def test_look_at_right_handed_preset(self):
"""Tests that look_at_right_handed generates expected results.."""
camera_position = ((0.0, 0.0, 0.0), (0.1, 0.2, 0.3))
look_at = ((0.0, 0.0, 1.0), (0.4, 0.5, 0.6))
up_vector = ((0.0, 1.0, 0.0), (0.7, 0.8, 0.9))
pred = glm.look_at_right_handed(camera_position, look_at, up_vector)
gt = (((-1.0, 0.0, 0.0, 0.0), (0.0, 1.0, 0.0, 0.0), (0.0, 0.0, -1.0, 0.0),
(0.0, 0.0, 0.0, 1.0)),
((4.08248186e-01, -8.16496551e-01, 4.08248395e-01, -2.98023224e-08),
(-7.07106888e-01, 1.19209290e-07, 7.07106769e-01, -1.41421378e-01),
(-5.77350318e-01, -5.77350318e-01, -5.77350318e-01,
3.46410215e-01), (0.0, 0.0, 0.0, 1.0)))
self.assertAllClose(pred, gt)
def test_rasterize(self):
height = 500
width = 500
camera_origin = (0.0, 0.0, 0.0)
camera_up = (0.0, 1.0, 0.0)
look_at = (0.0, 0.0, 1.0)
fov = (60.0 * np.math.pi / 180, )
near_plane = (1.0, )
far_plane = (10.0, )
world_to_camera = glm.look_at_right_handed(camera_origin, look_at,
camera_up)
perspective_matrix = glm.perspective_right_handed(
fov, (float(width) / float(height), ), near_plane, far_plane)
view_projection_matrix = tf.matmul(perspective_matrix, world_to_camera)
view_projection_matrix = tf.squeeze(view_projection_matrix)
for depth in range(2, 5):
tris = np.array([[-10.0, 10.0, depth], [10.0, 10.0, depth],
[0.0, -10.0, depth]],
dtype=np.float32)
tris_tf = tf.reshape(tris, [-1])
render_parameters = {
"view_projection_matrix": ("mat", view_projection_matrix),
"triangular_mesh": ("buffer", tris_tf)
}
render_parameters = list(six.iteritems(render_parameters))
variable_names = [v[0] for v in render_parameters]
variable_kinds = [v[1][0] for v in render_parameters]
variable_values = [v[1][1] for v in render_parameters]
result = rasterizer.rasterize(
num_points=tris.shape[0],
variable_names=variable_names,
variable_kinds=variable_kinds,
variable_values=variable_values,
output_resolution=(width, height),
vertex_shader=test_vertex_shader,
geometry_shader=test_geometry_shader,
fragment_shader=test_fragment_shader,
)
gt = np.tile((0, depth), (width, height, 1))
self.assertAllClose(result[..., 2:4], gt)
def test_rasterize(self):
max_depth = 10
min_depth = 2
height = 480
width = 640
camera_origin = (0.0, 0.0, 0.0)
camera_up = (0.0, 1.0, 0.0)
look_at = (0.0, 0.0, 1.0)
fov = (60.0 * np.math.pi / 180,)
near_plane = (1.0,)
far_plane = (10.0,)
batch_shape = tf.convert_to_tensor(
value=(2, (max_depth - min_depth) // 2), dtype=tf.int32)
world_to_camera = glm.look_at_right_handed(camera_origin, look_at,
camera_up)
perspective_matrix = glm.perspective_right_handed(
fov, (float(width) / float(height),), near_plane, far_plane)
view_projection_matrix = tf.matmul(perspective_matrix, world_to_camera)
view_projection_matrix = tf.squeeze(view_projection_matrix)
# Generate triangles at different depths and associated ground truth.
tris = np.zeros((max_depth - min_depth, 9), dtype=np.float32)
gt = np.zeros((max_depth - min_depth, width, height, 2), dtype=np.float32)
for idx in range(max_depth - min_depth):
tris[idx, :] = (-100.0, 100.0, idx + min_depth, 100.0, 100.0,
idx + min_depth, 0.0, -100.0, idx + min_depth)
gt[idx, :, :, :] = (0, idx + min_depth)
# Broadcast the variables.
render_parameters = {
"view_projection_matrix":
("mat",
tf.broadcast_to(
input=view_projection_matrix,
shape=tf.concat(
values=(batch_shape,
tf.shape(input=view_projection_matrix)[-2:]),
axis=0))),
"triangular_mesh":
("buffer",
tf.reshape(
tris, shape=tf.concat(values=(batch_shape, (9,)), axis=0)))
}
# Reshape the ground truth.
gt = tf.reshape(
gt, shape=tf.concat(values=(batch_shape, (height, width, 2)), axis=0))
render_parameters = list(six.iteritems(render_parameters))
variable_names = [v[0] for v in render_parameters]
variable_kinds = [v[1][0] for v in render_parameters]
variable_values = [v[1][1] for v in render_parameters]
def rasterize():
return rasterizer.rasterize(
num_points=3,
variable_names=variable_names,
variable_kinds=variable_kinds,
variable_values=variable_values,
output_resolution=(width, height),
vertex_shader=test_vertex_shader,
geometry_shader=test_geometry_shader,
fragment_shader=test_fragment_shader,
)
result = rasterize()
self.assertAllClose(result[..., 2:4], gt)
@tf.function
def check_lazy_shape():
# Within @tf.function, the tensor shape is determined by SetShapeFn
# callback. Ensure that the shape of non-batch axes matches that of of
# the actual tensor evaluated in eager mode above.
lazy_shape = rasterize().shape
self.assertEqual(lazy_shape[-3:], list(result.shape)[-3:])
check_lazy_shape()
def __init__(self,
background_vertices,
background_attributes,
background_triangles,
camera_origin,
look_at,
camera_up,
field_of_view,
image_size,
near_plane,
far_plane,
bottom_left=(0.0, 0.0),
name=None):
"""Initializes TriangleRasterizer with OpenGL parameters and the background.
