OakInk

<br /> <p align="center"> <p align="center"> <img src="docs/oakink_logo.png"" alt="Logo" width="30%"> </p> <h2 align="center">A Large-scale Knowledge Repository for Understanding Hand-Object Interaction </h2> <h3 align="center"> :nut_and_bolt: Dataset Toolkit </h3> <p align="center"> <a href="https://lixiny.github.io"><strong>Lixin Yang*</strong></a> · <a href="https://kailinli.top"><strong>Kailin Li*</strong></a> · <a href=""><strong>Xinyu Zhan*</strong></a> · <strong>Fei Wu</strong> · <a href="https://anran-xu.github.io"><strong>Anran Xu</strong></a> . <a href="https://liuliu66.github.io"><strong>Liu Liu</strong></a> · <a href="https://mvig.sjtu.edu.cn"><strong>Cewu Lu</strong></a> </p> <h3 align="center">CVPR 2022</h3> <div align="center"> <img src="docs/teaser.png" alt="Logo" width="100%"> </div> <br/> <p align="center"> <a href="https://arxiv.org/abs/2203.15709"> <img src='https://img.shields.io/badge/Paper-green?style=for-the-badge&logo=adobeacrobatreader&logoColor=white&labelColor=66cc00&color=94DD15' alt='Paper PDF'></a> <a href='https://oakink.net'> <img src='https://img.shields.io/badge/Project-orange?style=for-the-badge&logo=Google%20chrome&logoColor=white&labelColor=D35400' alt='Project Page'></a> <a href="https://www.youtube.com/watch?v=vNTdeXlLdU8"><img alt="youtube views" title="Subscribe to my YouTube channel" src="https://img.shields.io/badge/Video-red?style=for-the-badge&logo=youtube&labelColor=ce4630&logoColor=red"/></a> </p> </p>

This repo contains the OakInk data toolkit (oikit) -- a Python package that provides data loading, splitting, and visualization tools for the OakInk knowledge repository.

OakInk contains three parts:

• OakBase: Object Affordance Knowledge (Oak) base, including objects' part-level segmentation and attributes.
• OakInk-Image: a video dataset with 3D hand-object pose and shape annotations.
• OakInk-Shape: a 3D grasping pose dataset with hand and object mesh models.

Summary on OakInk

• It contains 3D models, part segmentation, and affordance labels of 1,800 common household objects.
• It records human grasps with 100 (from 1,800) objects based on their affordances.
  • It contains 792 multi-view video clips (230K images) complemented with annotation.
  • Images are from four third-person views.
  • It contains dynamic grasping and handover motions.
  • It includes 3D ground-truth for MANO and objects.
• It contains a total of 50k hand-object interaction pose pairs involving the 1,800 objects.
  • 1k are from the recording, 49K are done via interaction transfer.

Why use OakInk:

• For studying hand-object pose estimation and hand-held object reconstruction.
• For generating grasping pose, motion or handover with objects.
• For generating affordance-aware pose or motion for object manipulation.
• For transferring hand pose or motion to a new object.

Getting Started

Clone the repo

$ git clone https://github.com/lixiny/OakInk.git

• Install environment: see docs/install.md
• Get datasets: see docs/datasets.md

Load and Visualize

# visualize OakInk-Image mesh on sequence level:
#   * --draw_mode [mesh, wireframe] to switch between mesh and wireframe
#   * --seq_id: select sequence id from OAKINK_DIR/image/anno/seq_status.json to visualize
#   * --view_id: select from [0, 1, 2, 3] for visualize from different views.
python scripts/viz_oakink_image_seq.py --draw_mode mesh --view_id 1

# use OakInkImage to load data_split: train, mode: subject (SP1) and visualize:
#   * --data_split: select from [train, val, test, all]
#   * --mode_split: select from [default, object, subject, handobject]
python scripts/viz_oakink_image.py --data_split train --mode_split subject

# use OakInkShape to load object category: teapot and intent: use:
#   * --categories: select from OAKINK_DIR/shape/metaV2/yodaobject_cat.json, or "all"
#   * --intent_mode: select from [use, hold, liftup, handover] or "all"
#   * --data_split: select from [train, val, test, all]
python scripts/viz_oakink_shape.py --categories teapot --intent_mode use
# press `N` to load next sample

# use OakInkShape to load all the training grasps
python scripts/viz_oakink_shape.py --categories all --data_split train

# use OakInkShape to load all the training grasps in handover
python scripts/viz_oakink_shape.py --categories all --data_split train --intent_mode handover

Train and evaluate OakInk baselines

• Hand Mesh Recovery: recovery hand mesh from monocular image.
• Grasp Generation: generate human-like hand mesh grasping a given object.

Citation

If you find OakInk dataset and oikit useful for your research, please considering cite us:

@inproceedings{YangCVPR2022OakInk,
  author    = {Yang, Lixin and Li, Kailin and Zhan, Xinyu and Wu, Fei and Xu, Anran and Liu, Liu and Lu, Cewu},
  title     = {{OakInk}: A Large-Scale Knowledge Repository for Understanding Hand-Object Interaction},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2022},
}