def test_bfgs_madsen(self):
from ch import SumOfSquares
import scipy.optimize
obj = Ch(lambda x : SumOfSquares(Madsen(x = x)) )
def errfunc(x):
obj.x = Ch(x)
return obj.r
def gradfunc(x):
obj.x = Ch(x)
return obj.dr_wrt(obj.x).ravel()
x0 = np.array((3., 1.))
# Optimize with built-in bfgs.
# Note: with 8 iters, this actually requires 14 gradient evaluations.
# This can be verified by setting "disp" to 1.
#tm = time.time()
x1 = scipy.optimize.fmin_bfgs(errfunc, x0, fprime=gradfunc, maxiter=8, disp=0)
#print 'forward: took %.es' % (time.time() - tm,)
self.assertLess(obj.r/2., 0.4)
# Optimize with chumpy's minimize (which uses scipy's bfgs).
obj.x = x0
minimize(fun=obj, x0=[obj.x], method='bfgs', options={'maxiter': 8, 'disp': False})
self.assertLess(obj.r/2., 0.4)
def RigidTransformSlow(**kwargs):
# Returns a Ch object with dterms 'v', 'rt', and 't'
result = Ch(lambda v, rt, t: v.dot(Rodrigues(rt=rt)) + t)
if len(kwargs) > 0:
result.set(**kwargs)
return result
def MeshToScan(scan,
mesh_verts,
mesh_faces,
mesh_template_or_sampler,
rho=lambda x: x,
normalize=True,
signed=False):
"""Returns a Ch object whose only dterm is 'mesh_verts'"""
sampler, n_samples = construct_sampler(mesh_template_or_sampler,
mesh_verts.size / 3)
norm_const = np.sqrt(n_samples) if normalize else 1
if signed:
fn = lambda x: SignedSqrt(rho(x)) / norm_const
else:
fn = lambda x: ch.sqrt(rho(x)) / norm_const
result = Ch(lambda mesh_verts: fn(
MeshDistanceSquared(sample_verts=mesh_verts,
sample_faces=mesh_faces,
reference_verts=scan.v,
reference_faces=scan.f,
sampler=sampler,
signed=signed)))
result.mesh_verts = mesh_verts
return result
def PtsToMesh(sample_verts,
reference_verts,
reference_faces,
reference_template_or_sampler,
rho=lambda x: x,
normalize=True,
signed=False):
"""Returns a Ch object whose dterms are 'reference_v' and 'sample_v'"""
sampler = {'point2sample': sp.eye(sample_verts.size, sample_verts.size)}
n_samples = sample_verts.size / 3
norm_const = np.sqrt(n_samples) if normalize else 1
if signed:
fn = lambda x: SignedSqrt(rho(x)) / norm_const
else:
fn = lambda x: ch.sqrt(rho(x)) / norm_const
result = Ch(lambda sample_v, reference_v: fn(
MeshDistanceSquared(sample_verts=sample_v,
reference_verts=reference_v,
reference_faces=reference_faces,
sampler=sampler,
signed=signed)))
result.reference_v = reference_verts
result.sample_v = sample_verts
return result
def RigidTransformSlow(**kwargs):
# Returns a Ch object with dterms 'v', 'rt', and 't'
result = Ch(lambda v, rt, t : v.dot(Rodrigues(rt=rt)) + t)
if len(kwargs) > 0:
result.set(**kwargs)
return result
def Rosen():
args = {
'x1': Ch(-120.),
'x2': Ch(-100.)
