forked from yifita/DSS
/
test_opendr.py
228 lines (202 loc) · 9.53 KB
/
test_opendr.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
import os
from PIL import Image
from copy import deepcopy
import numpy as np
import matplotlib.pyplot as plt
import scipy.io as scio
from numpy.linalg import norm
import scipy.sparse as sp
import scipy.optimize
import cv2
import openmesh as om
import chumpy as ch
from chumpy import optimization
from chumpy.utils import row, col
from opendr.renderer import ColoredRenderer, TexturedRenderer
from opendr.lighting import LambertianPointLight, SphericalHarmonics
from opendr.serialization import load_mesh
from opendr.geometry import VertNormals, Rodrigues
from opendr.camera import ProjectPoints
from opendr.filters import gaussian_pyramid
save_dir = os.path.join("learn_examples", "opendr_teapot")
os.makedirs(save_dir, exist_ok=True)
w, h = 256, 256
def get_earthmesh(trans, rotation):
fname = "example_data/nasa_earth.obj"
mesh = load_mesh(fname)
if not hasattr(get_earthmesh, "mesh"):
mesh.v = np.asarray(mesh.v, order='C')
mesh.vc = mesh.v*0 + 1
mesh.v -= row(np.mean(mesh.v, axis=0))
mesh.v /= np.max(mesh.v)
mesh.v *= 2.0
get_earthmesh.mesh = mesh
mesh = deepcopy(get_earthmesh.mesh)
mesh.v = mesh.v.dot(cv2.Rodrigues(
np.asarray(np.array(rotation), np.float64))[0])
mesh.v = mesh.v + row(np.asarray(trans))
return mesh
def read_and_process_mesh(fname, trans, rotation):
mesh = load_mesh(fname)
mesh.v = np.asarray(mesh.v, order='C')
mesh.vc = np.ones_like(mesh.v)
mesh.v -= row(np.mean(mesh.v, axis=0))
mesh.v /= np.max(mesh.v)
mesh.v *= 2.0
mesh.v = mesh.v.dot(cv2.Rodrigues(
np.asarray(np.array(rotation), np.float64))[0])
if hasattr(mesh, "vn"):
mesh.vn = mesh.vn.dot(cv2.Rodrigues(
np.asarray(np.array(rotation), np.float64))[0])
mesh.v = mesh.v + row(np.asarray(trans))
return mesh
def create_callback(f, step=0):
def cb(_):
nonlocal step
step = step+1
Image.fromarray((f.r * 255).astype(np.uint8)
).save(os.path.join(save_dir, "step_{:05d}.png".format(step)))
return cb
def test_earth():
m = get_earthmesh(trans=ch.array([0, 0, 0]), rotation=ch.zeros(3))
# Create V, A, U, f: geometry, brightness, camera, renderer
V = ch.array(m.v)
A = SphericalHarmonics(vn=VertNormals(v=V, f=m.f),
components=[3., 2., 0., 0., 0., 0., 0., 0., 0.],
light_color=ch.ones(3))
# camera
U = ProjectPoints(v=V, f=[w, w], c=[w/2., h/2.], k=ch.zeros(5),
t=ch.zeros(3), rt=ch.zeros(3))
f = TexturedRenderer(vc=A, camera=U, f=m.f, bgcolor=[0., 0., 0.],
texture_image=m.texture_image, vt=m.vt, ft=m.ft,
frustum={'width': w, 'height': h, 'near': 1, 'far': 20})
# Parameterize the vertices
translation, rotation = ch.array([0, 0, 8]), ch.zeros(3)
f.v = translation + V.dot(Rodrigues(rotation))
observed = f.r
np.random.seed(1)
