def depth_to_xyz(depth, input_shape=(1, 224, 224), fov="kinect"):
"""
Convert depth map to a cartesian point cloud map
:param depth: a depth map tensor of shape [b, h, w]
:param focal_lengths: a tuple of focal lengths as (fx, fy)
:param input_shape: a tuple of input shape as (b, h, w)
:param fov: which type of camera used one of three ["kinect", "webcam", "intel"]
:return: a tensor of points in cartesian 3-space [b, h, w, 3]
"""
x = tf.constant([i - (input_shape[1] // 2)
for i in range(input_shape[1])]) # [h,] int32
x = tf.tile(tf.expand_dims(x, axis=0), (input_shape[2], 1)) # [h, w] int32
x = tf.expand_dims(x, axis=0) # [1, h, w] int32
x = tf.cast(x, tf.float32)
x = (tf.tan(cfg[fov + "_h_fov"] * pi / 360) /
(input_shape[2] / 2)) * tf.multiply(x, depth)
y = tf.constant([i - (input_shape[2] // 2) for i in range(input_shape[2])])
y = tf.tile(tf.expand_dims(y, axis=-1), (1, input_shape[1])) # [h, w]
y = tf.expand_dims(y, axis=0) # [1, h, w]
y = tf.cast(y, tf.float32)
y = (tf.tan(cfg[fov + "_v_fov"] * pi / 360) /
(input_shape[1] / 2)) * tf.multiply(y, depth)
z = depth
x = tf.expand_dims(x, -1) # [b, h, w, 1]
y = tf.expand_dims(y, -1) # [b, h, w, 1]
z = tf.expand_dims(z, -1) # [b, h, w, 1]
p = tf.concat((x, y, z), -1) # [b, h, w, 3]
return p
def shears_to_projective_transforms(shears, height, width):
"""Returns shear transform matrices for a batched input.
The shear is applied relative to the image center, instead of (0, 0).
Args:
shears: 2-element tensor [sx, sy], or a [B, 2]-tensor reprenting a batch of
such inputs. `sx` and `sy` are the shear angle (in radians) in x and y
respectively.
height: Image height, in pixels.
width: Image width, in pixels.
Returns:
A [B, 8]-tensor representing the transform that can be passed to
`tensorflow_addons.image.transform`.
"""
shears = tf.convert_to_tensor(shears)
if tf.rank(shears) == 1:
shears = shears[None, :]
shears_x = tf.reshape(tf.tan(shears[:, 0]), (-1, 1))
shears_y = tf.reshape(tf.tan(shears[:, 1]), (-1, 1))
ones = tf.ones_like(shears_x)
zeros = tf.zeros_like(shears_x)
transform = tf.concat(
[ones, shears_x, zeros, shears_y, ones, zeros, zeros, zeros], axis=-1)
return _center_transform(transform, height, width)
def perspectivey_grid(output_size,
ulim=(1, 8),
vlim=(-0.99 * np.pi / 2, 0.99 * np.pi / 2)):
"""Vertical perspective coordinate system.
Args:
output_size: (int, int), number of sampled values for the v-coordinate and u-coordinate respectively
ulim: (float, float), y^{-1} "radial" coordinate limits
vlim: (float, float), angular coordinate limits
Returns:
tf.Tensor, type tf.float32, shape (output_size[0], output_size[1], 2),
tensor where entry (i, j) gives the (x, y) coordinate of the grid point.
