O, or I)
     "E501",  # Line too long.
     "E721",  # Do not compare types, use `isinstance()`.

src/egoallo/guidance_optimizer_jax.py

@@ -39,6 +39,7 @@ def do_guidance_optimization(
     phase: Literal["inner", "post"],
     hamer_detections: None | CorrespondedHamerDetections,
     aria_detections: None | CorrespondedAriaHandWristPoseDetections,
+    verbose: bool,
 ) -> tuple[network.EgoDenoiseTraj, dict]:
     """Run an optimizer to apply foot contact constraints."""
 
@@ -70,6 +71,7 @@ def do_guidance_optimization(
         aria_detections=None
         if aria_detections is None
         else aria_detections.as_nested_dict(numpy=True),
+        verbose=verbose,
     )
     rotmats = SO3(
         torch.from_numpy(onp.array(quats))
@@ -122,6 +124,7 @@ def _optimize_vmapped(
     guidance_params: JaxGuidanceParams,
     hamer_detections: dict | None,
     aria_detections: dict | None,
+    verbose: jdc.Static[bool],
 ) -> tuple[jax.Array, dict]:
     return jax.vmap(
         partial(
@@ -131,6 +134,7 @@ def _optimize_vmapped(
             guidance_params=guidance_params,
             hamer_detections=hamer_detections,
             aria_detections=aria_detections,
+            verbose=verbose,
         )
     )(
         betas=betas,
@@ -306,6 +310,7 @@ def _optimize(
     guidance_params: JaxGuidanceParams,
     hamer_detections: dict | None,
     aria_detections: dict | None,
+    verbose: bool,
 ) -> tuple[jax.Array, dict]:
     """Apply constraints using Levenberg-Marquardt optimizer. Returns updated
     body_rotmats and hand_rotmats matrices."""
@@ -867,6 +872,7 @@ def skating_cost(
             lambda_initial=guidance_params.lambda_initial
         ),
         termination=jaxls.TerminationConfig(max_iterations=guidance_params.max_iters),
+        verbose=verbose,
     )
     out_body_quats = solutions[_SmplhBodyPosesVar]
     assert out_body_quats.shape == (timesteps, 21, 4)