Note:
In the following, A1 to An are optional batch dimensions.
Args:
background_vertices: A tensor of shape `[V, 3]` containing `V` 3D
vertices. Note that these background vertices will be used in every
rasterized image.
background_attributes: A tensor of shape `[V, K]` containing `V` vertices
associated with K-dimensional attributes. Pixels for which the first
visible surface is in the background geometry will make use of
`background_attribute` for estimating their own attribute. Note that
these background attributes will be use in every rasterized image.
background_triangles: An integer tensor of shape `[T, 3]` containing `T`
triangles, each associated with 3 vertices from `background_vertices`.
Note that these background triangles will be used in every rasterized
image.
camera_origin: A Tensor of shape `[A1, ..., An, 3]`, where the last axis
represents the 3D position of the camera.
look_at: A Tensor of shape `[A1, ..., An, 3]`, with the last axis storing
the position where the camera is looking at.
camera_up: A Tensor of shape `[A1, ..., An, 3]`, where the last axis
defines the up vector of the camera.
field_of_view: A Tensor of shape `[A1, ..., An, 1]`, where the last axis
represents the vertical field of view of the frustum expressed in
radians. Note that values for `field_of_view` must be in the range (0,
pi).
image_size: A tuple (height, width) containing the dimensions in pixels of
the rasterized image".
near_plane: A Tensor of shape `[A1, ..., An, 1]`, where the last axis
captures the distance between the viewer and the near clipping plane.
Note that values for `near_plane` must be non-negative.
far_plane: A Tensor of shape `[A1, ..., An, 1]`, where the last axis
captures the distance between the viewer and the far clipping plane.
Note that values for `far_plane` must be non-negative.
bottom_left: A Tensor of shape `[A1, ..., An, 2]`, where the last axis
captures the position (in pixels) of the lower left corner of the
screen. Defaults to (0.0, 0.0).
name: A name for this op. Defaults to 'triangle_rasterizer_init'.
"""
with tf.compat.v1.name_scope(
name, "triangle_rasterizer_init",
(background_vertices, background_attributes, background_triangles,
camera_origin, look_at, camera_up, field_of_view, near_plane,
far_plane, bottom_left)):
background_vertices = tf.convert_to_tensor(value=background_vertices)
background_attributes = tf.convert_to_tensor(value=background_attributes)
background_triangles = tf.convert_to_tensor(value=background_triangles)
shape.check_static(
tensor=background_vertices,
tensor_name="background_vertices",
has_rank=2,
has_dim_equals=(-1, 3))
shape.check_static(
tensor=background_attributes,
tensor_name="background_attributes",
has_rank=2)
shape.check_static(
tensor=background_triangles,
tensor_name="background_triangles",
# has_rank=2,
has_dim_equals=(-1, 3))
shape.compare_batch_dimensions(
tensors=(background_vertices, background_attributes),
last_axes=-2,
tensor_names=("background_geometry", "background_attribute"),
broadcast_compatible=False)
background_vertices = tf.expand_dims(background_vertices, axis=0)
background_attributes = tf.expand_dims(background_attributes, axis=0)
height = float(image_size[0])
width = float(image_size[1])
self._background_geometry = tf.gather(
background_vertices, background_triangles, axis=-2)
self._background_attribute = tf.gather(
background_attributes, background_triangles, axis=-2)
self._camera_origin = tf.convert_to_tensor(value=camera_origin)
self._look_at = tf.convert_to_tensor(value=look_at)
self._camera_up = tf.convert_to_tensor(value=camera_up)
self._field_of_view = tf.convert_to_tensor(value=field_of_view)
self._image_size_glm = tf.convert_to_tensor(value=(width, height))
self._image_size_int = (int(width), int(height))
self._near_plane = tf.convert_to_tensor(value=near_plane)
self._far_plane = tf.convert_to_tensor(value=far_plane)
self._bottom_left = tf.convert_to_tensor(value=bottom_left)
# Construct the pixel grid. Note that OpenGL uses half-integer pixel
# centers.
px = tf.linspace(0.5, width - 0.5, num=int(width))
py = tf.linspace(0.5, height - 0.5, num=int(height))
xv, yv = tf.meshgrid(px, py)
self._pixel_position = tf.stack((xv, yv), axis=-1)
# Construct the view projection matrix.
world_to_camera = glm.look_at_right_handed(camera_origin, look_at,
camera_up)
perspective_matrix = glm.perspective_right_handed(field_of_view,
(width / height,),
near_plane, far_plane)
perspective_matrix = tf.squeeze(perspective_matrix)
self._view_projection_matrix = tf.linalg.matmul(perspective_matrix,
world_to_camera)