}
r1 = Ch(lambda x1, x2 : (x2 - x1**2.) * 10., args)
r2 = Ch(lambda x1 : x1 * -1. + 1, args)
func = [r1, r2]
return func, [args['x1'], args['x2']]
def on_changed(self, which):
if 'ortho' in which:
w = self.ortho.width
h = self.ortho.height
self.glf = OsContext(np.int(w), np.int(h), typ=GL_FLOAT)
_setup_ortho(self.glf, self.ortho.left.r, self.ortho.right.r,
self.ortho.bottom.r, self.ortho.top.r,
self.ortho.near, self.ortho.far, self.ortho.view_mtx)
self.glf.Viewport(0, 0, w, h)
self.glb = OsContext(np.int(w), np.int(h), typ=GL_UNSIGNED_BYTE)
self.glb.Viewport(0, 0, w, h)
_setup_ortho(self.glb, self.ortho.left.r, self.ortho.right.r,
self.ortho.bottom.r, self.ortho.top.r,
self.ortho.near, self.ortho.far, self.ortho.view_mtx)
if not hasattr(self, 'num_channels'):
self.num_channels = 3
if not hasattr(self, 'bgcolor'):
self.bgcolor = Ch(np.array([.5] * self.num_channels))
which.add('bgcolor')
if not hasattr(self, 'overdraw'):
self.overdraw = True
if 'bgcolor' in which:
self.glf.ClearColor(self.bgcolor.r[0],
self.bgcolor.r[1 % self.num_channels],
self.bgcolor.r[2 % self.num_channels], 1.)
def test_inv2(self):
from linalg import Inv
eps = 1e-8
idx = 13
mtx1 = np.random.rand(100).reshape((10,10))
mtx2 = mtx1.copy()
mtx2.ravel()[idx] += eps
diff_emp = (np.linalg.inv(mtx2) - np.linalg.inv(mtx1)) / eps
mtx1 = Ch(mtx1)
diff_pred = Inv(mtx1).dr_wrt(mtx1)[:,13].reshape(diff_emp.shape)
#print(diff_emp)
#print(diff_pred)
#print(diff_emp - diff_pred)
self.assertTrue(np.max(np.abs(diff_pred.ravel()-diff_emp.ravel())) < 1e-4)
def test_svd(self):
from linalg import Svd
eps = 1e-3
idx = 10
data = np.sin(np.arange(300)*100+10).reshape((-1,3))
data[3,:] = data[3,:]*0+10
data[:,1] *= 2
data[:,2] *= 4
data = data.copy()
u,s,v = np.linalg.svd(data, full_matrices=False)
data = Ch(data)
data2 = data.r.copy()
data2.ravel()[idx] += eps
u2,s2,v2 = np.linalg.svd(data2, full_matrices=False)
svdu, svdd, svdv = Svd(x=data)
# test singular values
diff_emp = (s2-s) / eps
diff_pred = svdd.dr_wrt(data)[:,idx]
#print(diff_emp)
#print(diff_pred)
ratio = diff_emp / diff_pred
#print(ratio)
self.assertTrue(np.max(np.abs(ratio - 1.)) < 1e-4)
# test V
diff_emp = (v2 - v) / eps
diff_pred = svdv.dr_wrt(data)[:,idx].reshape(diff_emp.shape)
ratio = diff_emp / diff_pred
#print(ratio)
self.assertTrue(np.max(np.abs(ratio - 1.)) < 1e-2)
# test U
diff_emp = (u2 - u) / eps
diff_pred = svdu.dr_wrt(data)[:,idx].reshape(diff_emp.shape)
ratio = diff_emp / diff_pred
#print(ratio)
self.assertTrue(np.max(np.abs(ratio - 1.)) < 1e-2)
def test_inv1(self):
from linalg import Inv
mtx1 = Ch(np.sin(2**np.arange(9)).reshape((3,3)))
mtx1_inv = Inv(mtx1)
dr = mtx1_inv.dr_wrt(mtx1)
eps = 1e-5
mtx2 = mtx1.r.copy()
input_diff = np.sin(np.arange(mtx2.size)).reshape(mtx2.shape) * eps
mtx2 += input_diff
mtx2_inv = Inv(mtx2)
output_diff_emp = (np.linalg.inv(mtx2) - np.linalg.inv(mtx1.r)).ravel()
output_diff_pred = Inv(mtx1).dr_wrt(mtx1).dot(input_diff.ravel())
#print(output_diff_emp)
