From 4b83afa1129dd66b68cca6187ed49d1e92390604 Mon Sep 17 00:00:00 2001 From: Peter Shobowale Date: Mon, 24 Feb 2025 12:52:10 +0100 Subject: [PATCH] version used in the paper --- .gitignore | 119 + 3D-Tools/.gitignore | 1 + 3D-Tools/ComparePoses.py | 269 ++ 3D-Tools/Dummy-Messung.stl | Bin 0 -> 3115584 bytes 3D-Tools/EstTranformationsPGO.py | 283 ++ 3D-Tools/EstTransform.py | 165 ++ 3D-Tools/QueryPoses.py | 219 ++ 3D-Tools/RegisterPC.py | 24 + 3D-Tools/Stauebli2Poses.py | 81 + 3D-Tools/VizPC.py | 79 + 3D-Tools/VizPoses.py | 90 + 3D-Tools/example_workflow.sh | 5 + 3D-Tools/real2cad.py | 29 + 3D-Tools/viz_poses.m | 69 + Dockerfile | 32 + README.md | 98 + coc.py | 35 + conda_environment.yml | 225 ++ conda_environment_windows.yml | 166 ++ .../place_NVIDIA_OptiX_SDK-7.6.0_here | 1 + docker-compose.yml | 18 + init_env.sh | 21 + pyrefloid/FPCamera.py | 162 + pyrefloid/FPLight.py | 176 ++ pyrefloid/FPMaterial.py | 65 + pyrefloid/FPObject.py | 327 ++ pyrefloid/FringeProjectionSystem.py | 684 +++++ pyrefloid/OptixState.py | 321 ++ pyrefloid/PoseGeneration.py | 72 + pyrefloid/__init__.py | 1 + pyrefloid/params.py | 75 + .../fringe_system_calibration_50mm.json | 122 + ...e_system_calibration_50mm_undistorted.json | 123 + .../res/config/fringe_system_mipi_4.json | 33 + pyrefloid/res/config/real_system.json | 122 + pyrefloid/res/config/scene_data.yaml | 28 + pyrefloid/res/config/scene_data_backup.yaml | 99 + pyrefloid/res/config/test.json | 1 + pyrefloid/res/config/values.csv | 91 + pyrefloid/res/config/virtual_camera.yaml | 44 + pyrefloid/res/data/cad.stl | Bin 0 -> 6929884 bytes pyrefloid/res/data/cad_grob.stl | Bin 0 -> 69484 bytes pyrefloid/res/shaders/Light.h | 68 + pyrefloid/res/shaders/camera.h | 31 + pyrefloid/res/shaders/helpers.h | 305 ++ pyrefloid/res/shaders/material.h | 14 + pyrefloid/res/shaders/motion_helper.h | 721 +++++ pyrefloid/res/shaders/path_tracing.cu | 547 ++++ pyrefloid/res/shaders/path_tracing.h | 151 + pyrefloid/res/shaders/random.h | 71 + pyrefloid/res/shaders/transform.h | 96 + pyrefloid/res/shaders/vec_math.h | 2637 +++++++++++++++++ pyrefloid/utils/PatternGeneration.py | 56 + pyrefloid/utils/__init__.py | 0 pyrefloid/utils/dataclasses.py | 291 ++ pyrefloid/utils/geometry.py | 193 ++ pyrefloid/utils/image_handling.py | 461 +++ pyrefloid/utils/loader.py | 145 + pyrefloid/utils/logger.py | 22 + pyrefloid/utils/phaseshift.py | 1285 ++++++++ pyrefloid/utils/show_coordinate_systems.py | 27 + pyrefloid/utils/struct_helper.py | 325 ++ requirements.txt | 27 + setup.py | 22 + start_docker.sh | 1 + 65 files changed, 12071 insertions(+) create mode 100644 .gitignore create mode 100644 3D-Tools/.gitignore create mode 100644 3D-Tools/ComparePoses.py create mode 100644 3D-Tools/Dummy-Messung.stl create mode 100644 3D-Tools/EstTranformationsPGO.py create mode 100644 3D-Tools/EstTransform.py create mode 100644 3D-Tools/QueryPoses.py create mode 100644 3D-Tools/RegisterPC.py create mode 100644 3D-Tools/Stauebli2Poses.py create mode 100644 3D-Tools/VizPC.py create mode 100644 3D-Tools/VizPoses.py create mode 100644 3D-Tools/example_workflow.sh create mode 100644 3D-Tools/real2cad.py create mode 100644 3D-Tools/viz_poses.m create mode 100644 Dockerfile create mode 100644 README.md create mode 100644 coc.py create mode 100644 conda_environment.yml create mode 100644 conda_environment_windows.yml create mode 100644 dependencies/place_NVIDIA_OptiX_SDK-7.6.0_here