def loss_fun_weighted_time(index, measurement, mesh, mesh_optimization, opt,
render_opt, device):
transient = render(mesh, opt.lighting[index, :], opt.sensor[index, :],
opt.lighting_normal[index, :],
opt.sensor_normal[index, :], render_opt)
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]),
opt.lighting_normal[index, :])
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
#triangleIndexMap, distance_bin = find_triangle(mesh, direction, opt.lighting[index,:], opt.sensor[index,:], opt)
triangleIndexMap = find_triangle(mesh, direction, opt.lighting[index, :],
opt.sensor[index, :], opt)
w = torch.ones((1, 1, 2 * opt.w_width + 1)).to(device).double()
difference = torch.reshape(
-2 * torch.from_numpy(measurement[index, :] - transient).to(device),
(1, 1, opt.max_distance_bin))
difference = torch.nn.functional.conv1d(difference, w, None, 1,
opt.w_width)
difference = torch.nn.functional.conv1d(difference, w, None, 1,
opt.w_width)
weight = torch.squeeze(difference)
#difference = torch.squeeze(difference)
#weight = difference.index_select(0,torch.from_numpy(distance_bin).long())
return render_intensity_differentiable(
mesh_optimization, direction, triangleIndexMap, weight,
opt.lighting[index, :], opt.sensor[index, :],
opt.lighting_normal[index, :], opt.sensor_normal[index, :], opt,
device)
def run_gradient_est(mesh, opt, weight):
new_mesh = type('', (), {})()
new_mesh.v = Variable(torch.from_numpy(np.array(mesh.v)).cuda(),
requires_grad=True)
new_mesh.f = Variable(torch.from_numpy(np.array(mesh.f)).long().cuda(),
requires_grad=False)
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]), opt.lighting_normal)
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
triangleIndexMap = mesh_intersection_grad_igl.find_triangle(
mesh, direction, opt.lighting, opt.sensor)
angular_transient = rendering_gpu_igl.angular_sampling(
new_mesh, direction, triangleIndexMap, opt.lighting, opt.sensor,
opt.lighting_normal, opt.sensor_normal, opt)
angular_transient.backward(weight.cuda())
grad = new_mesh.v.grad.data.cpu()
return grad
def render_differentiable_rand_direction(mesh, mesh_optimization, lighting,
sensor, lighting_normal,
sensor_normal, opt, device,
transient_differentiable):
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]), lighting_normal)
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
triangleIndexMap = find_triangle(mesh, direction, lighting, sensor)
render_differentiable_transient(mesh_optimization, direction,
triangleIndexMap, lighting, sensor,
lighting_normal, sensor_normal, opt,
device, transient_differentiable)
def run_forward(mesh, opt):
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]), opt.lighting_normal)
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
angular_transient = rendering_igl.angular_sampling(mesh, direction,
opt.lighting,
opt.sensor,
opt.lighting_normal,
opt.sensor_normal, opt)
return angular_transient
def loss_func(index, measurement, mesh, mesh_optimization, opt, render_opt,
device):
transient = render(mesh, opt.lighting[index, :], opt.sensor[index, :],
opt.lighting_normal[index, :],
opt.sensor_normal[index, :], render_opt)
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]),
opt.lighting_normal[index, :])
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
triangleIndexMap = find_triangle(mesh, direction, opt.lighting[index, :],
opt.sensor[index, :])
transient_differentiable = render_differentiable(
mesh_optimization, direction, triangleIndexMap, opt.lighting[index, :],
opt.sensor[index, :], opt.lighting_normal[index, :],
opt.sensor_normal[index, :], opt, device)
weight = -2 * torch.from_numpy(measurement[index, :] -
transient).to(device)
return torch.mul(weight, transient_differentiable).sum()
def render_transient(mesh, lighting, sensor, lighting_normal, sensor_normal,
opt, angular_transient):