"""
nv, nu = output_size[0], output_size[1]
vs, us = _grid_prepare((nv // 2, nu), ulim, vlim)
yl = -tf.math.reciprocal(tf.reverse(us, [1]))
yr = tf.math.reciprocal(us)
xl = -yl * tf.tan(vs)
xr = yr * tf.tan(vs)
if nv % 2 == 0:
xs = tf.concat([xl, xr], axis=0)
ys = tf.concat([yl, yr], axis=0)
else:
xs = tf.concat([xl, xl[-1:], xr], axis=0)
ys = tf.concat([yl, yl[-1:], yr], axis=0)
return tf.stack([xs, ys], 2)
def angular_loss_2(y_true, y_pred):
y_pred = K.clip(y_pred, _EPSILON, 1.0 - _EPSILON)
loss = tf.convert_to_tensor(0, dtype=tf.float32)
g = tf.constant(1.0, shape=[1], dtype=tf.float32)
c = tf.constant(4.0, shape=[1], dtype=tf.float32)
d = tf.constant(2.0, shape=[1], dtype=tf.float32)
alpha = tf.constant(45.0, shape=[1], dtype=tf.float32)
losses = []
losses2 = []
for i in range(0, batch_size, 3):
try:
xa = y_pred[i + 0]
xp = y_pred[i + 1]
xn = y_pred[i + 2]
fapn = c * (tf.tan(alpha * K.transpose(xa + xp) * xn)**
2) - d * (g +
tf.tan(alpha)**2) * K.transpose(xa) * xp
losses.append(fapn)
losses2.append(K.transpose(xa) * xn - K.transpose(xa) * xp)
loss = (loss + g + _loss)
except:
continue
loss = K.sum(K.log(1 + 2 * K.sum([K.exp(v) for v in losses])))
loss2 = K.sum(K.log(1 + 2 * K.sum([K.exp(v) for v in losses2])))
loss = loss + 2 * loss2
loss = loss / (batch_size / 3)
zero = tf.constant(0.0, shape=[1], dtype=tf.float32)
return tf.maximum(loss, zero)
def disparity_to_depth(self, disparity, position, epsilon=1e-6):
baseline_distance = self.params.baseline
S, T = lat_long_grid([tf.shape(disparity)[1], tf.shape(disparity)[2]])
_, T_grids = self.expand_grids(S, -T, tf.shape(disparity)[0])
if position == "top":
t1 = tf.tan(T_grids)
t2 = tf.tan(T_grids + np.pi * disparity)
else:
t1 = tf.tan(T_grids)
t2 = tf.tan(T_grids - np.pi * disparity)
return baseline_distance / (tf.abs(t2 - t1) + epsilon)
def attenuate_equirectangular(self, disparity, position):
S, T = lat_long_grid([tf.shape(disparity)[1], tf.shape(disparity)[2]])
_, T_grids = self.expand_grids(S, -T, tf.shape(disparity)[0])
if position == "top":
attenuated_disparity = (1.0 / np.pi) * (
tf.atan(tf.tan(np.pi * disparity) + tf.tan(T_grids)) - T_grids)
else:
attenuated_disparity = (1.0 / np.pi) * (
T_grids - tf.atan(tf.tan(T_grids) - tf.tan(np.pi * disparity)))
return tf.clip_by_value(
tf.where(tf.is_finite(attenuated_disparity), attenuated_disparity,
tf.zeros_like(attenuated_disparity)), 1e-6, 0.75)
def depth_to_disparity(self, depth, position):
baseline_distance = self.params.baseline
S, T = lat_long_grid([tf.shape(depth)[1], tf.shape(depth)[2]])
_, T_grids = self.expand_grids(S, T, tf.shape(depth)[0])
if position == "top":
return self.disparity_scale * (np.pi / 2.0 - atan2(
baseline_distance * depth, (1.0 + tf.tan(-T_grids)**2.0) *
(depth**2.0) + baseline_distance * depth * tf.tan(-T_grids)))
else:
return self.disparity_scale * (atan2(
baseline_distance * depth, (1.0 + tf.tan(-T_grids)**2.0) *
(depth**2.0) - baseline_distance * depth * tf.tan(-T_grids)) -
np.pi / 2.0)
def camera_perspective(self, aspect_ratio, fov_y, near_clip, far_clip):
"""Computes perspective transformation matrices.
Functionality mimes gluPerspective (third_party/GL/glu/include/GLU/glu.h).