create mode 100644 docker-compose.yml create mode 100644 init_env.sh create mode 100644 pyrefloid/FPCamera.py create mode 100644 pyrefloid/FPLight.py create mode 100644 pyrefloid/FPMaterial.py create mode 100644 pyrefloid/FPObject.py create mode 100644 pyrefloid/FringeProjectionSystem.py create mode 100644 pyrefloid/OptixState.py create mode 100644 pyrefloid/PoseGeneration.py create mode 100644 pyrefloid/__init__.py create mode 100644 pyrefloid/params.py create mode 100644 pyrefloid/res/config/fringe_system_calibration_50mm.json create mode 100644 pyrefloid/res/config/fringe_system_calibration_50mm_undistorted.json create mode 100644 pyrefloid/res/config/fringe_system_mipi_4.json create mode 100644 pyrefloid/res/config/real_system.json create mode 100644 pyrefloid/res/config/scene_data.yaml create mode 100644 pyrefloid/res/config/scene_data_backup.yaml create mode 100644 pyrefloid/res/config/test.json create mode 100644 pyrefloid/res/config/values.csv create mode 100644 pyrefloid/res/config/virtual_camera.yaml create mode 100644 pyrefloid/res/data/cad.stl create mode 100644 pyrefloid/res/data/cad_grob.stl create mode 100644 pyrefloid/res/shaders/Light.h create mode 100644 pyrefloid/res/shaders/camera.h create mode 100644 pyrefloid/res/shaders/helpers.h create mode 100644 pyrefloid/res/shaders/material.h create mode 100644 pyrefloid/res/shaders/motion_helper.h create mode 100644 pyrefloid/res/shaders/path_tracing.cu create mode 100644 pyrefloid/res/shaders/path_tracing.h create mode 100644 pyrefloid/res/shaders/random.h create mode 100644 pyrefloid/res/shaders/transform.h create mode 100644 pyrefloid/res/shaders/vec_math.h create mode 100644 pyrefloid/utils/PatternGeneration.py create mode 100644 pyrefloid/utils/__init__.py create mode 100644 pyrefloid/utils/dataclasses.py create mode 100644 pyrefloid/utils/geometry.py create mode 100644 pyrefloid/utils/image_handling.py create mode 100644 pyrefloid/utils/loader.py create mode 100644 pyrefloid/utils/logger.py create mode 100644 pyrefloid/utils/phaseshift.py create mode 100644 pyrefloid/utils/show_coordinate_systems.py create mode 100644 pyrefloid/utils/struct_helper.py create mode 100644 requirements.txt create mode 100644 setup.py create mode 100644 start_docker.sh diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a8a67a7 --- /dev/null +++ b/.gitignore @@ -0,0 +1,119 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class +src/* +dependencies/*/ +dependencies/*.sh +rendering/*.* +pointcloud/*.* +# C extensions +*.so +*.ply + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +*.egg-info/ +.installed.cfg +*.egg + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +.hypothesis/ +.pytest_cache/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# pyenv +.python-version + +# celery beat schedule file +celerybeat-schedule + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ + +# PyCharm +.idea/ + +# 2to3 backup files +*.bak + +# eclipse +.project +.pydevproject +.settings/* + +# h5 files used in bv/imageStack.py +*.h5 diff --git a/3D-Tools/.gitignore b/3D-Tools/.gitignore new file mode 100644 index 0000000..afed073 --- /dev/null +++ b/3D-Tools/.gitignore @@ -0,0 +1 @@ +*.csv diff --git a/3D-Tools/ComparePoses.py b/3D-Tools/ComparePoses.py new file mode 100644 index 0000000..fc61dec --- /dev/null +++ b/3D-Tools/ComparePoses.py @@ -0,0 +1,269 @@ +import numpy as np +import cv2 +import glob +import matplotlib.pyplot as plt +import open3d as o3d +import concurrent.futures +import sys + + +def get_files(path="../pointcloud", rotation=None, num_rotations=1): + # Get file paths for reflection images, point clouds, and transformation matrices + reflection_files = sorted(glob.glob(f"{path}**/Cam*.png")) + depth_files = sorted(glob.glob(f"{path}**/Depth*.png")) + height_map_files = sorted(glob.glob(f"{path}**/HeightMap*.png")) # HeightMap files + point_cloud_files = sorted(glob.glob(f"{path}**/*.ply")) + transformation_file = sorted(glob.glob(f"{path}/values.csv"))[0] + backup_file = sorted(glob.glob(f"{path}/features.csv")) + + # Load transformation matrices + transformations = np.genfromtxt(transformation_file, delimiter=";", dtype=float) + transformations = [np.reshape(T, (4, 4)) for T in transformations] + + # Load backup features if available + backup = np.genfromtxt(backup_file[0], delimiter=";", dtype=float) if backup_file else None + + # Determine the maximum number of files to process + max_count = min(len(height_map_files), len(reflection_files)) + + print(max_count) + # Handle rotation and number of rotations + if rotation is None: + rotation = 0 + else: + rotation = int(rotation % num_rotations) + + # Return file paths and backup data (if available) + if backup is not None and len(backup) == max_count: + return (reflection_files[rotation:max_count:num_rotations], + depth_files[rotation:max_count:num_rotations], + height_map_files[rotation:max_count:num_rotations], + point_cloud_files[rotation:max_count:num_rotations], + transformations[rotation:max_count:num_rotations], + backup) + + return (reflection_files[rotation:max_count:num_rotations], + depth_files[rotation:max_count:num_rotations], + height_map_files[rotation:max_count:num_rotations], + point_cloud_files[rotation:max_count:num_rotations], + transformations[rotation:max_count:num_rotations], + None) + + +def rotation_matrix_to_euler_angles(R): + # Calculate Euler angles from rotation matrix + sy = np.sqrt(R[0, 0]**2 + R[1, 0]**2) + singular = sy < 1e-6 + + if not singular: + x = np.arctan2(R[2, 1], R[2, 2]) + y = np.arctan2(-R[2, 0], sy) + z = np.arctan2(R[1, 0], R[0, 0]) + else: + x = np.arctan2(-R[1, 2], R[1, 1]) + y = np.arctan2(-R[2, 0], sy) + z = 0 + + return np.array([x, y, z]) + + +def process_reflection(reflection_path, depth_path, height_map_path, point_cloud_path, transformation, index, scale, max_sensor_area, total_computations, read_pointcloud=False): + # Read and normalize reflection image + reflection = cv2.imread(reflection_path, -1) / scale + depth = cv2.imread(depth_path, -1) + reflection = depth>0 + reflection + height_map = hm = cv2.imread(height_map_path, -1) # Load height map + + depth_middle = depth[depth.shape[0]//2,depth.shape[1]//2] + hm_middle = hm[hm.shape[0]//2,hm.shape[1]//2] + + if hm_middle>0 and depth_middle>0: + depth=depth/depth_middle + height_map=hm/hm_middle + else: + depth=depth/255 + height_map=hm/255 + + # Compute areas + multireflection_area = np.sum(reflection > 1).astype(float) + normal_reflection_area = np.sum(reflection == 1).astype(float) + + reconstructed_simulated_area = np.sum(height_map>0)/np.sum(depth>0) + # Calculate clean ratio + clean_ratio = normal_reflection_area / (multireflection_area + normal_reflection_area) + + + reconstructed_area=np.sum(depth>0) + if reconstructed_area>100: + diff=np.abs(height_map-depth) + diff[height_map==0]=0 + height_map_ratio = np.mean(diff) # Compute some ratio from height map + else: + height_map_ratio=1 + + features = ( + index, + clean_ratio, + normal_reflection_area / max_sensor_area, + (normal_reflection_area + multireflection_area) / max_sensor_area, + reconstructed_simulated_area, + height_map_ratio # Include height map ratio + ) + + print(f"\x1b[2K\r {index + 1}/{total_computations}", end="") + return features + + +def extract_features(reflection_paths, depth_paths, height_map_paths, point_cloud_paths, transformations, backup, path, threaded=True): + # Read the first reflection image to determine the scale + first_image = cv2.imread(reflection_paths[0], -1) + scale = np.unique(first_image)[1] + max_sensor_area = int(first_image.shape[0] * first_image.shape[1]) + features = [] + + if backup is None: + print("Creating features from data") + if not threaded: + # Process reflections sequentially + for index, (reflection_path, depth_path, height_map_path, point_cloud_path, transformation) in enumerate(zip(reflection_paths, depth_paths, height_map_paths, point_cloud_paths, transformations)): + features.append(process_reflection(reflection_path, depth_path, height_map_path, point_cloud_path, transformation, index, scale, max_sensor_area, len(reflection_paths))) + else: + # Process reflections in parallel + with concurrent.futures.ThreadPoolExecutor() as executor: + futures = [ + executor.submit(process_reflection, reflection_path, depth_path, height_map_path, point_cloud_path, transformation, index, scale, max_sensor_area, len(reflection_paths)) + for index, (reflection_path, depth_path, height_map_path, point_cloud_path, transformation) in enumerate(zip(reflection_paths, depth_paths, height_map_paths, point_cloud_paths, transformations)) + ] + for future in concurrent.futures.as_completed(futures): + features.append(future.result()) + + features = np.array(features) + np.savetxt(f"{path}/features.csv", features, delimiter=";", fmt="%32.32f") + else: + print("Loaded features from file") + features = backup + + return features + + +def show_poses(points, features, mesh_path=None): + print(f"Showing Poses - min: {np.min(features)} - max: {np.max(features)} Value of feature") + features = np.array(features) + norm_features = (features - np.min(features)) / (np.max(features) - np.min(features)) + + # Create a dictionary to store the highest feature value for each point + unique_points = {} + for point, feature in zip(points, norm_features): + point_tuple = tuple(point) + if point_tuple not in unique_points or unique_points[point_tuple] < feature: + unique_points[point_tuple] = feature + + # Extract the points and features with the highest feature values + points = np.array([point for point in unique_points.keys()]) + features = np.array([unique_points[point] for point in unique_points.keys()]) + + point_cloud = o3d.geometry.PointCloud() + point_cloud.points = o3d.utility.Vector3dVector(points) + colors = plt.get_cmap("cool")(features)[:, :3] + point_cloud.colors = o3d.utility.Vector3dVector(colors) + + # Visualize the point cloud with bigger points + vis = o3d.visualization.Visualizer() + vis.create_window() + vis.add_geometry(point_cloud) + if mesh_path is not None: + mesh = o3d.io.read_triangle_mesh(mesh_path) + vis.add_geometry(mesh) + + # Change the render option to make the points bigger + render_option = vis.get_render_option() + render_option.point_size = 15.0 + + # Enable shading + render_option.mesh_shade_option = o3d.visualization.MeshShadeOption.Color + vis.run() + vis.destroy_window() + + +if __name__ == "__main__": + # Take first argument in the cli command as path string if available + path = sys.argv[1] if len(sys.argv) > 1 else "../pointcloud" + + reflection_paths, depth_paths, height_map_paths, point_cloud_paths, transformations, backup = get_files(path) + + features = extract_features(reflection_paths, depth_paths, height_map_paths, point_cloud_paths, transformations, backup, path) + + #sort features by features[-2]:= Reconstructed/Visible + points = [np.reshape(T, (4, 4))[:3, 3] for T in transformations] + combined = list(zip(features, points)) + combined = sorted(combined, key=lambda x: x[0][-1], reverse=True) + + # Extract the sorted transformations + points = [np.array(item[1]) for item in combined] + features = [item[0] for item in combined] + + first_image = cv2.imread(reflection_paths[0], -1) + scale = np.unique(first_image)[1] + + clean_reflection_ratio = [feature[1] for feature in features] + clean_total_ratio = [feature[2] for feature in features] + height_map_ratio = [feature[-1] for feature in features] + + plt.plot(height_map_ratio,clean_total_ratio,".") + plt.xlabel("Average Probing Error") + plt.ylabel("Completness") + plt.show() + + # Show Poses + show_poses(points[:], clean_total_ratio[:], mesh_path="../pyrefloid/res/data/cad.stl") + + # Show Histograms + plt.subplot(121) + plt.xlabel("Points without Multireflection vs all Points") + plt.hist(clean_reflection_ratio, int(np.sqrt(len(clean_reflection_ratio)))) + plt.subplot(122) + plt.xlabel("Points without Multireflection vs Sensor Area") + plt.hist(clean_total_ratio, int(np.sqrt(len(clean_total_ratio)))) + plt.show() + + # Show best reflections + for index, clean_reflected_ratio, clean_total_ratio, reflected_total_area, simulated_reflected_area, height_map_ratio in features[::]: + + reflection = cv2.imread(reflection_paths[int(index)], -1) / scale + + depth = cv2.imread(depth_paths[int(index)], -1) / 255 + hm = cv2.imread(height_map_paths[int(index)], -1) / 255 + + depth_middle = depth[depth.shape[0]//2,depth.shape[1]//2] + hm_middle = hm[hm.shape[0]//2,hm.shape[1]//2] + + if hm_middle>0 and depth_middle>0: + depth=depth/depth_middle + hm=hm/hm_middle + else: + depth=depth/255 + hm=hm/255 + + print(hm[hm.shape[0]//2,hm.shape[1]//2],depth[depth.shape[0]//2,depth.shape[1]//2]) + + print(f"{int(index)}\t-\t Clean/Reflected: {clean_reflected_ratio:3.3f}\tClean/Area: {clean_total_ratio:3.5f}\tReflected/Area: {reflected_total_area:3.3f}\tReconstructed/Visible: {simulated_reflected_area}\t Average Difference Sim: {height_map_ratio:3.3f}") + + plt.figure("10 best poses (descending)") + ax=plt.subplot(221) + plt.title("Depthmap") + plt.imshow(depth,cmap="turbo") + plt.colorbar() + plt.subplot(222,sharex=ax,sharey=ax) + plt.title("Simulated Reconstruction") + plt.imshow(hm,cmap="turbo") + plt.subplot(223,sharex=ax,sharey=ax) + plt.title("Difference Reconstruction/GT") + diff=depth-hm + diff[hm==0]=0 + plt.imshow(diff,cmap="turbo") + plt.colorbar() + plt.subplot(224,sharex=ax,sharey=ax) + plt.title("Mutlireflections") + plt.imshow(reflection,cmap="turbo") + plt.colorbar() + plt.show() diff --git a/3D-Tools/Dummy-Messung.stl b/3D-Tools/Dummy-Messung.stl 