#print(output_diff_pred)
self.assertTrue(np.max(np.abs(output_diff_emp - output_diff_pred)) < eps*1e-4)
self.assertTrue(np.max(np.abs(mtx1_inv.r - np.linalg.inv(mtx1.r)).ravel()) == 0)
def pose_numpy_to_pkl(name, out_name):
"""Converts numpy array of (nx105) numpy pose fits to a pickle object of:
'mean', 'cov', 'pic'"""
raw = np.load(os.path.join(pose_loc, name))
n_frames = raw.shape[0]
data = raw.reshape((n_frames, 102)) # get non global joint rots
mean = np.mean(data, axis=0)
cov = np.cov(data.T) + 1e-8 * np.eye(
102) # add small amount to prevent matrix not being positive definite
pic = np.linalg.cholesky(np.linalg.inv((cov)))
# pre pad correctly to 'include' global rot
out = {
'mean_pose': np.pad(mean, (3, 0)),
'cov': np.pad(cov, ((3, 0), (3, 0))),
'pic': Ch(np.pad(pic, ((3, 0), (3, 0)))),
}
with open(os.path.join(pose_loc, out_name), "wb") as outfile:
pkl.dump(out, outfile)
def test_inv3(self):
"""Test linalg.inv with broadcasting support."""
from linalg import Inv
mtx1 = Ch(np.sin(2**np.arange(12)).reshape((3,2,2)))
mtx1_inv = Inv(mtx1)
dr = mtx1_inv.dr_wrt(mtx1)
eps = 1e-5
mtx2 = mtx1.r.copy()
input_diff = np.sin(np.arange(mtx2.size)).reshape(mtx2.shape) * eps
mtx2 += input_diff
mtx2_inv = Inv(mtx2)
output_diff_emp = (np.linalg.inv(mtx2) - np.linalg.inv(mtx1.r)).ravel()
output_diff_pred = Inv(mtx1).dr_wrt(mtx1).dot(input_diff.ravel())
# print(output_diff_emp)
# print(output_diff_pred)
self.assertTrue(np.max(np.abs(output_diff_emp.ravel() - output_diff_pred.ravel())) < eps*1e-3)
self.assertTrue(np.max(np.abs(mtx1_inv.r - np.linalg.inv(mtx1.r)).ravel()) == 0)
def errfunc(x):
obj.x = Ch(x)
return obj.r
def test_cam_derivatives(self):
mesh, lightings, camera, frustum, renderers = self.load_basics()
camparms = {
'c': {
'mednz': 2.2e-2,
'meannz': 4.2e-2,
'desc': 'center of proj diff',
'eps0': 4.,
'eps1': .1
},
#'f': {'mednz' : 2.5e-2, 'meannz': 6e-2, 'desc': 'focal diff', 'eps0': 100., 'eps1': .1},
't': {
'mednz': 1.2e-1,
'meannz': 3.0e-1,
'desc': 'trans diff',
'eps0': .25,
'eps1': .1
},
'rt': {
'mednz': 8e-2,
'meannz': 1.8e-1,
'desc': 'rot diff',
'eps0': 0.02,
'eps1': .5
},
'k': {
'mednz': 7e-2,
'meannz': 5.1e-1,
'desc': 'distortion diff',
'eps0': .5,
'eps1': .05
}
}
for renderer in renderers:
im_shape = renderer.shape
lighting = lightings[renderer.num_channels]
# Render a rotating mesh
mesh = get_earthmesh(trans=np.array([0, 0, 5]),
rotation=np.array([math.pi / 2., 0, 0]))
mesh_verts = Ch(mesh.v.flatten())
camera.v = mesh_verts
lighting.v = mesh_verts
renderer.vc = lighting
renderer.camera = camera
for atrname, info in list(camparms.items()):
# Get pixels and derivatives
r = renderer.r
atr = lambda: getattr(camera, atrname)
satr = lambda x: setattr(camera, atrname, x)
atr_size = atr().size
dr = renderer.dr_wrt(atr())
# Establish a random direction
tmp = np.random.rand(atr().size) - .5
direction = (tmp / np.linalg.norm(tmp)) * info['eps0']
#direction = np.sin(np.ones(atr_size))*info['eps0']
#direction = np.zeros(atr_size)