# this is reactive
# in the sense that changes to values will affect function which depend on them.
translation[:] = translation.r + np.random.rand(3)
rotation[:] = rotation.r + np.random.rand(3) * .2
# Create the energy
E_raw = f - observed
E_pyr = gaussian_pyramid(E_raw, n_levels=6, normalization='size')
Image.fromarray((observed * 255).astype(np.uint8)
).save(os.path.join(save_dir, "reference.png"))
step = 0
Image.fromarray((f.r * 255).astype(np.uint8)
).save(os.path.join(save_dir, "step_{:05d}.png".format(step)))
print('OPTIMIZING TRANSLATION, ROTATION, AND LIGHT PARMS')
free_variables = [translation, rotation]
ch.minimize({'pyr': E_pyr}, x0=free_variables, callback=create_callback(f))
ch.minimize({'raw': E_raw}, x0=free_variables, callback=create_callback(f))
# test_earth()
def test_teapot():
# load teapot and sphere
reference = read_and_process_mesh(
"example_data/pointclouds/teapot_mesh.obj",
trans=ch.array([0, 0, 0]), rotation=ch.array([np.pi, 0, 0]))
target = read_and_process_mesh(
"example_data/pointclouds/sphere_normal_2K_mesh.obj",
trans=ch.array([0, 0, 0]), rotation=ch.array([0, 0, 0]))
# reference
V_ref = ch.array(reference.v)
vc_ref = ch.array(reference.vc)
A_ref = LambertianPointLight(v=V_ref, f=reference.f, num_verts=len(
V_ref), light_pos=ch.array([-1000, -1000, -1000]), vc=vc_ref,
light_color=ch.array([0.9, 0, 0])) +\
LambertianPointLight(v=V_ref, f=reference.f, num_verts=len(
V_ref), light_pos=ch.array([1000, -1000, -1000]), vc=vc_ref,
light_color=ch.array([0.0, 0.9, 0])) +\
LambertianPointLight(v=V_ref, f=reference.f, num_verts=len(
V_ref), light_pos=ch.array([-1000, 1000, -1000]), vc=vc_ref,
light_color=ch.array([0.0, 0.0, 0.9]))
U_ref = ProjectPoints(v=V_ref, f=[w, w], c=[w/2., h/2.], k=ch.zeros(5),
t=ch.zeros(3), rt=ch.zeros(3))
f_ref = ColoredRenderer(vc=A_ref, camera=U_ref, f=reference.f, bgcolor=[1.0, 1.0, 1.0],
frustum={'width': w, 'height': h, 'near': 1, 'far': 20})
# target
V_tgt = ch.array(target.v)
vc_tgt = ch.array(target.vc)
A_tgt = LambertianPointLight(v=V_tgt, f=target.f, num_verts=len(
V_tgt), light_pos=ch.array([-1000, -1000, -1000]), vc=vc_tgt,
light_color=ch.array([0.9, 0, 0])) +\
LambertianPointLight(v=V_tgt, f=target.f, num_verts=len(
V_tgt), light_pos=ch.array([1000, -1000, -1000]), vc=vc_tgt,
light_color=ch.array([0.0, 0.9, 0])) +\
LambertianPointLight(v=V_tgt, f=target.f, num_verts=len(
V_tgt), light_pos=ch.array([-1000, 1000, -1000]), vc=vc_tgt,
light_color=ch.array([0.0, 0.0, 0.9]))
U_tgt = ProjectPoints(v=V_tgt, f=[w, w], c=[w/2., h/2.], k=ch.zeros(5),
t=ch.zeros(3), rt=ch.zeros(3))
f_tgt = ColoredRenderer(vc=A_tgt, camera=U_tgt, f=target.f, bgcolor=[1.0, 1.0, 1.0],
frustum={'width': w, 'height': h, 'near': 1, 'far': 20})
# offset = ch.zeros(V_tgt.shape)
translation, rotation = ch.array([0, 0, 6]), ch.zeros(3)
f_tgt.v = translation + V_tgt.dot(Rodrigues(rotation))
