def test_optimization(scene,
batch_size,
print_interval=20,
imsave_interval=20,
max_iter=100,
out_dir='./proj_tmp/'):
""" First render using the full renderer to get the surfel position and color
and then render using the projection layer for testing
Returns:
"""
from torch import optim
import os
import matplotlib.pyplot as plt
plt.ion()
if not os.path.exists(out_dir):
os.makedirs(out_dir)
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
pos_wc = res['pos'].reshape(-1,
res['pos'].shape[-1]).repeat(batch_size, 1, 1)
camera = scene['camera']
camera['eye'] = camera['eye'].repeat(batch_size, 1)
camera['at'] = camera['at'].repeat(batch_size, 1)
camera['up'] = camera['up'].repeat(batch_size, 1)
target_image = res['image'].repeat(batch_size, 1, 1, 1)
input_image = target_image + 0.1 * torch.randn(target_image.size(),
device=target_image.device)
input_image.requires_grad = True
criterion = torch.nn.MSELoss(size_average=True).cuda()
optimizer = optim.Adam([input_image], lr=1e-2)
h1 = plt.figure()
loss_per_iter = []
for iter in range(100):
im_est, mask = projection_renderer(pos_wc, input_image, camera)
optimizer.zero_grad()
loss = criterion(im_est * 255, target_image * 255)
loss_ = get_data(loss)
loss_per_iter.append(loss_)
if iter % print_interval == 0 or iter == max_iter - 1:
print('{}. Loss: {}'.format(iter, loss_))
if iter % imsave_interval == 0 or iter == max_iter - 1:
im_out_ = get_data(input_image)
im_out_ = np.uint8(255 * im_out_ / im_out_.max())
plt.figure(h1.number)
plt.imshow(im_out_[0].squeeze())
plt.title('%d. loss= %f' % (iter, loss_))
plt.savefig(out_dir + '/fig_%05d.png' % iter)
loss.backward()
optimizer.step()
def test_raster_coordinates(scene, batch_size):
"""Test if the projected raster coordinates are correct
Args:
scene: Path to scene file
Returns:
None
"""
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
pos_cc = res['pos'].reshape(1, -1, res['pos'].shape[-1])
pos_cc = pos_cc.repeat(batch_size, 1, 1)
camera = scene['camera']
camera['eye'] = camera['eye'].repeat(batch_size, 1)
camera['at'] = camera['at'].repeat(batch_size, 1)
camera['up'] = camera['up'].repeat(batch_size, 1)
viewport = make_list2np(camera['viewport'])
W, H = float(viewport[2] - viewport[0]), float(viewport[3] - viewport[1])
px_coord_idx, px_coord = project_image_coordinates(pos_cc, camera)
xp, yp = np.meshgrid(np.linspace(0, W - 1, int(W)),
np.linspace(0, H - 1, int(H)))
xp = xp.ravel()[None, ...].repeat(batch_size, axis=0)
yp = yp.ravel()[None, ...].repeat(batch_size, axis=0)
px_coord = torch.round(px_coord - 0.5).long()
np.testing.assert_array_almost_equal(xp, get_data(px_coord[..., 0]))
np.testing.assert_array_almost_equal(yp, get_data(px_coord[..., 1]))
def test_transformation_consistency(scene, batch_size):
print('test_transformation_consistency')
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
pos_cc = res['pos'].reshape(-1, res['pos'].shape[-1])
normal_cc = res['normal'].reshape(-1, res['normal'].shape[-1])
surfels = cam_to_world(pos_cc, normal_cc, scene['camera'])
surfels_cc = world_to_cam(surfels['pos'], surfels['normal'],
scene['camera'])
np.testing.assert_array_almost_equal(get_data(pos_cc),
get_data(surfels_cc['pos'][:, :3]))
np.testing.assert_array_almost_equal(get_data(normal_cc),
get_data(surfels_cc['normal'][:, :3]))
def test_depth_to_world_consistency(scene, batch_size):
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
pos_wc1 = res['pos'].reshape(-1, res['pos'].shape[-1])
pos_cc1 = world_to_cam(pos_wc1, None, scene['camera'])['pos']
