color_render custom TF op passes all test

camera.py

@@ -78,8 +78,39 @@ def is_valid(self):
         return True, '' 
 
     def compute_r(self):
-        return self.r_and_derivatives[0].squeeze()
+        #return self.r_and_derivatives[0].squeeze()
         #return self.get_r_and_derivatives(self.v.r, self.rt.r, self.t.r, self.f.r, self.c.r, self.k.r)[0].squeeze()
+        # method self.r_and_derivatives will compute derivatives as well
+        #see http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
+        v_t = self.v.r.reshape((-1,3)).copy()
+        if np.any(self.rt.r != 0.):
+            v_t = (v_t).dot(cv2.Rodrigues(self.rt.r)[0].T)
+        if np.any(self.t.r != 0.):
+            v_t += self.t.r
+
+        x_y = v_t[:,:2] / v_t[:,[2]]
+        uv = x_y
+        if np.any(self.k.r != 0.):
+            k = self.k.r
+            # According to this link: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
+            # k can have three lengths: (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) 
+            if len(k) == 4:
+                k1, k2, p1, p2 = k
+            elif len(k) == 5:
+                k1, k2, p1, p2, k3 = k
+            elif len(k) == 8:
+                k1, k2, p1, p2, k3, k4, k5, k6 = k
+            else:
+                raise AttributeError('k has wrong length, got %d, expect 4, 5 or 8' % len(k))
+            x2_y2 = x_y ** 2.
+            r2 = x2_y2.sum(axis=1)
+            r4 = r2 ** 2.
+            xy = x_y.prod(axis=1)
+            uv = x_y * (1 + k1 * r2 + k2 * r4 + k3 * r2 * r4)[:,np.newaxis]
+            uv += 2 * np.vstack([p1 * xy, p2 * xy]).T
+            uv += np.array([p2, p1]) * (r2[:,np.newaxis] + 2 * x2_y2)
+        uv = self.f.r * uv + self.c.r
+        return uv.squeeze()
 
     def compute_dr_wrt(self, wrt):
         if wrt not in [self.v, self.rt, self.t, self.f, self.c, self.k]:
@@ -108,7 +139,7 @@ def unproject_points(self, uvd, camera_space=False):
         cam = ProjectPoints3D(**{k: getattr(self, k)  for k in self.dterms if hasattr(self, k)})
 
         try:
-            xy_undistorted_camspace = cv2.undistortPoints(np.asarray(uvd[:,:2].reshape((1,-1,2)).copy()), np.asarray(cam.camera_mtx), cam.k.r)
+            xy_undistorted_camspace = cv2.undistortPoints(np.asarray(uvd[:,:2].reshape((1,-1,2))), np.asarray(cam.camera_mtx), cam.k.r)
             xyz_camera_space = np.hstack((xy_undistorted_camspace.squeeze(), col(uvd[:,2])))
             xyz_camera_space[:,:2] *= col(xyz_camera_space[:,2]) # scale x,y by z
             if camera_space:
@@ -129,6 +160,11 @@ def unproject_depth_image(self, depth_image, camera_space=False):
         xyz = self.unproject_points(uvd, camera_space=camera_space)
         return xyz.reshape((depth_image.shape[0], depth_image.shape[1], -1))
 
+    def project_depth_point(self, xyz):
+        cam = ProjectPoints3D(**{k: getattr(self, k)  for k in self.dterms if hasattr(self, k)})
+        uvd = cam.camera_mtx.dot(xyz)
+        uv = uvd[:2] / uvd[-1]
+        return uv
 