# try:
# direction[4] = 1.
# except: pass
#direction *= info['eps0']
eps = info['eps1']
# Render going forward in that direction
satr(atr().r + direction * eps / 2.)
rfwd = renderer.r
# Render going backward in that direction
satr(atr().r - direction * eps / 1.)
rbwd = renderer.r
# Put back
satr(atr().r + direction * eps / 2.)
# Establish empirical and predicted derivatives
dr_empirical = (np.asarray(rfwd, np.float64) -
np.asarray(rbwd, np.float64)).ravel() / eps
dr_predicted = dr.dot(col(direction.flatten())).reshape(
dr_empirical.shape)
images = OrderedDict()
images['shifted %s' %
(atrname, )] = np.asarray(rfwd, np.float64) - .5
images[r'empirical %s' % (atrname, )] = dr_empirical
images[r'predicted %s' % (atrname, )] = dr_predicted
images[info['desc']] = dr_predicted - dr_empirical
nonzero = images[info['desc']][np.nonzero(
images[info['desc']] != 0)[0]]
mederror = np.median(np.abs(nonzero))
meanerror = np.mean(np.abs(nonzero))
if visualize:
matplotlib.rcParams.update({'font.size': 18})
plt.figure(figsize=(6 * 3, 2 * 3))
for idx, title in enumerate(images.keys()):
plt.subplot(1, len(list(images.keys())), idx + 1)
im = process(images[title].reshape(im_shape),
vmin=-.5,
vmax=.5)
plt.title(title)
plt.imshow(im)
print('%s: median nonzero %.2e' % (
atrname,
mederror,
))
print('%s: mean nonzero %.2e' % (
atrname,
meanerror,
))
plt.draw()
plt.show()
self.assertLess(meanerror, info['meannz'])
self.assertLess(mederror, info['mednz'])
def set_and_get_r(self, x_in):
self.x = Ch(x_in)
return col(self.r)
def gradfunc(x):
obj.x = Ch(x)
return obj.dr_wrt(obj.x).ravel()
print(lista[iters][5:-4] + ' Already Done')
continue
else:
flag = 1
if not (os.path.exists('./Res2/result2_' + lista[iters][5:-4] +
'.mat')):
print(lista[iters][5:-4] + ': CRITICAL ERROR, MISSIN RES2')
continue
a = sio.loadmat('./Res2/result2_' + lista[iters][5:-4] + '.mat')
if not ('C' in a):
print(lista[iters][5:-4] + ' Not elaborated yet')
continue
W_Joints = Ch(10)
W_FMP2P = Ch(0.1)
W_Landmarks = Ch(1)
W_Norm_B = Ch(0.5)
W_Norm_T = Ch(1)
W_NN = Ch(1)
W_Head = Ch(1)
W_Hands = Ch(0)
result.betas[:] = np.zeros(10)
result.pose[:] = np.zeros(72)
print lista[iters]
Target = loadObj(lista[iters])
#Rigid alignment
scale = Ch(1)
def set_and_get_dr(self, x_in):
self.x = Ch(x_in)
return self.dr_wrt(self.x).flatten()
def test_spherical_harmonics(self):
global visualize
if visualize:
plt.ion()
# Get mesh
v, f = get_sphere_mesh()
from geometry import VertNormals
vn = VertNormals(v=v, f=f)
#vn = Ch(mesh.estimate_vertex_normals())
# Get camera
cam, frustum = getcam()
# Get renderer
from renderer import ColoredRenderer
cam.v = v
cr = ColoredRenderer(f=f, camera=cam, frustum=frustum, v=v)
sh_red = SphericalHarmonics(vn=vn, light_color=np.array([1,0,0]))