source = igl.eigen.MatrixXd(np.tile(lighting, (opt.sample_num, 1)))
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]), lighting_normal)
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
n = igl.eigen.MatrixXd(direction)
barycoord = igl.eigen.MatrixXd()
barycoord = igl.embree.line_mesh_intersection(source, n, mesh.v, mesh.f)
fid = np.array(barycoord.col(0)).astype(int)
idx = list(compress(range(opt.sample_num), fid != -1))
normalMap = np.empty((opt.sample_num, 3))
normalMap[:] = np.nan
v11 = np.empty(opt.sample_num)
v11[:] = np.nan
d1 = np.empty(opt.sample_num)
d1[:] = np.nan
v2 = np.empty((opt.sample_num, 3))
v2[:] = np.nan
d2 = np.empty(opt.sample_num)
d2[:] = np.nan
cos_theta2 = np.empty(opt.sample_num)
cos_theta2[:] = np.nan
distance_bin = np.empty(opt.sample_num)
distance_bin[:] = opt.max_distance_bin + 1
intensity = np.empty(opt.sample_num)
intensity[:] = np.nan
intersection_p = igl.barycentric_to_global(mesh.v, mesh.f, barycoord)
intersection_p = np.array(intersection_p)
fn = np.array(mesh.fn)
normalMap[idx, :] = fn[np.hstack(fid[idx]), :]
v11[idx] = lighting[0] - intersection_p[idx, 0]
d1[idx] = np.abs(np.divide(v11[idx], direction[idx, 0]))
v2[idx, :] = sensor - intersection_p[idx, :]
d2[idx] = np.sqrt(np.sum(v2[idx, :]**2, axis=1))
v2[idx, :] = element_divide2_np(v2[idx, :], d2[idx])
source = igl.eigen.MatrixXd(np.tile(sensor, (len(idx), 1)))
n = igl.eigen.MatrixXd(-v2[idx, :])
barycoord2 = igl.eigen.MatrixXd()
barycoord2 = igl.embree.line_mesh_intersection(source, n, mesh.v, mesh.f)
fid2 = np.array(barycoord2.col(0))
idx = list(compress(idx, fid[idx] == fid2))
cos_theta2[idx] = np.einsum('ij,ij->i', normalMap[idx, :], v2[idx, :])
less_than_zero = list(compress(idx, cos_theta2[idx] < 0))
if len(less_than_zero) != 0:
cos_theta2[less_than_zero] = 0
distance_bin[idx] = np.ceil(
(d1[idx] + d2[idx]) / opt.distance_resolution) - 1
inds = list(
compress(range(opt.sample_num), distance_bin < opt.max_distance_bin))
intensity[inds] = np.divide(cos_theta2[inds], d2[inds]**2)
u = np.unique(distance_bin[inds])
for x in u:
angular_transient[x.astype(int)] += sum(intensity[distance_bin == x])
angular_transient *= 2 * math.pi
angular_transient /= opt.sample_num
f = 0.5
z = 1.8
sensor = np.array([f, 0, z])
lighting = np.array([-f, 0, z])
sensor_normal = np.array([0, 0, -1])
lighting_normal = np.array([0, 0, -1])
opt = OPT()
phi = 2 * math.pi * np.random.rand(opt.sample_num)
theta = np.arccos(np.random.rand(opt.sample_num))
R = np.zeros([3, 3])
rotation_matrix.R_2vect(R, np.array([0, 0, 1]), lighting_normal)
direction = np.dot(
np.vstack((np.sin(theta) * np.cos(phi), np.sin(theta) * np.sin(phi),
np.cos(theta))).T, R.T)
triangleIndexMap = mesh_intersection_grad_igl.find_triangle(
mesh, direction, lighting, sensor)
mesh.v = Variable(torch.from_numpy(np.array(mesh.v)), requires_grad=True)
mesh.f = Variable(torch.from_numpy(np.array(mesh.f)).long())
tic = time.time()
angular_transient = rendering_grad_igl.angular_sampling(
mesh, direction, triangleIndexMap, lighting, sensor, lighting_normal,
sensor_normal, opt)
#meas = np.array([.002, 0, .99])
#meas = np.array([0.002, 0.0018, .99])
#meas = np.array([0.000, 0.0018, .99])
#meas = np.array([-0.0012, 0.0018, .99])
#meas = np.array([-0.0014, 0.0014, .99])
#meas = np.array([-0.0018, 0.0014, .99])
#meas = np.array([-0.0022, 0.0010, .99])
#meas = np.array([-.003, 0.0010, 0.99])
#meas = np.array([-.004, 0.0009, 0.99])
meas = np.array([.01, 0.00, .99])
def CPP(matr):
pieces = [[], [], []]
for (a, b), val in np.ndenumerate(matr):
pieces[a].append(int(val * 1000000000))
body = ", \n".join("%i, %i, %i" % tuple(p) for p in pieces)
return "<%s, 1000000000>" % body
def I3():
return np.matrix([[1., 0, 0], [0, 1., 0], [0, 0, 1.]])
m = I3()
r.R_2vect(m, orig, meas)
print orig, "->", meas
print m
print CPP(m)