Args:
aspect_ratio: float value specifying the image aspect ratio (width/height).
fov_y: 1-D float32 Tensor with shape [batch_size] specifying output vertical
field of views in degrees.
near_clip: 1-D float32 Tensor with shape [batch_size] specifying near
clipping plane distance.
far_clip: 1-D float32 Tensor with shape [batch_size] specifying far clipping
plane distance.
Returns:
A [batch_size, 4, 4] float tensor that maps from right-handed points in eye
space to left-handed points in clip space.
"""
# The multiplication of fov_y by pi/360.0 simultaneously converts to radians
# and adds the half-angle factor of .5.
focal_lengths_y = 1.0 / tf.tan(fov_y * (math.pi / 360.0))
depth_range = far_clip - near_clip
p_22 = -(far_clip + near_clip) / depth_range
p_23 = -2.0 * (far_clip * near_clip / depth_range)
zeros = tf.zeros_like(p_23, dtype=tf.float32)
perspective_transform = tf.concat([
focal_lengths_y / aspect_ratio, zeros, zeros, zeros, zeros,
focal_lengths_y, zeros, zeros, zeros, zeros, p_22, p_23, zeros,
zeros, -tf.ones_like(p_23, dtype=tf.float32), zeros
],
axis=0)
perspective_transform = tf.reshape(perspective_transform, [4, 4, -1])
return tf.transpose(perspective_transform, [2, 0, 1])
def coherence_loss(phase, target):
# This loss function refers to wiki page of Directional Statistics
# So first you have to find Re^(i*theta) within the group
# not tough to implement
mask = tf.cast(target, tf.float32)
masked_phase = tf.multiply(tf.expand_dims(phase, axis=1), mask)
# self.masked_phase.shape=(batch, groups, N)
sin_vec = tf.sin(masked_phase)
cos_vec = tf.where(tf.equal(mask, tf.constant(0.)), masked_phase,
tf.cos(masked_phase))
sin_mean = tf.div_no_nan(tf.reduce_sum(sin_vec, axis=2),
tf.reduce_sum(mask, axis=2))
cos_mean = tf.div_no_nan(tf.reduce_sum(cos_vec, axis=2),
tf.reduce_sum(mask, axis=2))
std = tf.sqrt(
-2 * log_no_nan(tf.sqrt(tf.square(sin_mean) + tf.square(cos_mean))))
sync_loss = mean_no_zero(std, axis=1)
# sync_loss.shape=(batch,)
desync_loss = tf.tan(
tf.sqrt(
tf.square(mean_no_zero(sin_mean, axis=1)) +
tf.square(mean_no_zero(cos_mean, axis=1))))
# desync_loss.shape=(batch,)
sync_loss_mean = tf.reduce_mean(sync_loss)
desync_loss_mean = tf.reduce_mean(desync_loss)
tot_loss_mean = 0.2 * sync_loss_mean + desync_loss_mean
return sync_loss_mean, desync_loss_mean, tot_loss_mean
def fov(self, value):
self._fov = value
fov_factor = 1.0 / tf.tan(transform.radians(0.5 * self._fov))
o = tf.ones([1], dtype=tf.float32)
diag = tf.concat([fov_factor, fov_factor, o], 0)
self._cam_to_ndc = tf.diag(diag)
self.ndc_to_cam = tf.linalg.inv(self._cam_to_ndc)
def get_unary_op(x, option):
unary_ops = {
'log': tf.log(x),
'exp': tf.exp(x),
'neg': tf.negative(x),