     @depends_on('f','c')
     def camera_mtx(self):
@@ -156,59 +192,43 @@ class ProjectPoints3D(ProjectPoints):
     def compute_r(self):
         result = ProjectPoints.compute_r(self)
         return np.hstack((result, col(self.z_coords.r)))
-        
+
     @property
     def z_coords(self):
-
-        try:
-            assert(self.v.r.shape[1]==3)
-            return RigidTransform(v=self.v, rt=self.rt, t=self.t)[:,2]
-        except:
-            import pdb; pdb.set_trace()
-
+        assert(self.v.r.shape[1]==3)
+        return RigidTransform(v=self.v, rt=self.rt, t=self.t)[:,2]
+
     def compute_dr_wrt(self, wrt):
         result = ProjectPoints.compute_dr_wrt(self, wrt)
         if result is None:
             return None
-
         if sp.issparse(result):
             drz = self.z_coords.dr_wrt(wrt).tocoo()
             result = result.tocoo()
             result.row = result.row*3/2
-
             IS = np.concatenate((result.row, drz.row*3+2))
             JS = np.concatenate((result.col, drz.col))
             data = np.concatenate((result.data, drz.data))
-
             result = sp.csc_matrix((data, (IS, JS)), shape=(self.v.r.size, wrt.r.size))
         else:
-            try:
-                bigger = np.zeros((result.shape[0]/2, 3, result.shape[1]))
-                bigger[:, :2, :] = result.reshape((-1, 2, result.shape[-1]))
-                drz = self.z_coords.dr_wrt(wrt)
-                if drz is not None:
-                    if sp.issparse(drz):
-                        drz = drz.todense()
-                    bigger[:,2,:] = drz.reshape(bigger[:,2,:].shape)
-
-                result = bigger.reshape((-1, bigger.shape[-1]))
-            except:
-                import pdb; pdb.set_trace()
-
-
-        return result            
-
-
+            bigger = np.zeros((result.shape[0]/2, 3, result.shape[1]))
+            bigger[:, :2, :] = result.reshape((-1, 2, result.shape[-1]))
+            drz = self.z_coords.dr_wrt(wrt)
+            if drz is not None:
+                if sp.issparse(drz):
+                    drz = drz.todense()
+                bigger[:,2,:] = drz.reshape(bigger[:,2,:].shape)
+            result = bigger.reshape((-1, bigger.shape[-1]))
+        return result
+
 
 def main():
-
     import unittest
     from test_camera import TestCamera
     suite = unittest.TestLoader().loadTestsFromTestCase(TestCamera)
     unittest.TextTestRunner(verbosity=2).run(suite)
 
 
-
 if __name__ == '__main__':
     main()
 

circle.yml

@@ -0,0 +1,20 @@
+general:
+  branches:
+    ignore:
+      - /zz.*/  # Don't run tests on deprecated branches.
+
+machine:
+  environment:
+    PYTHONPATH: /usr/local/lib/python2.7/dist-packages
+
+dependencies:
+  pre:
+    - sudo apt-get update
+    # Is gfortran needed? This was copied from `.travis.yml` which included it.
+    - sudo apt-get install -qq python-dev gfortran pkg-config liblapack-dev
+  post:
+    - make all
+
+test:
+  override:
+    - make test

common.py

@@ -107,7 +107,7 @@ def dImage_wrt_2dVerts_bnd(observed, visible, visibility, barycentric, image_wid
         plt.subplot(122)
         plt.imshow(xdiffbnd)
         plt.title('xdiffbnd')
-        import pdb; pdb.set_trace()
+        # import pdb; pdb.set_trace()
 
     idxs = np.isnan(xdiffnb.ravel())
     xdiffnb.ravel()[idxs] = xdiffbnd.ravel()[idxs]
@@ -317,12 +317,20 @@ def dr_wrt_vc(visible, visibility, f, barycentric, frustum, vc_size, num_channel
     return result
 
 
-def draw_visibility_image(gl, v, f, boundarybool_image=None):
+def draw_visibility_image(gl, v, f, boundarybool_image=None, x0=None, x1=None, y0=None, y1=None):
     v = np.asarray(v)
     gl.Disable(GL_TEXTURE_2D)
     gl.DisableClientState(GL_TEXTURE_COORD_ARRAY)
 
     result = draw_visibility_image_internal(gl, v, f)
+
+    # Crop
+    if x0 != None and isinstance(x0, int):
+        result[:y0] = -1
+        result[y1:] = -1
+        result[y0:y1, :x0] = -1
+        result[y0:y1, x1:] = -1
+
     if boundarybool_image is None:
         return result
 
@@ -333,6 +341,13 @@ def draw_visibility_image(gl, v, f, boundarybool_image=None):
         return result
     gl.PolygonMode(GL_FRONT_AND_BACK, GL_LINE)
     result2 = draw_visibility_image_internal(gl, v, f[faces_to_draw])
+
+    if x0 != None and isinstance(x0, int):
+        result2[:y0] = -1
+        result2[y1:] = -1
+        result2[y0:y1, :x0] = -1
+        result2[y0:y1, x1:] = -1
+
     gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
     bbi = boundarybool_image
 