sh_green = SphericalHarmonics(vn=vn, light_color=np.array([0,1,0]))
cr.vc = sh_red + sh_green
ims_baseline = []
for comp_idx, subplot_idx in enumerate([3,7,8,9,11,12,13,14,15]):
sh_comps = np.zeros(9)
sh_comps[comp_idx] = 1
sh_red.components = Ch(sh_comps)
sh_green.components = Ch(-sh_comps)
newim = cr.r.reshape((frustum['height'], frustum['width'], 3))
ims_baseline.append(newim)
if visualize:
plt.subplot(3,5,subplot_idx)
plt.imshow(newim)
plt.axis('off')
offset = row(.4 * (np.random.rand(3)-.5))
#offset = row(np.array([1.,1.,1.]))*.05
vn_shifted = (vn.r + offset)
vn_shifted = vn_shifted / col(np.sqrt(np.sum(vn_shifted**2, axis=1)))
vn_shifted = vn_shifted.ravel()
vn_shifted[vn_shifted>1.] = 1
vn_shifted[vn_shifted<-1.] = -1
vn_shifted = Ch(vn_shifted)
cr.replace(sh_red.vn, vn_shifted)
if True:
for comp_idx in range(9):
if visualize:
plt.figure(comp_idx+2)
sh_comps = np.zeros(9)
sh_comps[comp_idx] = 1
sh_red.components = Ch(sh_comps)
sh_green.components = Ch(-sh_comps)
pred = cr.dr_wrt(vn_shifted).dot(col(vn_shifted.r.reshape(vn.r.shape) - vn.r)).reshape((frustum['height'], frustum['width'], 3))
if visualize:
plt.subplot(1,2,1)
plt.imshow(pred)
plt.title('pred (comp %d)' % (comp_idx,))
plt.subplot(1,2,2)
newim = cr.r.reshape((frustum['height'], frustum['width'], 3))
emp = newim - ims_baseline[comp_idx]
if visualize:
plt.imshow(emp)
plt.title('empirical (comp %d)' % (comp_idx,))
pred_flat = pred.ravel()
emp_flat = emp.ravel()
nnz = np.unique(np.concatenate((np.nonzero(pred_flat)[0], np.nonzero(emp_flat)[0])))
if comp_idx != 0:
med_diff = np.median(np.abs(pred_flat[nnz]-emp_flat[nnz]))
med_obs = np.median(np.abs(emp_flat[nnz]))
if comp_idx == 4 or comp_idx == 8:
self.assertTrue(med_diff / med_obs < .6)
else:
self.assertTrue(med_diff / med_obs < .3)
if visualize:
plt.axis('off')
def test_color_derivatives(self):
mesh, lightings, camera, frustum, renderers = self.load_basics()
for renderer in renderers:
im_shape = renderer.shape
lighting = lightings[renderer.num_channels]
# Get pixels and dI/dC
mesh = get_earthmesh(trans=np.array([0, 0, 5]),
rotation=np.array([math.pi / 2., 0, 0]))
mesh_verts = Ch(mesh.v)
mesh_colors = Ch(mesh.vc)
camera.set(v=mesh_verts)
# import pdb; pdb.set_trace()
# print '-------------------------------------------'
#lighting.set(vc=mesh_colors, v=mesh_verts)
lighting.vc = mesh_colors[:, :renderer.num_channels]
lighting.v = mesh_verts
renderer.set(v=mesh_verts, vc=lighting)
r = renderer.r
dr = renderer.dr_wrt(mesh_colors).copy()
# Establish a random direction
eps = .4
direction = (
np.random.randn(mesh.v.size).reshape(mesh.v.shape) * .1 +
np.sin(mesh.v * 19) * .1).flatten()
# Find empirical forward derivatives in that direction
mesh_colors = Ch(mesh.vc +
direction.reshape(mesh.vc.shape) * eps / 2.)
