def test_look_at_rotation_list_broadcast(self):
# fmt: off
camera_positions = [[0.0, 0.0, -1.0], [0.0, 0.0, 1.0]]
rot_mats_expected = torch.tensor(
[
[
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 0.0, 1.0]
],
[
[-1.0, 0.0, 0.0], # noqa: E241, E201
[ 0.0, 1.0, 0.0], # noqa: E241, E201
[ 0.0, 0.0, -1.0] # noqa: E241, E201
],
],
dtype=torch.float32
)
# fmt: on
rot_mats = look_at_rotation(camera_positions)
self.assertClose(rot_mats, rot_mats_expected, atol=2e-7)
def test_view_transform(self):
T = torch.tensor([0.0, 0.0, -1.0], requires_grad=True).view(1, -1)
R = look_at_rotation(T)
RT = get_world_to_view_transform(R=R, T=T)
self.assertTrue(isinstance(RT, Transform3d))
def test_look_at_rotation_input_fail(self):
camera_position = [-1.0] # expected to have xyz positions
with self.assertRaises(ValueError):
look_at_rotation(camera_position)
def test_look_at_rotation_python_list(self):
camera_position = [[0.0, 0.0,
-1.0]] # camera pointing along negative z
rot_mat = look_at_rotation(camera_position)
self.assertClose(rot_mat, torch.eye(3)[None], atol=2e-7)
def getCamera(w,h,near,far,fov,Origin,LookAt,Up):
aspect = w / h
R = torchCam.look_at_rotation(Origin,LookAt,Up)
return torchCam.FoVPerspectiveCameras(near,far,aspect,fov,R=R,T=Origin).get_projection_transform()
#compare
#sample on sphere
radius = 1 #np.random.rand(1)[0]
samples = torch.rand((1, 2, nsamplesSphere))
# sphereOrig = torch.rand((1,1,3))
cx, cy, cz = (0, 0, 0)
sphereOrig = torch.Tensor([[[cx, cy, cz]]])
sphereOrigt = torch.Tensor([[[cy, cx, -cz]]])
x, y, z = lin.sampleUniformOnSphere(samples[:, 0, :], samples[:, 1, :])
xyz = torch.stack((x, y, z), dim=2) * radius + sphereOrigt
#rasterization by pytorch3d
aspect = w / h
# R,T = torchCam.look_at_view_transform(dist=2.7, elev=0, azim=0)
R = torchCam.look_at_rotation(camOrig, camLookAtt, camUp)
T = torch.einsum('abc,ac->ab', R, camOrig)
cam = torchCam.FoVPerspectiveCameras(near, far, aspect, fov, R=R, T=T)
uv = cam.transform_points_screen(xyz, torch.Tensor([[h, w]]))
uv = torch.clamp(uv, 0, h - 1)
img = torch.zeros((h, w, 3))
img[uv[0, :, 0].long(), uv[0, :, 1].long(), :] = 1
outfn = os.path.join(outdir, outfmtTorch % (0, 0))
im.writePng(outfn, img)
#render by mitsuba
light = mts.pointlight(camOrig)
camera = mts.camera(camOrig, camLookAt, camUp, fov, nsamples=nsamples)
shape = mts.sphere(sphereOrig[0], radius, material)
def get_tri_color_lights_for_view(cams, has_specular=False, point_lights=True):
"""
Create RGB lights direction in the half dome
The direction is given in the same coordinates as the pointcloud
Args:
cams
Returns:
Lights with three RGB light sources (B: right, G: left, R: bottom)
"""
import math
from DSS.core.lighting import (DirectionalLights, PointLights)
from pytorch3d.renderer.cameras import look_at_rotation
from pytorch3d.transforms import Rotate
elev = torch.tensor(((30, 30, 30), ), device=cams.device)
azim = torch.tensor(((-60, 60, 180), ), device=cams.device)
elev = math.pi / 180.0 * elev
azim = math.pi / 180.0 * azim
x = torch.cos(elev) * torch.sin(azim)
y = torch.sin(elev)
z = torch.cos(elev) * torch.cos(azim)
light_directions = torch.stack([x, y, z], dim=-1)
# import trimesh
# import pdb; pdb.set_trace()
# trimesh.Trimesh(vertices=light_directions[0].cpu().numpy(), process=False).export('tests/outputs/light_dir_pre.ply')
# transform from y-up to z-up
# transform from camera to world
cam_pos = cams.get_camera_center()
R = look_at_rotation(torch.zeros_like(cam_pos),
at=F.normalize(torch.cross(cam_pos,
torch.rand_like(cam_pos)),
dim=-1),
up=cam_pos)
light_directions = Rotate(R=R.transpose(
1, 2), device=cams.device).transform_points(light_directions)
# trimesh.Trimesh(vertices=torch.cat([cam_pos, light_directions[0]], dim=0).cpu().numpy(), process=False).export('tests/outputs/light_dir.ply')
ambient_color = torch.FloatTensor((((0.2, 0.2, 0.2), ), ))
diffuse_color = torch.FloatTensor(((
(0.0, 0.0, 0.8),
(0.0, 0.8, 0.0),
(0.8, 0.0, 0.0),
), ))
if has_specular:
specular_color = 0.15 * diffuse_color
diffuse_color *= 0.85
else:
specular_color = ((
(0, 0, 0),
(0, 0, 0),
(0, 0, 0),
), )
if not point_lights:
lights = DirectionalLights(ambient_color=ambient_color,
diffuse_color=diffuse_color,
specular_color=specular_color,
direction=light_directions)
else:
location = light_directions * 5
lights = PointLights(ambient_color=ambient_color,
diffuse_color=diffuse_color,
specular_color=specular_color,
location=location)
return lights