@@ -438,14 +453,29 @@ def draw_texcoord_image(glf, v, f, vt, ft, boundarybool_image=None):
     return result
 
 
-def draw_barycentric_image(gl, v, f, boundarybool_image=None):
+def draw_barycentric_image(gl, v, f, boundarybool_image=None, x0=None, x1=None,
+                           y0=None, y1=None):
     v = np.asarray(v)
     without_overdraw = draw_barycentric_image_internal(gl, v, f)
+    # Crop
+    if x0 != None and isinstance(x0, int):
+        without_overdraw[:y0] = -1
+        without_overdraw[y1:] = -1
+        without_overdraw[y0:y1, :x0] = -1
+        without_overdraw[y0:y1, x1:] = -1
+
     if boundarybool_image is None:
         return without_overdraw
 
     gl.PolygonMode(GL_FRONT_AND_BACK, GL_LINE)
     overdraw = draw_barycentric_image_internal(gl, v, f)
+    # Crop
+    if x0 != None and isinstance(x0, int):
+        overdraw[:y0] = -1
+        overdraw[y1:] = -1
+        overdraw[y0:y1, :x0] = -1
+        overdraw[y0:y1, x1:] = -1
+
     gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
 
     bbi = np.atleast_3d(boundarybool_image)

contexts/draw_triangle_shaders_2_1.py

@@ -73,7 +73,7 @@ def main():
 
     im = gl.getImage()
     cv2.imshow('a', im)
-    import pdb; pdb.set_trace()
+    # import pdb; pdb.set_trace()
 
 
 

contexts/draw_triangle_shaders_3_2.py

@@ -138,7 +138,7 @@ def main():
     im = gl.getImage()
     cv2.imshow('a', im)
     print gl.GetError()
-    import pdb; pdb.set_trace()
+    # import pdb; pdb.set_trace()
 
 
 

lighting.py

@@ -180,12 +180,17 @@ def lambertian_spotlight(v, vn, pos, dir, spot_exponent, camcoord=False, camera_
 
 
 class LambertianPointLight(Ch):
-    terms = 'f', 'num_verts', 'light_color'
+    terms = 'f', 'num_verts', 'light_color', 'double_sided'
     dterms = 'light_pos', 'v', 'vc', 'vn'
 
     def on_changed(self, which):
         if not hasattr(self, '_lpl'):
-            self.add_dterm('_lpl', maximum(multiply(a=multiply()), 0.0))
+            if getattr(self, 'double_sided', False):
+                from chumpy.ch import abs as absolute
+                self.add_dterm('_lpl', absolute(multiply(a=multiply())))
+                self._lpl.a = self._lpl.x
+            else:
+                self.add_dterm('_lpl', maximum(multiply(a=multiply()), 0.0))
         if not hasattr(self, 'ldn'):
             self.ldn = LightDotNormal(self.v.r.size/3)            
         if not hasattr(self, 'vn'):

occlusion_test.py

@@ -137,4 +137,4 @@ def test_occlusion(self):
     visualize = True
     suite = unittest.TestLoader().loadTestsFromTestCase(TestOcclusion)
     unittest.TextTestRunner(verbosity=2).run(suite)
-    import pdb; pdb.set_trace()
+    # import pdb; pdb.set_trace()

render_tf/Makefile

@@ -0,0 +1,29 @@
+all: color_render.so
+
+UNAME := $(shell uname)
+
+ifeq ($(UNAME),Darwin)
+	OSFLAGS = -undefined dynamic_lookup
+else
+	OSFLAGS = 
+endif
+
+
+# Testing for OS X v Linux
+OS = $(shell uname -s)
+
+ifeq ($(OS), Darwin)
+     LIBS = -framework GLUT -framework OpenGL -framework Cocoa
+else
+     LIBS = -lGL -lGLU -lglut
+endif
+
+
+D1 = /usr/local/lib/python2.7/dist-packages/tensorflow/include
+D2 = /usr/local/lib/python2.7/site-packages/tensorflow/include
+
+color_render.so: color_render.cc
+	g++ -std=c++11 -O2 -shared $(OSFLAGS)  color_render.cc -o color_render.so -fPIC -I $(D1) -I $(D2) $(LIBS)
+
+clean:
+	rm -rf *.so *.pyc