f_ref.v = translation + V_ref.dot(Rodrigues(rotation))
op_mesh_target = om.read_trimesh(
"example_data/pointclouds/sphere_normal_2K_mesh.obj")
n_rotations = 144
# camera positions
for index in range(n_rotations):
rotation[:] = np.random.rand(3)*np.pi*2
np.save(os.path.join(save_dir, "rot_v{:03d}".format(index)), rotation)
img_ref = f_ref.r
Image.fromarray((img_ref * 255).astype(np.uint8)
).save(os.path.join(save_dir, "reference_v{:03d}.png".format(index)))
img_tgt = f_tgt.r
Image.fromarray((img_tgt * 255).astype(np.uint8)
).save(os.path.join(save_dir, "target_v{:03d}.png".format(index)))
E_raw = f_tgt - img_ref
# E_pyr = gaussian_pyramid(E_raw, n_levels=6, normalization='size')
free_variables = [V_tgt]
# dogleg
# Newton-CG
# SLSQP
# BFGS
# trust-ncg
method = "trust-ncg"
maxiter = 30
ch.minimize({'pyr': E_raw}, x0=free_variables, method=method, options=dict(maxiter=30),
callback=create_callback(f_tgt, step=index*maxiter))
ch.minimize({'pyr': E_raw}, x0=free_variables, method=method, options=dict(maxiter=30),
callback=create_callback(f_tgt, step=index*maxiter))
# is not the same?
target.v = f_tgt.v.r.copy()
# save mesh
# mesh = pymesh.form_mesh(f_tgt.v.r, f_tgt.f)
# pymesh.save_mesh(os.path.join(
# save_dir, "target_v{:03d}.obj".format(index)), mesh)
point_array = op_mesh_target.points()
point_array[:] = target.v
np.copyto(op_mesh_target.points(), f_tgt.v.r)
om.write_mesh(os.path.join(
save_dir, "target_v{:03d}.obj".format(index)), op_mesh_target)
# rot_vector = np.load("learn_examples/opendr_teapot/rot_v143.npy")
rot = ch.array(np.deg2rad(np.array([-17, -11, -3])))
translation = np.array([0, 0, 5])
# mesh = read_and_process_mesh(
# "example_data/pointclouds/sphere_normal_2K_mesh.obj",
# trans=np.zeros(3), rotation=-rot_vector)
# mesh = read_and_process_mesh(
# "learn_examples/opendr_teapot/target_v143.obj", trans=np.zeros(3), rotation=-rot_vector)
mesh = read_and_process_mesh(
"example_data/pointclouds/teapot_mesh.obj",
trans=ch.array([0, 0, 0]), rotation=ch.array([np.pi, 0, 0]))
V_ref = ch.array(mesh.v)
# reference
A_ref = LambertianPointLight(v=V_ref, f=mesh.f, num_verts=len(V_ref), light_pos=ch.array([-1000, -1000, -1000]), vc=mesh.vc,
light_color=ch.array([0.9, 0, 0])) +\
LambertianPointLight(v=V_ref, f=mesh.f, num_verts=len(V_ref), light_pos=ch.array([1000, -1000, -1000]), vc=mesh.vc,
light_color=ch.array([0.0, 0.9, 0])) +\
LambertianPointLight(v=V_ref, f=mesh.f, num_verts=len(V_ref), light_pos=ch.array(
[-1000, 1000, -1000]), vc=mesh.vc, light_color=ch.array([0.0, 0.0, 0.9]))
U_ref = ProjectPoints(v=V_ref, f=[w, w], c=[w/2., h/2.], k=ch.zeros(5),
t=ch.zeros(3), rt=ch.zeros(3))
f_ref = ColoredRenderer(vc=A_ref, camera=U_ref, f=mesh.f, bgcolor=[1.0, 1.0, 1.0],
frustum={'width': w, 'height': h, 'near': 1, 'far': 20})
f_ref.v = translation + V_ref.dot(Rodrigues(rot))
Image.fromarray((f_ref.r * 255).astype(np.uint8)
).save(os.path.join(save_dir, "opendr_ref.png"))