# First test the non-batched z_to_pcl_CC method:
# NOTE: z_to_pcl_CC takes as input the Z dimension in the camera coordinate
# and gets the full (X, Y, Z) in the camera coordinate.
pos_cc2 = z_to_pcl_CC(pos_cc1[:, 2], scene['camera'])
pos_wc2 = cam_to_world(pos_cc2, None, scene['camera'])['pos']
# Test Z -> (X, Y, Z)
np.testing.assert_array_almost_equal(get_data(pos_cc1[..., :3]),
get_data(pos_cc2[..., :3]))
# Test world -> camera -> Z -> (X, Y, Z) in camera -> world
np.testing.assert_array_almost_equal(get_data(pos_wc1[..., :3]),
get_data(pos_wc2[..., :3]))
# Then test the batched version:
camera = scene['camera']
camera['eye'] = camera['eye'].repeat(batch_size, 1)
camera['at'] = camera['at'].repeat(batch_size, 1)
camera['up'] = camera['up'].repeat(batch_size, 1)
pos_wc1 = pos_wc1.repeat(batch_size, 1, 1)
pos_cc1 = world_to_cam_batched(pos_wc1, None, scene['camera'])['pos']
pos_cc2 = z_to_pcl_CC_batched(pos_cc1[..., 2], camera) # NOTE: z = -depth
pos_wc2 = cam_to_world_batched(pos_cc2, None, camera)['pos']
# Test Z -> (X, Y, Z)
np.testing.assert_array_almost_equal(get_data(pos_cc1[..., :3]),
get_data(pos_cc2[..., :3]))
# Test world -> camera -> Z -> (X, Y, Z) in camera -> world
np.testing.assert_array_almost_equal(get_data(pos_wc1[..., :3]),
get_data(pos_wc2[..., :3]))
def test_render_projection_consistency(scene, batch_size):
""" First render using the full renderer to get the surfel position and color
and then render using the projection layer for testing
Returns:
"""
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
pos_cc = res['pos'].reshape(-1,
res['pos'].shape[-1]).repeat(batch_size, 1, 1)
camera = scene['camera']
camera['eye'] = camera['eye'].repeat(batch_size, 1)
camera['at'] = camera['at'].repeat(batch_size, 1)
camera['up'] = camera['up'].repeat(batch_size, 1)
image = res['image'].repeat(batch_size, 1, 1, 1)
im, mask = projection_renderer(pos_cc, image, camera)
diff = np.abs(get_data(image) - get_data(im))
np.testing.assert_(diff.sum() < 1e-10, 'Non-zero difference.')
def test_depth_optimization(scene,
batch_size,
print_interval=20,
imsave_interval=20,
max_iter=100,
out_dir='./proj_tmp_depth-fast/'):
""" First render using the full renderer to get the surfel position and color
and then render using the projection layer for testing
Returns:
"""
from torch import optim
import torchvision
import os
import matplotlib
matplotlib.use('agg')
import matplotlib.pyplot as plt
import imageio
from PIL import Image
plt.ion()
if not os.path.exists(out_dir):
os.makedirs(out_dir)
use_chair = True
use_fast_projection = True
use_masked_loss = True
use_same_render_method_for_target = False
lr = 1e-2
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
# true_pos_wc = res['pos'].reshape(-1, res['pos'].shape[-1]).repeat(batch_size, 1, 1)
true_input_img = res['image'].unsqueeze(0).repeat(batch_size, 1, 1, 1)
if use_chair:
camera = scene['camera']
camera['eye'] = tch_var_f([0, 0, 4, 1]).repeat(batch_size, 1)
camera['at'] = tch_var_f([0, 0, 0, 1]).repeat(batch_size, 1)
camera['up'] = tch_var_f([0, 1, 0, 0]).repeat(batch_size, 1)
else:
camera = scene['camera']
camera['eye'] = camera['eye'].repeat(batch_size, 1)
camera['at'] = camera['at'].repeat(batch_size, 1)
camera['up'] = camera['up'].repeat(batch_size, 1)
if use_chair:
chair_0 = Image.open('object-0-azimuth-000.006-rgb.png')
true_input_img = torchvision.transforms.ToTensor()(chair_0).to(
true_input_img.device).unsqueeze(0)
true_input_img = true_input_img.permute(0, 2, 3, 1)
camera['viewport'] = [0, 0, 128, 128] # TODO don't hardcode
true_depth = res['depth'].repeat(batch_size, 1, 1).reshape(
batch_size, -1) # Not relevant if 'use_chair' is True
# depth = true_depth.clone() + 0.1 * torch.randn_like(true_depth)
depth = 0.1 * torch.randn(
batch_size,
true_input_img.size(-2) * true_input_img.size(-3),
device=true_input_img.device,
dtype=torch.float)