'ceil': tf.ceil(x),
'floor': tf.floor(x),
'log1p': tf.log1p(x),
'sqrt': tf.sqrt(x),
'square': tf.square(x),
'abs': tf.abs(x),
'relu': tf.nn.relu(x),
'elu': tf.nn.elu(x),
'selu': tf.nn.selu(x),
'leakyRelu': tf.nn.leaky_relu(x),
'sigmoid': tf.sigmoid(x),
'sin': tf.sin(x),
'cos': tf.cos(x),
'tan': tf.tan(x),
'asin': tf.asin(x),
'acos': tf.acos(x),
'atan': tf.atan(x),
'sinh': tf.sinh(x),
'cosh': tf.cosh(x),
'tanh': tf.tanh(x),
}
assert option in unary_ops, 'Unary option not found: ' + option
return unary_ops[option]
def model_v1(self, inpt):
self.input = tf.Variable(
initial_value=inpt,
dtype=tf.float32,
shape=[None, None, None, 3 + self.num_classes],
trainable=False)
current_input = self.input
self.predictions = []
self.logits = []
for n_layer in range(self.num_layers):
h_conv1 = self.conv2d(current_input, self.w_conv1,
1) + self.b_conv1
h_pool1 = self.maxpool(h_conv1, 2, 2)
tanh1 = tf.tan(h_pool1)
h_conv2 = self.conv2d(tanh1, self.w_conv2, 1) + self.b_conv2
h_pool2 = self.maxpool(h_conv2, 2, 2)
tanh2 = tf.tanh(h_pool2)
logits = self.conv2d(tanh2, self.w_conv3, 1) + self.b_conv3
predictions = tf.nn.softmax(logits, axis=None, name=None)
self.logits.append(logits)
self.predictions.append(predictions)
rgb = tf.strided_slice(current_input, [0, 0, 0, 0], [0, 0, 0, 3],
strides=[1, 4, 4, 1],
end_mask=7)
current_input = tf.concat(values=[rgb, predictions], axis=3)
def test_cwise_unary_grad(self):
"""
Ensure that all component-wise unary functions in the math op library yield an identical gradient to tensorflow
"""
test_config = tf.ConfigProto(allow_soft_placement=False)
test_config.graph_options.optimizer_options.opt_level = -1
with tf.Session(config=test_config) as s:
arg_np = np.random.random(100)
grad_above = tf.constant(np.random.random(100))
arg = tf.constant(arg_np)
def test_grad(fcn, tf_fcn):
ovl_out = as_tensorflow(fcn(arg))
tf_out = tf_fcn(arg)
ovl_grad = tf.gradients(ovl_out, arg, grad_above)[0]
tf_grad = tf.gradients(tf_out, arg, grad_above)[0]
ovl_out, tf_out, ovl_grad, tf_grad = s.run([ovl_out, tf_out, ovl_grad, tf_grad])
assert np.allclose(ovl_out, tf_out)
assert np.allclose(ovl_grad, tf_grad)
test_grad(lambda x: neg(x), lambda x: tf.neg(x))
test_grad(lambda x: tanh(x), lambda x: tf.tanh(x))
test_grad(lambda x: sin(x), lambda x: tf.sin(x))
test_grad(lambda x: cos(x), lambda x: tf.cos(x))
test_grad(lambda x: tan(x), lambda x: tf.tan(x))
test_grad(lambda x: sigmoid(x), lambda x: tf.sigmoid(x))
def test_tan(self):
shape = [3, 4, 5]
graph = tf.Graph()
with graph.as_default():
a = tf.placeholder(tf.float32, shape=shape)
out = tf.tan(a)
self._test_tf_model_constant(graph, {a.op.name: shape}, [out.op.name])
def backproject(S, T, depth):
