opendr.demo('point_light') produce black image

[YifuTao]

I am using Ubuntu 18.04, CUDA 10.1 Python 2.7.15. The following issue does not happen in any other machines in my lab but they are Ubuntu 16.

I have followed instructions on https://github.com/mattloper/opendr/wiki/Installation-in-Ubuntu

I then run opendr.demo('point_light'), but only a black image comes up, not the sphere mesh with one point light source. Here is the error message:

---

Create renderer
import chumpy as ch
from opendr.renderer import ColoredRenderer
from opendr.lighting import LambertianPointLight
rn = ColoredRenderer()

Assign attributes to renderer
from opendr.util_tests import get_earthmesh
m = get_earthmesh(trans=ch.array([0,0,4]), rotation=ch.zeros(3))
w, h = (320, 240)

from opendr.camera import ProjectPoints
rn.camera = ProjectPoints(v=m.v, rt=ch.zeros(3), t=ch.zeros(3), f=ch.array([w,w])/2., c=ch.array([w,h])/2., k=ch.zeros(5))
rn.frustum = {'near': 1., 'far': 10., 'width': w, 'height': h}
rn.set(v=m.v, f=m.f, bgcolor=ch.zeros(3))

Construct point light source
rn.vc = LambertianPointLight(
f=m.f,
v=rn.v,
num_verts=len(m.v),
light_pos=ch.array([-1000,-1000,-1000]),
vc=m.vc,
light_color=ch.array([1., 1., 1.]))

Show it
import matplotlib.pyplot as plt
plt.ion()
plt.imshow(rn.r)
plt.show()

dr = rn.dr_wrt(rn.v) # or rn.vc, or rn.camera.rt, rn.camera.t, rn.camera.f, rn.camera.c, etc

---

I also cannot get the opendr.demo('optimization') running:

from opendr.simple import *
import numpy as np
import matplotlib.pyplot as plt
w, h = 320, 240

try:
m = load_mesh('earth.obj')
except:
from opendr.util_tests import get_earthmesh
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))
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)
translation[:] = translation.r + np.random.rand(3)
rotation[:] = rotation.r + np.random.rand(3) *.2
A.components[1:] = 0

Create the energy
E_raw = f - observed
E_pyr = gaussian_pyramid(E_raw, n_levels=6, normalization='size')

def cb(_):
import cv2
cv2.imshow('Absolute difference', np.abs(E_raw.r))
cv2.waitKey(1)

print 'OPTIMIZING TRANSLATION, ROTATION, AND LIGHT PARMS'
free_variables=[translation, rotation, A.components]
ch.minimize({'pyr': E_pyr}, x0=free_variables, callback=cb)
ch.minimize({'raw': E_raw}, x0=free_variables, callback=cb)

OPTIMIZING TRANSLATION, ROTATION, AND LIGHT PARMS
0.00e+00 | pyr: 0.00e+00
Traceback (most recent call last):
File "", line 1, in
File "/usr/local/lib/python2.7/dist-packages/opendr/init.py", line 350, in demo
exec('global np\n' + demos[which], globals(), locals())
File "", line 48, in
File "/home/yifu/.local/lib/python2.7/site-packages/chumpy/optimization.py", line 41, in minimize
return minimize_dogleg(fun, free_variables=x0, on_step=callback, **options)
File "/home/yifu/.local/lib/python2.7/site-packages/chumpy/optimization_internal.py", line 408, in minimize_dogleg
state.updateJ(obj)
File "/home/yifu/.local/lib/python2.7/site-packages/chumpy/optimization_internal.py", line 311, in updateJ
assert(self.J.nnz > 0)
AssertionError

[prismformore]

sample problem here. I am using ubuntu 16.04 python 3.6 inside a docker(pytorch/pytorch)