depth.requires_grad = True
if use_chair:
target_angle = np.deg2rad(20)
else:
target_angle = -np.pi / 12
rotated_camera = copy.deepcopy(camera)
# randomly_rotate_cameras(rotated_camera, theta_range=[-np.pi / 16, np.pi / 16], phi_range=[-np.pi / 8, np.pi / 8])
randomly_rotate_cameras(rotated_camera,
theta_range=[0, 1e-10],
phi_range=[target_angle, target_angle + 1e-10])
if use_chair:
target_image = Image.open('object-0-azimuth-020.006-rgb.png')
target_image = torchvision.transforms.ToTensor()(target_image).to(
true_input_img.device).unsqueeze(0)
target_image = target_image.permute(0, 2, 3, 1)
target_mask = torch.ones(*target_image.size()[:-1],
1,
device=target_image.device,
dtype=torch.float)
else:
true_pos_cc = z_to_pcl_CC_batched(-true_depth,
camera) # NOTE: z = -depth
true_pos_wc = cam_to_world_batched(true_pos_cc, None, camera)['pos']
if use_same_render_method_for_target:
if use_fast_projection:
target_image, proj_out = projection_renderer_differentiable_fast(
true_pos_wc, true_input_img, rotated_camera)
target_mask = proj_out['mask']
else:
target_image, target_mask = projection_renderer_differentiable(
true_pos_wc, true_input_img, rotated_camera)
# target_image, _ = projection_renderer(true_pos_wc, true_input_img, rotated_camera)
else:
scene2 = copy.deepcopy(scene)
scene['camera'] = copy.deepcopy(rotated_camera)
scene['camera']['eye'] = scene['camera']['eye'][0]
scene['camera']['at'] = scene['camera']['at'][0]
scene['camera']['up'] = scene['camera']['up'][0]
target_image = render(scene)['image'].unsqueeze(0).repeat(
batch_size, 1, 1, 1)
target_mask = torch.ones(*target_image.size()[:-1],
1,
device=target_image.device,
dtype=torch.float)
input_image = true_input_img # + 0.1 * torch.randn(target_image.size(), device=target_image.device)
criterion = torch.nn.MSELoss(reduction='none').cuda()
optimizer = optim.Adam([depth], lr=1e-2)
h1 = plt.figure()
# fig_imgs = []
depth_imgs = []
out_imgs = []
imageio.imsave(out_dir + '/optimization_input_image.png',
input_image[0].cpu().numpy())
imageio.imsave(out_dir + '/optimization_target_image.png',
target_image[0].cpu().numpy())
if not use_chair:
imageio.imsave(
out_dir + '/optimization_target_depth.png',
true_depth.view(*input_image.size()[:-1], 1)[0].cpu().numpy())
loss_per_iter = []
for iter in range(500):
optimizer.zero_grad()
# depth_in = torch.nn.functional.softplus(depth + 3)
depth_in = depth + 4
pos_cc = z_to_pcl_CC_batched(-depth_in, camera) # NOTE: z = -depth
pos_wc = cam_to_world_batched(pos_cc, None, camera)['pos']
if use_fast_projection:
im_est, proj_out = projection_renderer_differentiable_fast(
pos_wc, input_image, rotated_camera)
im_mask = proj_out['mask']
else:
im_est, im_mask = projection_renderer_differentiable(
pos_wc, input_image, rotated_camera)
# im_est, mask = projection_renderer(pos_wc, input_image, rotated_camera)
if use_masked_loss:
loss = torch.sum(target_mask * im_mask * criterion(
im_est * 255, target_image * 255)) / torch.sum(
target_mask * im_mask)
else:
loss = criterion(im_est * 255, target_image * 255).mean()
loss_ = get_data(loss)
loss_per_iter.append(loss_)
if iter % print_interval == 0 or iter == max_iter - 1:
print('{}. Loss: {}'.format(iter, loss_))
if iter % imsave_interval == 0 or iter == max_iter - 1:
# Input image
# im_out_ = get_data(input_image.detach())
# im_out_ = np.uint8(255 * im_out_ / im_out_.max())
# fig = plt.figure(h1.number)
# plot = fig.add_subplot(111)
# plot.imshow(im_out_[0].squeeze())
# plot.set_title('%d. loss= %f' % (iter, loss_))
# # plt.savefig(out_dir + '/fig_%05d.png' % iter)
# fig_data = np.array(fig.canvas.renderer._renderer)
# fig_imgs.append(fig_data)
# Depth
im_out_ = get_data(
depth_in.view(*input_image.size()[:-1], 1).detach())
im_out_ = np.uint8(255 * im_out_ / im_out_.max())
fig = plt.figure(h1.number)
plot = fig.add_subplot(111)
plot.imshow(im_out_[0].squeeze())