# Convert to Cartesian for modified depth input.
# depth = sqrt(x^2 + z^2).
x = depth * tf.sin(S)
y = depth * tf.tan(T)
z = depth * tf.cos(S)
return x, y, z
def logMap(SE3):
'''logarithmic mapping
:param SE3: [B, 4, 4]
:return: ksai [B, 6], trn after rot
'''
def deltaR(R):
'''
:param R: [B, 3, 3]
:return:
'''
v_0 = R[:, 2, 1] - R[:, 1, 2]
v_1 = R[:, 0, 2] - R[:, 2, 0]
v_2 = R[:, 1, 0] - R[:, 0, 1]
v = tf.stack([v_0, v_1, v_2], axis=-1)
return v
batch, _, _ = SE3.get_shape().as_list()
_R = SE3[:, :3, :3]
_t = SE3[:, :3, 3:]
d = 0.5 * (_R[:, 0, 0] + _R[:, 1, 1] + _R[:, 2, 2] - 1)
d = tf.expand_dims(d, axis=-1)
dR = deltaR(_R)
theta = tf.acos(d)
omega = theta * dR / (2 * tf.sqrt(1 - d * d))
Omega = skew(omega)
identities = tf.tile([tf.eye(3)], multiples=[batch, 1, 1])
V_inv = identities - 0.5 * Omega + \
( 1 - theta / ( 2 * tf.tan ( theta/2 ) ) ) * tf.matmul( Omega , Omega ) / (theta * theta)
upsilon = tf.matmul(V_inv, _t)
upsilon = tf.reshape(upsilon, [batch, -1])
ksai = tf.concat([omega, upsilon], axis=-1)
return ksai
def _build(self, inputs):
net = build_common_network('critic', inputs)
net = BatchApply(linear('input_layer', 128))(net)
net = tf.tanh(net)
net = BatchApply(linear('output_layer', 1))(net)
net = tf.tan(net)
return tf.reduce_mean(net, axis=1)
def test_cwise_unary_grad(self):
"""
Ensure that all component-wise unary functions in the math op library yield an identical gradient to tensorflow
"""
test_config = tf.ConfigProto(allow_soft_placement=False)
test_config.graph_options.optimizer_options.opt_level = -1
with tf.Session(config=test_config) as s:
arg_np = np.random.random(100)
grad_above = tf.constant(np.random.random(100))
arg = tf.constant(arg_np)
def test_grad(fcn, tf_fcn):
ovl_out = as_tensorflow(fcn(arg))
tf_out = tf_fcn(arg)
ovl_grad = tf.gradients(ovl_out, arg, grad_above)[0]
tf_grad = tf.gradients(tf_out, arg, grad_above)[0]
ovl_out, tf_out, ovl_grad, tf_grad = s.run(
[ovl_out, tf_out, ovl_grad, tf_grad])
assert np.allclose(ovl_out, tf_out)
assert np.allclose(ovl_grad, tf_grad)
test_grad(lambda x: neg(x), lambda x: tf.neg(x))
test_grad(lambda x: tanh(x), lambda x: tf.tanh(x))
test_grad(lambda x: sin(x), lambda x: tf.sin(x))
test_grad(lambda x: cos(x), lambda x: tf.cos(x))
test_grad(lambda x: tan(x), lambda x: tf.tan(x))
test_grad(lambda x: sigmoid(x), lambda x: tf.sigmoid(x))
def generate_vl(w=3264, h=2448):
# d = w/(2*tf.tan(alpha)), alpha = 33/180*pi
d = w / 1.29876
view_pos = tf.constant([w / 2, h / 2, d], dtype=tf.float32, shape=[1, 3])
view_pos = tf.expand_dims(view_pos, axis=1)
wgrid = tf.linspace(0.0, w, w)
hgrid = tf.linspace(0.0, h, h)
plane_coor = tf.concat(tf.meshgrid(wgrid, hgrid, 0.0), axis=2)
planc_expand = tf.expand_dims(plane_coor, axis=0) #[1, h, w, 3]
xy = planc_expand[:, :, :, 0:2]
t = tf.sqrt(
tf.reduce_sum(tf.square(
xy - tf.constant([w / 2, h / 2], dtype=tf.float32, shape=[1, 2])),
keepdims=True,
axis=-1))
I = tf.exp(tf.square(tf.tan(t / d * 1.6)) * (-0.5))
I = tf.concat([I, I, I], axis=-1)
view_pos_expand = tf.expand_dims(view_pos, axis=1)
view_vec = view_pos_expand - planc_expand
view_norm = tf.sqrt(tf.reduce_sum(tf.square(view_vec), axis=-1))
view_expand = tf.expand_dims(view_norm, axis=-1)
newview_vec = tf.concat([view_expand, view_expand, view_expand], axis=-1)
eview_vec = view_vec / newview_vec
return eview_vec, I
def look_at_origin(fow):
"""
This function gives some useful intrinsic and
extrinsic camera matrices K and T.
