Awesome

ContactPose

PyTorch implementation of the data-driven hand-object contact modeling experiments presented in the paper:

ContactPose: A Dataset of Grasps with Object Contact and Hand Pose -

Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, and James Hays,

ECCV 2020.

Please visit http://contactpose.cc.gatech.edu to explore the dataset.

Note: This is the ML code for the ECCV 2020 paper. The ContactPose dataset API is here.

Citation

@InProceedings{Brahmbhatt_2020_ECCV,
author = {Brahmbhatt, Samarth and Tang, Chengcheng and Twigg, Christopher D. and Kemp, Charles C. and Hays, James},
title = {{ContactPose}: A Dataset of Grasps with Object Contact and Hand Pose},
booktitle = {The European Conference on Computer Vision (ECCV)},
month = {August},
year = {2020}
}

Getting Started

Clone this repository

$ git clone git@github.com:samarth-robo/ContactPose-ML.git contactpose-ml
$ cd contactpose-ml

Install Miniconda. Create the contactpose_ml conda environment: conda env create -f environment.yml. Activate it:

$ source activate contactpose_ml

Tested on PyTorch 1.2.0 (as mentioned in environment.yml). You will probably be able to use later versions, but no guarantees. Please create an issue if you run into problems.
Install pytorch-geometric from source code. Pip wheels can unfortunately not be used because of the outdated version of PyTorch.
Checkout the appropriate branch for the features used to predict contact:

Download Links

These links are provided only for reference, you should not need to download them manually. get_data.py in each branch will download everything for you.

Trained Models, Training Logs, and `result.json` files

Learner	Features	Split	Link
MLP	simple-joints	objects	link
MLP	relative-joints	objects	link
MLP	skeleton	objects	link
MLP	mesh	objects	link
MLP	simple-joints	participants	link
MLP	relative-joints	participants	link
MLP	skeleton	participants	link
MLP	mesh	participants	link
PointNet++	simple-joints	objects	link
PointNet++	relative-joints	objects	link
PointNet++	skeleton	objects	link
PointNet++	mesh	objects	link
PointNet++	simple-joints	participants	link
PointNet++	relative-joints	participants	link
PointNet++	skeleton	participants	link
PointNet++	mesh	participants	link
VoxNet	skeleton	objects	link
VoxNet	skeleton	participants	link
Heuristic (10 pose params)	-	objects	link
Heuristic (15 pose params)	-	objects	link
Heuristic (10 pose params)	-	participants	link
Heuristic (15 pose params)	-	participants	link
enc-dec, PointNet++	images (3 view)	objects	link
enc-dec, PointNet++	images (1 view)	objects	link
enc-dec, PointNet++	images (3 view)	participants	link
enc-dec, PointNet++	images (1 view)	participants	link