lighting.set(vc=mesh_colors[:, :renderer.num_channels])
renderer.set(vc=lighting)
rfwd = renderer.r
# Find empirical backward derivatives in that direction
mesh_colors = Ch(mesh.vc -
direction.reshape(mesh.vc.shape) * eps / 2.)
lighting.set(vc=mesh_colors[:, :renderer.num_channels])
renderer.set(vc=lighting)
rbwd = renderer.r
dr_empirical = (np.asarray(rfwd, np.float64) -
np.asarray(rbwd, np.float64)).ravel() / eps
dr_predicted = dr.dot(col(direction.flatten())).reshape(
dr_empirical.shape)
images = OrderedDict()
images['shifted colors'] = np.asarray(rfwd, np.float64) - .5
images[
r'empirical colors $\left(\frac{dI}{dC}\right)$'] = dr_empirical
images[
r'predicted colors $\left(\frac{dI}{dC}\right)$'] = dr_predicted
images['difference colors'] = dr_predicted - dr_empirical
nonzero = images['difference colors'][np.nonzero(
images['difference colors'] != 0)[0]]
if visualize:
matplotlib.rcParams.update({'font.size': 18})
plt.figure(figsize=(6 * 3, 2 * 3))
for idx, title in enumerate(images.keys()):
plt.subplot(1, len(list(images.keys())), idx + 1)
im = process(images[title].reshape(im_shape),
vmin=-.5,
vmax=.5)
plt.title(title)
plt.imshow(im)
plt.show()
print('color: median nonzero %.2e' %
(np.median(np.abs(nonzero)), ))
print('color: mean nonzero %.2e' %
(np.mean(np.abs(nonzero)), ))
self.assertLess(np.mean(np.abs(nonzero)), 2e-2)
self.assertLess(np.median(np.abs(nonzero)), 4.5e-3)
def test_distortion(self):
mesh, lightings, camera, frustum, renderers = self.load_basics()
renderer = renderers[1]
lighting = lightings[renderer.num_channels]
lighting.light_pos = -lighting.light_pos * 100.
mesh = get_earthmesh(trans=np.array([0, 0, -8]),
rotation=np.array([math.pi / 2., 0, 0]))
mesh_verts = Ch(mesh.v.flatten())
renderer.camera = camera
camera.v = mesh_verts
lighting.v = mesh_verts
renderer.vc = lighting
renderer.camera = camera
camera.rt = np.array([np.pi, 0, 0])
# Get pixels and derivatives
im_original = renderer.r.copy()
#camera.k = np.zeros(5)
#camera.k = np.arange(8,0,-1)*.1
#camera.k = np.array([ 0.00249999, 0.42208098, 0.45360267, 0.06808415, -0.38003062])
camera.k = np.array([5., 25., .3, .4, 1000., 5., 0., 0.])
im_distorted = renderer.r
cr = renderer
cmtx = np.array([[cr.camera.f.r[0], 0, cr.camera.c.r[0]],
[0, cr.camera.f.r[1], cr.camera.c.r[1]], [0, 0, 1]])
from .cvwrap import cv2
im_undistorted = cv2.undistort(im_distorted, cmtx, cr.camera.k.r)
d1 = (im_original - im_distorted).ravel()
d2 = (im_original - im_undistorted).ravel()
d1 = d1[d1 != 0.]
d2 = d2[d2 != 0.]
self.assertGreater(np.mean(d1**2) / np.mean(d2**2), 44.)