When you render a unit ball using K and T, you will get
a circle that tightly fits into the image.
Input:
fow: [B] tf.float32, field of views in radians, where 0<fow<pi/2
for each entry
Output:
K: [B, 3, 3] tf.float32, intrinsic camera matrices
The 3D points [0,-1,f] and [0,1,f] are projected to [0,-1] and [0,1].
The render will convert the 2D coordinates into pixel coordinates
depending on the resolution.
T: [B, 3, 4] tf.float32, rigid transformation matrices
It moves the origin to the focal plane.
"""
f = 1. / tf.tan(fow / 2.) # focal length
_0 = tf.zeros_like(f)
_1 = tf.ones_like(f)
K = tf.reshape(tf.stack([f, _0, _0, _0, f, _0, _0, _0, _1], -1),
[-1, 3, 3])
T = tf.reshape(tf.stack([_1, _0, _0, _0, _0, _1, _0, _0, _0, _0, _1, f]),
[-1, 3, 4])
return K, T
def __init__(self, learning_rate):
self.learning_rate = learning_rate
self.tv_select = tf.placeholder(tf.int32, shape=[], name="tv_select")
perturb_state = []
# Iterate over each prior Variable and trainable variable pair...
for tv_num, v in enumerate(tf.trainable_variables()):
# TODO: Determine if conv ops have 0s we're overwriting
do = tf.tan(np.pi * (tf.random_uniform(v.get_shape()) - 0.5))
do_not = tf.zeros(v.get_shape())
p = tf.cond(tf.equal(self.tv_select, tv_num), lambda: do,
lambda: do_not)
scaled_p = tf.multiply(self.learning_rate,
p,
name="make_perturbation")
# Add an op that perturbs this trainable var
perturb_state.append(
tf.assign_add(v, scaled_p, name="perturb_state_rlfsa"))
self.perturb_state = perturb_state
def matern_12(points):
"""
Matern 12
Ref: Sampling Student''s T distribution-use of the inverse cumulative distribution function
:param points:
:return:
"""
return tf.tan(np.pi * (points - 0.5))
def get_projection_matrix():
near_plane_distance = 0.05
fov_angle = 100. * np.pi / 180.
near_plane_right = near_plane_distance * tf.tan(fov_angle / 2.)
return dirt.matrices.perspective_projection(
near_plane_distance, far=100., right=near_plane_right,
aspect=72 / 96).numpy() # :: x/y/x/z (in), x/y/z/w (out)
def test07():
sess = tf.Session()
d0 = tf.Variable(1, dtype=tf.float32, name='number1')
d1 = tf.tan(d0)
init_op = tf.global_variables_initializer()
sess.run(init_op)
B = sess.run(d1)
print(B)
def angular_loss(y_true, y_pred):
alpha = K.constant(ALPHA)
a_p = y_pred[:, 0, 0]
n_c = y_pred[:, 1, 0]
return K.mean(
K.maximum(
K.constant(0),
K.square(a_p) -
K.constant(4) * K.square(tf.tan(alpha)) * K.square(n_c)))
def fov(self, value):
with tf.device('/device:cpu:' + str(pyredner.get_cpu_device_id())):
self._fov = tf.identity(value).cpu()
fov_factor = 1.0 / tf.tan(transform.radians(0.5 * self._fov))
o = tf.convert_to_tensor(np.ones([1], dtype=np.float32),
dtype=tf.float32)
diag = tf.concat([fov_factor, fov_factor, o], 0)
self._cam_to_ndc = tf.linalg.tensor_diag(diag)
self.ndc_to_cam = tf.linalg.inv(self._cam_to_ndc)
def steer_to_yawrate(steer, v):
'''
Use Ackerman formula to compute yawrate from steering angle and forward
velocity v:
r = wheelbase / tan(steer)
omega = v / r
'''
# assert steer.get_shape().as_list() == v.get_shape().as_list(), "steer = {}, v = {}".format(steer, v)
# print steer, v
return v * tf.tan(steer) / FLAGS.wheelbase
