def render_color(mesh, f, Rt, img_size=(224, 224), bg_img=None):
# apply Rt
verts = mesh.points().copy()
for i in range(len(verts)):
verts[i] = np.dot(Rt[:3, :3], verts[i]) + Rt[:, 3]
rn = ColoredRenderer()
if bg_img is not None:
rn.background_image = bg_img.astype(
np.float) / 300. if bg_img.max() > 1 else bg_img
rn.camera = ProjectPoints(v=verts,
rt=np.zeros(3),
t=np.zeros(3),
f=np.array([f, f]),
c=np.array([img_size[1], img_size[0]]) / 2.,
k=np.zeros(5))
rn.frustum = {
'near': .5,
'far': 10.,
'width': img_size[1],
'height': img_size[0]
}
rn.v = verts
rn.f = mesh.face_vertex_indices()
rn.bgcolor = np.zeros(3)
rn.vc = vc = mesh.vertex_colors()[:, :3]
return rn.r
def test_teapot():
# load teapot and sphere
reference = read_and_process_mesh(
"example_data/pointclouds/teapot_mesh.obj",
trans=ch.array([0, 0, 0]),
rotation=ch.array([np.pi, 0, 0]))
target = read_and_process_mesh(
"example_data/pointclouds/sphere_normal_2K_mesh.obj",
trans=ch.array([0, 0, 0]),
rotation=ch.array([0, 0, 0]))
# reference
V_ref = ch.array(reference.v)
vc_ref = ch.array(reference.vc)
A_ref = LambertianPointLight(v=V_ref, f=reference.f, num_verts=len(
V_ref), light_pos=ch.array([-1000, -1000, -1000]), vc=vc_ref,
light_color=ch.array([0.9, 0, 0])) +\
LambertianPointLight(v=V_ref, f=reference.f, num_verts=len(
V_ref), light_pos=ch.array([1000, -1000, -1000]), vc=vc_ref,
light_color=ch.array([0.0, 0.9, 0])) +\
LambertianPointLight(v=V_ref, f=reference.f, num_verts=len(
V_ref), light_pos=ch.array([-1000, 1000, -1000]), vc=vc_ref,
light_color=ch.array([0.0, 0.0, 0.9]))
U_ref = ProjectPoints(v=V_ref,
f=[w, w],
c=[w / 2., h / 2.],
k=ch.zeros(5),
t=ch.zeros(3),
rt=ch.zeros(3))
f_ref = ColoredRenderer(vc=A_ref,
camera=U_ref,
f=reference.f,
bgcolor=[1.0, 1.0, 1.0],
frustum={
'width': w,
'height': h,
'near': 1,
'far': 20
})
# target
V_tgt = ch.array(target.v)
vc_tgt = ch.array(target.vc)
A_tgt = LambertianPointLight(v=V_tgt, f=target.f, num_verts=len(
V_tgt), light_pos=ch.array([-1000, -1000, -1000]), vc=vc_tgt,
light_color=ch.array([0.9, 0, 0])) +\
LambertianPointLight(v=V_tgt, f=target.f, num_verts=len(
V_tgt), light_pos=ch.array([1000, -1000, -1000]), vc=vc_tgt,
light_color=ch.array([0.0, 0.9, 0])) +\
LambertianPointLight(v=V_tgt, f=target.f, num_verts=len(
V_tgt), light_pos=ch.array([-1000, 1000, -1000]), vc=vc_tgt,
light_color=ch.array([0.0, 0.0, 0.9]))
U_tgt = ProjectPoints(v=V_tgt,
f=[w, w],
c=[w / 2., h / 2.],
k=ch.zeros(5),
t=ch.zeros(3),
rt=ch.zeros(3))
f_tgt = ColoredRenderer(vc=A_tgt,
camera=U_tgt,
f=target.f,
bgcolor=[1.0, 1.0, 1.0],
frustum={
'width': w,
'height': h,
'near': 1,
'far': 20
})