self.assertLess(np.mean(d2**2), 0.0016)
self.assertGreater(np.median(d1**2) / np.median(d2**2), 650)
self.assertLess(np.median(d2**2), 1.9e-5)
if visualize:
import matplotlib.pyplot as plt
plt.ion()
matplotlib.rcParams.update({'font.size': 18})
plt.figure(figsize=(6 * 3, 2 * 3))
plt.subplot(1, 4, 1)
plt.imshow(im_original)
plt.title('original')
plt.subplot(1, 4, 2)
plt.imshow(im_distorted)
plt.title('distorted')
plt.subplot(1, 4, 3)
plt.imshow(im_undistorted)
plt.title('undistorted by opencv')
plt.subplot(1, 4, 4)
plt.imshow(im_undistorted - im_original + .5)
plt.title('diff')
plt.draw()
plt.show()
flag = 1;
if not(os.path.exists('./Res1/result_' + lista[iters][5:-4] +'.mat')):
print(lista[iters][5:-4] + ': ERROR, MISSIN RES1')
continue
a=sio.loadmat('./Res1/result_' + lista[iters][5:-4] +'.mat');
result.betas[:]=np.zeros(10);
result.pose[:]= np.zeros(72);
print lista[iters]
Target = loadObj(lista[iters])
#Rigid alignment
scale=Ch(1);
trans=ch.array([0,0,0]);
Tar_shift = Target.vertices+trans;
indexes=a['pF_lb2'].reshape(6890);
distances=Tar_shift[indexes-1]-result*scale;
(t)=ch.minimize(distances, x0 = [trans,result.pose[[0,1,2]]],
method = 'dogleg', callback = None,
options = {'maxiter': 50, 'e_3': .0001, 'disp': 1})
#Non-rigid Alignment
c_pre={};
if (W_Joints):
k=a['Joints_Target'];
j_to_consider = range(0,24)
J_distances = J_reposed[j_to_consider,:] - (k[j_to_consider,:]+trans);
def test_vert_derivatives(self):
mesh, lightings, camera, frustum, renderers = self.load_basics()
for renderer in renderers:
lighting = lightings[renderer.num_channels]
im_shape = renderer.shape
# Render a rotating mesh
mesh = get_earthmesh(trans=np.array([0, 0, 5]),
rotation=np.array([math.pi / 2., 0, 0]))
mesh_verts = Ch(mesh.v.flatten())
camera.set(v=mesh_verts)
lighting.set(v=mesh_verts)
renderer.set(camera=camera)
renderer.set(vc=lighting)
# Get pixels and derivatives
r = renderer.r
dr = renderer.dr_wrt(mesh_verts)
# Establish a random direction
direction = (np.random.rand(mesh.v.size).reshape(mesh.v.shape) -
.5) * .1 + np.sin(mesh.v * 10) * .2
direction *= .5
eps = .2
# Render going forward in that direction
mesh_verts = Ch(mesh.v + direction * eps / 2.)
lighting.set(v=mesh_verts)
renderer.set(v=mesh_verts, vc=lighting)
rfwd = renderer.r
# Render going backward in that direction
mesh_verts = Ch(mesh.v - direction * eps / 2.)