plot.set_title('%d. loss= %f' % (iter, loss_))
# plt.savefig(out_dir + '/fig_%05d.png' % iter)
depth_data = np.array(fig.canvas.renderer._renderer)
depth_imgs.append(depth_data)
# Output image
im_out_ = get_data(im_est.detach())
im_out_ = np.uint8(255 * im_out_ / im_out_.max())
fig = plt.figure(h1.number)
plot = fig.add_subplot(111)
plot.imshow(im_out_[0].squeeze())
plot.set_title('%d. loss= %f' % (iter, loss_))
# plt.savefig(out_dir + '/fig_%05d.png' % iter)
out_data = np.array(fig.canvas.renderer._renderer)
out_imgs.append(out_data)
loss.backward()
optimizer.step()
# imageio.mimsave(out_dir + '/optimization_anim_in.gif', fig_imgs)
imageio.mimsave(out_dir + '/optimization_anim_depth.gif', depth_imgs)
imageio.mimsave(out_dir + '/optimization_anim_out.gif', out_imgs)
def test_visual_reverse_renderer(scene, batch_size):
"""
Test that outputs visual images for the user to compare
"""
from torchvision.utils import save_image
import time
res = render_scene(scene)
scene = make_torch_var(load_scene(scene))
camera = scene['camera']
camera['eye'] = camera['eye'].repeat(batch_size, 1)
camera['at'] = camera['at'].repeat(batch_size, 1)
camera['up'] = camera['up'].repeat(batch_size, 1)
original_camera = copy.deepcopy(camera)
pos_wc = res['pos'].reshape(-1,
res['pos'].shape[-1]).repeat(batch_size, 1, 1)
depth = res['depth'].repeat(batch_size, 1, 1).reshape(batch_size, -1)
# pos_cc = z_to_pcl_CC_batched(-depth, scene['camera']) # NOTE: z = -depth
# pos_wc = cam_to_world_batched(pos_cc, None, scene['camera'])['pos']
randomly_rotate_cameras(camera,
theta_range=[-np.pi / 16, np.pi / 16],
phi_range=[-np.pi / 8, np.pi / 8])
image = res['image'].repeat(batch_size, 1, 1, 1)
save_image(image.clone().permute(0, 3, 1, 2), 'test-original.png', nrow=2)
save_image(depth.view(*image.size()[:-1], 1).clone().permute(0, 3, 1, 2),
'test-original-depth.png',
nrow=2,
normalize=True)
# im, _ = projection_renderer(pos_wc, image, camera)
# save_image(im.clone().permute(0, 3, 1, 2), 'test-rotated-reprojected-nonblurred.png', nrow=2)
# If we want to merge with another already rotated image
# NOTE: only works on batch 1 because `render` is not batched
rotated_scene = copy.deepcopy(scene)
rotated_scene['camera'] = copy.deepcopy(camera)
rotated_scene['camera']['eye'] = rotated_scene['camera']['eye'][0]
rotated_scene['camera']['at'] = rotated_scene['camera']['at'][0]
rotated_scene['camera']['up'] = rotated_scene['camera']['up'][0]
res_rotated = render(rotated_scene)
rotated_image = res_rotated['image'].repeat(batch_size, 1, 1, 1)
save_image(rotated_image.clone().permute(0, 3, 1, 2),
'test-original-rotated.png',
nrow=2)
out_pos_wc = res_rotated['pos'].reshape(-1, res['pos'].shape[-1]).repeat(
batch_size, 1, 1)
torch.cuda.synchronize()
st = time.time()
im, proj_out = projection_reverse_renderer(image,
pos_wc,
out_pos_wc,
original_camera,
camera,
compute_new_depth=True)
torch.cuda.synchronize()
print(f"t1: {time.time() - st}")
st = time.time()
projection_renderer_differentiable_fast(pos_wc,
image,
camera,
blur_size=1e-10,
compute_new_depth=True)
torch.cuda.synchronize()
print(f"t2: {time.time() - st}")
save_image(im.clone().permute(0, 3, 1, 2),
'test-fast-rotated-reprojected-unmerged.png',
nrow=2)
save_image(proj_out['mask'].clone().permute(0, 3, 1, 2),
'test-fast-soft-mask.png',
nrow=2,
normalize=True)
save_image(proj_out['depth'].clone().permute(0, 3, 1, 2),
'test-fast-depth.png',
nrow=2,
normalize=True)
for key in proj_out.keys():
proj_out[key] = proj_out[key].cpu().numpy()
np.savez('test-fast-rotation-reprojection.npz',
**proj_out,
image=im.cpu().numpy(),
image_in=image.cpu().numpy(),
depth_in=depth.view(*image.size()[:-1], 1).cpu().numpy())
im, _ = projection_reverse_renderer(image, pos_wc, out_pos_wc,
original_camera, camera, rotated_image)
save_image(im.clone().permute(0, 3, 1, 2),
'test-fast-rotated-reprojected-merged.png',
nrow=2)