def get_focal_length(dim_length, fov, angle_units='rad'):
with tf.name_scope('focal_length'):
if angle_units == 'deg':
angle = fov * math.pi / 360
elif angle_units == 'rad':
angle = fov / 2
else:
raise KeyError('Invalid angle_units')
focal_length = dim_length / (2*tf.tan(angle))
return focal_length
def __call__(self, x):
x = tf.cast(x, tf.float32)
batch_size = tf.shape(x)[0]
ref_conf = tf.gather(x, self.ref_index, axis=1)
mob_conf = tf.gather(x, self.mob_index, axis=1)
ref_T = calcTransformMatrix_tf(self.ini_ref_conf, ref_conf,
self.ref_weights) # shape (B, 4, 4)
ini_mob_conf = tf.gather(tf.reshape(
applyTransformMatrix_tf(ref_T, self.ini_conf), [batch_size, -1]),
self.mob_index,
axis=1)
com1 = calcCOM_tf(ini_mob_conf, self.mob_weights) # shape (B, 1, 3)
com2 = calcCOM_tf(mob_conf, self.mob_weights) # shape (B, 1, 3)
pl = (com2 - com1) / tf.linalg.norm(com2 - com1, axis=2,
keepdims=True) # shape (B, 1, 3)
mob_T = calcTransformMatrix_tf(ini_mob_conf, mob_conf,
self.mob_weights) # shape (B, 4, 4)
t21 = tf.reshape(tf.tile(tf.eye(3), [batch_size, 1]),
[batch_size, 3, 3])
t21 = tf.concat([t21, tf.reshape(com1 - com2, [batch_size, 3, 1])],
axis=2)
t21 = tf.concat([
t21,
tf.tile(tf.constant([[[0., 0., 0., 1.]]]), [batch_size, 1, 1])
],
axis=1)
rot2 = tf.matmul(mob_T, t21)
p1 = applyTransformMatrix_tf(rot2, com1) # shape (B, 1, 3)
p2 = applyTransformMatrix_tf(rot2, p1) # shape (B, 1, 3)
rideal = tf.cross((com1 - p2), (com1 - p1))
rideal = rideal / tf.linalg.norm(rideal, axis=2,
keepdims=True) # shape (B, 1, 3)
new = com2 - tf.matmul(rideal, tf.transpose(
com2 - com1, [0, 2, 1])) * rideal # shape (B, 1, 3)
cosine = tf.matmul(
(new - com1) / tf.linalg.norm(new - com1, axis=2, keepdims=True),
tf.transpose(
(new - p1) / tf.linalg.norm(new - p1, axis=2, keepdims=True),
[0, 2, 1]))
angl = tf.acos(cosine)
perp = tf.matmul(rideal, tf.transpose(pl,
[0, 2, 1])) # shape (B, 1, 1)
angp = tf.abs(tf.asin(perp)) # shape (B, 1, 1)
pro = rideal - perp * pl # shape (B, 1, 3)
tang = tf.cos(angp) * tf.tan(0.5 * angl) # shape (B, 1, 1)
angle = tf.reshape(2.0 * tf.atan(tang),
[-1]) * 180.0 / np.pi # 度数に変換している
return angle
def gen_perspective_matrix(fov, clip_near, clip_far):
clip_dist = clip_far - clip_near
cot = 1 / tf.tan(radians(fov / 2.0))
z = tf.constant(np.zeros([1]), dtype=tf.float32)
o = tf.convert_to_tensor(np.ones([1], dtype=np.float32), dtype=tf.float32)
return tf.stack([
tf.concat([cot, z, z, z], 0),
tf.concat([z, cot, z, z], 0),
tf.concat([z, z, 1 / clip_dist, -clip_near / clip_dist], 0),
tf.concat([z, z, o, z], 0)
])
def fov(self, value):
if value is not None:
self._fov = value
with tf.device('/device:cpu:' + str(pyredner.get_cpu_device_id())):
fov_factor = 1.0 / tf.tan(transform.radians(0.5 * self._fov))
o = tf.ones([1], dtype=tf.float32)
diag = tf.concat([fov_factor, fov_factor, o], 0)
self._intrinsic_mat = tf.linalg.tensor_diag(diag)
self.intrinsic_mat_inv = tf.linalg.inv(self._intrinsic_mat)
else:
self._fov = None
def _quantile(self, p): return self.loc + self.scale * tf.tan(np.pi * (p - 0.5))
def run():
"""Run custom scalar demo and generate event files."""