lighting.set(v=mesh_verts)
renderer.set(v=mesh_verts, vc=lighting)
rbwd = renderer.r
# Establish empirical and predicted derivatives
dr_empirical = (np.asarray(rfwd, np.float64) -
np.asarray(rbwd, np.float64)).ravel() / eps
dr_predicted = dr.dot(col(direction.flatten())).reshape(
dr_empirical.shape)
images = OrderedDict()
images['shifted verts'] = np.asarray(rfwd, np.float64) - .5
images[
r'empirical verts $\left(\frac{dI}{dV}\right)$'] = dr_empirical
images[
r'predicted verts $\left(\frac{dI}{dV}\right)$'] = dr_predicted
images['difference verts'] = dr_predicted - dr_empirical
nonzero = images['difference verts'][np.nonzero(
images['difference verts'] != 0)[0]]
if visualize:
matplotlib.rcParams.update({'font.size': 18})
plt.figure(figsize=(6 * 3, 2 * 3))
for idx, title in enumerate(images.keys()):
plt.subplot(1, len(list(images.keys())), idx + 1)
im = process(images[title].reshape(im_shape),
vmin=-.5,
vmax=.5)
plt.title(title)
plt.imshow(im)
print('verts: median nonzero %.2e' %
(np.median(np.abs(nonzero)), ))
print('verts: mean nonzero %.2e' %
(np.mean(np.abs(nonzero)), ))
plt.draw()
plt.show()
self.assertLess(np.mean(np.abs(nonzero)), 7e-2)
self.assertLess(np.median(np.abs(nonzero)), 4e-2)
def test_lightpos_derivatives(self):
mesh, lightings, camera, frustum, renderers = self.load_basics()
for renderer in renderers:
im_shape = renderer.shape
lighting = lightings[renderer.num_channels]
# Render a rotating mesh
mesh = get_earthmesh(trans=np.array([0, 0, 5]),
rotation=np.array([math.pi / 2., 0, 0]))
mesh_verts = Ch(mesh.v.flatten())
camera.set(v=mesh_verts)
# Get predicted derivatives wrt light pos
light1_pos = Ch(np.array([-1000, -1000, -1000]))
lighting.set(light_pos=light1_pos, v=mesh_verts)
renderer.set(vc=lighting, v=mesh_verts)
dr = renderer.dr_wrt(light1_pos).copy()
# Establish a random direction for the light
direction = (np.random.rand(3) - .5) * 1000.
eps = 1.
# Find empirical forward derivatives in that direction
lighting.set(light_pos=light1_pos.r + direction * eps / 2.)
renderer.set(vc=lighting)
rfwd = renderer.r
# Find empirical backward derivatives in that direction
lighting.set(light_pos=light1_pos.r - direction * eps / 2.)
renderer.set(vc=lighting)
rbwd = renderer.r
# Establish empirical and predicted derivatives
dr_empirical = (np.asarray(rfwd, np.float64) -
np.asarray(rbwd, np.float64)).ravel() / eps
dr_predicted = dr.dot(col(direction.flatten())).reshape(
dr_empirical.shape)
images = OrderedDict()
images['shifted lightpos'] = np.asarray(rfwd, np.float64) - .5
images[
r'empirical lightpos $\left(\frac{dI}{dL_p}\right)$'] = dr_empirical
images[
r'predicted lightpos $\left(\frac{dI}{dL_p}\right)$'] = dr_predicted
images['difference lightpos'] = dr_predicted - dr_empirical
nonzero = images['difference lightpos'][np.nonzero(
images['difference lightpos'] != 0)[0]]
if visualize:
matplotlib.rcParams.update({'font.size': 18})
plt.figure(figsize=(6 * 3, 2 * 3))
for idx, title in enumerate(images.keys()):
plt.subplot(1, len(list(images.keys())), idx + 1)
im = process(images[title].reshape(im_shape),
vmin=-.5,
vmax=.5)
plt.title(title)
plt.imshow(im)
plt.show()
print('lightpos: median nonzero %.2e' %
(np.median(np.abs(nonzero)), ))
print('lightpos: mean nonzero %.2e' %
(np.mean(np.abs(nonzero)), ))
self.assertLess(np.mean(np.abs(nonzero)), 2.4e-2)
self.assertLess(np.median(np.abs(nonzero)), 1.2e-2)
def test_dogleg_madsen(self):
obj = Madsen(x = Ch(np.array((3.,1.))))
minimize(fun=obj, x0=[obj.x], method='dogleg', options={'maxiter': 34, 'disp': False})
self.assertTrue(np.sum(obj.r**2)/2 < 0.386599528247)