# offset = ch.zeros(V_tgt.shape)
translation, rotation = ch.array([0, 0, 6]), ch.zeros(3)
f_tgt.v = translation + V_tgt.dot(Rodrigues(rotation))
f_ref.v = translation + V_ref.dot(Rodrigues(rotation))
op_mesh_target = om.read_trimesh(
"example_data/pointclouds/sphere_normal_2K_mesh.obj")
n_rotations = 144
# camera positions
for index in range(n_rotations):
rotation[:] = np.random.rand(3) * np.pi * 2
np.save(os.path.join(save_dir, "rot_v{:03d}".format(index)), rotation)
img_ref = f_ref.r
Image.fromarray((img_ref * 255).astype(np.uint8)).save(
os.path.join(save_dir, "reference_v{:03d}.png".format(index)))
img_tgt = f_tgt.r
Image.fromarray((img_tgt * 255).astype(np.uint8)).save(
os.path.join(save_dir, "target_v{:03d}.png".format(index)))
E_raw = f_tgt - img_ref
# E_pyr = gaussian_pyramid(E_raw, n_levels=6, normalization='size')
free_variables = [V_tgt]
# dogleg
# Newton-CG
# SLSQP
# BFGS
# trust-ncg
method = "trust-ncg"
maxiter = 30
ch.minimize({'pyr': E_raw},
x0=free_variables,
method=method,
options=dict(maxiter=30),
callback=create_callback(f_tgt, step=index * maxiter))
ch.minimize({'pyr': E_raw},
x0=free_variables,
method=method,
options=dict(maxiter=30),
callback=create_callback(f_tgt, step=index * maxiter))
# is not the same?
target.v = f_tgt.v.r.copy()
# save mesh
# mesh = pymesh.form_mesh(f_tgt.v.r, f_tgt.f)
# pymesh.save_mesh(os.path.join(
# save_dir, "target_v{:03d}.obj".format(index)), mesh)
point_array = op_mesh_target.points()
point_array[:] = target.v
np.copyto(op_mesh_target.points(), f_tgt.v.r)
om.write_mesh(
os.path.join(save_dir, "target_v{:03d}.obj".format(index)),
op_mesh_target)
mesh = read_and_process_mesh("example_data/pointclouds/teapot_mesh.obj",
trans=ch.array([0, 0, 0]),
rotation=ch.array([np.pi, 0, 0]))
V_ref = ch.array(mesh.v)
# reference
A_ref = LambertianPointLight(v=V_ref, f=mesh.f, num_verts=len(V_ref), light_pos=ch.array([-1000, -1000, -1000]), vc=mesh.vc,
light_color=ch.array([0.9, 0, 0])) +\
LambertianPointLight(v=V_ref, f=mesh.f, num_verts=len(V_ref), light_pos=ch.array([1000, -1000, -1000]), vc=mesh.vc,
light_color=ch.array([0.0, 0.9, 0])) +\
LambertianPointLight(v=V_ref, f=mesh.f, num_verts=len(V_ref), light_pos=ch.array(
[-1000, 1000, -1000]), vc=mesh.vc, light_color=ch.array([0.0, 0.0, 0.9]))
U_ref = ProjectPoints(v=V_ref,
f=[w, w],
c=[w / 2., h / 2.],
k=ch.zeros(5),
t=ch.zeros(3),
rt=ch.zeros(3))
f_ref = ColoredRenderer(vc=A_ref,
camera=U_ref,
f=mesh.f,
bgcolor=[1.0, 1.0, 1.0],
frustum={
'width': w,
'height': h,
'near': 1,
'far': 20
})
f_ref.v = translation + V_ref.dot(Rodrigues(rot))
Image.fromarray((f_ref.r * 255).astype(np.uint8)).save(
os.path.join(save_dir, "opendr_ref.png"))