step = tf.placeholder(tf.float32, shape=[])
with tf.name_scope('loss'):
# Specify 2 different loss values, each tagged differently.
summary_lib.scalar('foo', tf.pow(0.9, step))
summary_lib.scalar('bar', tf.pow(0.85, step + 2))
# Log metric baz as well as upper and lower bounds for a margin chart.
middle_baz_value = step + 4 * tf.random_uniform([]) - 2
summary_lib.scalar('baz', middle_baz_value)
summary_lib.scalar('baz_lower',
middle_baz_value - 6.42 - tf.random_uniform([]))
summary_lib.scalar('baz_upper',
middle_baz_value + 6.42 + tf.random_uniform([]))
with tf.name_scope('trigFunctions'):
summary_lib.scalar('cosine', tf.cos(step))
summary_lib.scalar('sine', tf.sin(step))
summary_lib.scalar('tangent', tf.tan(step))
merged_summary = tf.summary.merge_all()
with tf.Session() as sess, tf.summary.FileWriter(LOGDIR) as writer:
# We only need to specify the layout once (instead of per step).
layout_summary = summary_lib.custom_scalar_pb(
layout_pb2.Layout(category=[
layout_pb2.Category(
title='losses',
chart=[
layout_pb2.Chart(
title='losses',
multiline=layout_pb2.MultilineChartContent(
tag=[r'loss(?!.*margin.*)'],)),
layout_pb2.Chart(
title='baz',
margin=layout_pb2.MarginChartContent(
series=[
layout_pb2.MarginChartContent.Series(
value='loss/baz/scalar_summary',
lower='loss/baz_lower/scalar_summary',
upper='loss/baz_upper/scalar_summary'
),
],)),
]),
layout_pb2.Category(
title='trig functions',
chart=[
layout_pb2.Chart(
title='wave trig functions',
multiline=layout_pb2.MultilineChartContent(
tag=[
r'trigFunctions/cosine', r'trigFunctions/sine'
],)),
# The range of tangent is different. Give it its own chart.
layout_pb2.Chart(
title='tan',
multiline=layout_pb2.MultilineChartContent(
tag=[r'trigFunctions/tangent'],)),
],
# This category we care less about. Make it initially closed.
closed=True),
]))
writer.add_summary(layout_summary)
for i in xrange(42):
summary = sess.run(merged_summary, feed_dict={step: i})
writer.add_summary(summary, global_step=i)
def tan(self,x):
return tf.tan(x)
def _quantile(self, p): return self.loc + self.scale * tf.tan((np.pi / 2) * p)
# div() vs truediv() vs floordiv()
print(sess.run(tf.div(3, 4)))
print(sess.run(tf.truediv(3, 4)))
print(sess.run(tf.floordiv(3.0, 4.0)))
# Mod function
print(sess.run(tf.mod(22.0, 5.0)))
# Cross Product
print(sess.run(tf.cross([1., 0., 0.], [0., 1., 0.])))
# Trig functions
print(sess.run(tf.sin(3.1416)))
print(sess.run(tf.cos(3.1416)))
print(sess.run(tf.tan(3.1416/4.)))
# Custom operation
test_nums = range(15)
def custom_polynomial(x_val):
# Return 3x^2 - x + 10
return tf.subtract(3 * tf.square(x_val), x_val) + 10
print(sess.run(custom_polynomial(11)))
# What should we get with list comprehension
expected_output = [3*x*x-x+10 for x in test_nums]
print(expected_output)