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---------------------------------------------------------------------------- + +# - Open3D: www.open3d.org - + +# ---------------------------------------------------------------------------- + +# Copyright (c) 2018-2023 www.open3d.org + +# SPDX-License-Identifier: MIT + +# ---------------------------------------------------------------------------- + +"""Align multiple pieces of geometry in a global space""" + + +import open3d as o3d + +import numpy as np + +import glob + +import argparse + +import matplotlib.pyplot as plt + +def get_cmap(n, name='hsv'): + '''Returns a function that maps each index in 0, 1, ..., n-1 to a distinct + RGB color; the keyword argument name must be a standard mpl colormap name.''' + return plt.get_cmap(name, n) + + + +def load_point_clouds(paths, voxel_size=0.0,Reference_CAD_path=None,CAD_initial_T=None): + + pcds = [] + + if Reference_CAD_path is not None: + print(Reference_CAD_path) + mesh = o3d.io.read_triangle_mesh(Reference_CAD_path) + if CAD_initial_T is None: + T=np.eye(4) + else: + T=CAD_initial_T + + mesh.transform(T) + pcd = mesh.sample_points_poisson_disk(number_of_points=500000,use_triangle_normal=True) + pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1,max_nn=30)) + pcds.append(pcd) + + + cmap = get_cmap(len(paths)) + for i in range(len(paths)): + + pcd = o3d.io.read_point_cloud(paths[i]) + + pcd.paint_uniform_color(cmap(i)[:3]) + pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.05,max_nn=30)) + pcd_down = pcd.voxel_down_sample(voxel_size=voxel_size) + #_,inlier=pcd_down.remove_statistical_outlier(nb_neighbors=20,std_ratio=2.0) + #pcd_down = pcd_down.select_by_index(inlier) + + pcds.append(pcd_down) + + return pcds + + + +def pairwise_registration(source, target, max_correspondence_distance_coarse, + + max_correspondence_distance_fine): + + print("Apply point-to-plane ICP") + + icp_coarse = o3d.pipelines.registration.registration_icp( + + source, target, max_correspondence_distance_coarse, np.identity(4), + + o3d.pipelines.registration.TransformationEstimationPointToPlane()) + + icp_fine = o3d.pipelines.registration.registration_icp( + + source, target, max_correspondence_distance_fine, + + icp_coarse.transformation, + + o3d.pipelines.registration.TransformationEstimationPointToPlane()) + + transformation_icp = icp_fine.transformation + + information_icp = o3d.pipelines.registration.get_information_matrix_from_point_clouds( + + source, target, max_correspondence_distance_fine, + + icp_fine.transformation) + + return transformation_icp, information_icp + + + +def full_registration(pcds, max_correspondence_distance_coarse, + + max_correspondence_distance_fine): + + pose_graph = o3d.pipelines.registration.PoseGraph() + + odometry = np.identity(4) + + pose_graph.nodes.append(o3d.pipelines.registration.PoseGraphNode(odometry)) + + n_pcds = len(pcds) + + for source_id in range(n_pcds): + + for target_id in range(source_id + 1, n_pcds): + + transformation_icp, information_icp = pairwise_registration( + + pcds[source_id], pcds[target_id], + + max_correspondence_distance_coarse, + + max_correspondence_distance_fine) + + print("Build o3d.pipelines.registration.PoseGraph") + + if target_id == source_id + 1: # odometry case + + odometry = np.dot(transformation_icp, odometry) + + pose_graph.nodes.append( + + o3d.pipelines.registration.PoseGraphNode( + + np.linalg.inv(odometry))) + + pose_graph.edges.append( + + o3d.pipelines.registration.PoseGraphEdge(source_id, + + target_id, + + transformation_icp, + + information_icp, + + uncertain=False)) + + else: # loop closure case + + pose_graph.edges.append( + + o3d.pipelines.registration.PoseGraphEdge(source_id, + + target_id, + + transformation_icp, + + information_icp, + + uncertain=True)) + + return pose_graph + + + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description="Visualize a point cloud with a selected point and normal direction.") + parser.add_argument('file_path', type=str, help='Path to the pointcloud/mesh file') + parser.add_argument('voxel_size', type=float, help='Path to the pointcloud/mesh file',default=2.0) + args = parser.parse_args() + pc_files = sorted(glob.glob(f"{args.file_path}/**/*.ply",recursive=True),reverse=False) + + voxel_size = args.voxel_size + + + #pc_files=pc_files[::7] + #pc_files=pc_files[::-1] + + #aligning raw_measurements + #\\baba\Veroeffentlichungen\2024\Refloid\Messungen\Demo\24-08-11_19-20-35\mesh_cam_50mm.ply paths[76] + #T_0 = np.array([[-4.48000822e-01 ,-6.61437329e-02 ,-8.91583013e-01, 3.34696030e+02], + # [ 8.93872398e-01 ,-5.20489870e-02, -4.45289837e-01 , 1.56685757e+02], + # [-1.69528607e-02 ,-9.96451659e-01 ,8.24420461e-02 ,-4.54816377e+00], + # [ 0.00000000e+00 , 0.00000000e+00, 0.00000000e+00 , 1.00000000e+00]]) + # + #T_0_inv=T_0.copy() + #T_0_inv[:3,:3]=T_0[:3,:3].transpose() + #T_0_inv[:3,3]= -np.dot(T_0_inv[:3,:3],T_0_inv[:3,3]) + #reference_file = "Dummy-Messung.stl" + + T_0=np.eye(4) + T_0_inv=T_0.copy() + reference_file = "../pyrefloid/res/data/cad.stl" + reference_file = None + + pc_files=pc_files[:3] + + pcds_down = load_point_clouds(pc_files,voxel_size,reference_file,T_0_inv) + + o3d.visualization.draw(pcds_down) + + + print("Full registration ...") + + max_correspondence_distance_coarse = voxel_size * 15 + + max_correspondence_distance_fine = voxel_size * 1.5 + + with o3d.utility.VerbosityContextManager( + + o3d.utility.VerbosityLevel.Debug) as cm: + + pose_graph = full_registration(pcds_down, + + max_correspondence_distance_coarse, + + max_correspondence_distance_fine) + + + print("Optimizing PoseGraph ...") + + option = o3d.pipelines.registration.GlobalOptimizationOption( + + max_correspondence_distance=max_correspondence_distance_fine, + + edge_prune_threshold=0.025, + + reference_node=0) + + with o3d.utility.VerbosityContextManager( + + o3d.utility.VerbosityLevel.Debug) as cm: + + o3d.pipelines.registration.global_optimization( + + pose_graph, + + o3d.pipelines.registration.GlobalOptimizationLevenbergMarquardt(), + + o3d.pipelines.registration.GlobalOptimizationConvergenceCriteria(), + + option) + + + print("Transform points and display") + + trans = [] + pcd_transformed=[] + + if len(pc_files)= 3 and len(target_points) >= 3) + + assert (len(source_points) == len(target_points)) + + register_via_correspondences(source, target, source_points, target_points) + + print("") + +def print_help(): + print("usage: python EstTransform source.stl target.ply") + +def load_model(fpath:str): + if fpath.endswith(".stl"): + mesh = o3d.io.read_triangle_mesh(fpath) + pcd = mesh.sample_points_uniformly(number_of_points=250000,use_triangle_normal=True) + return pcd + + elif fpath.endswith(".ply") or fpath.endswith(".pcd") : + pcd =o3d.io.read_point_cloud(fpath) + pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1,max_nn=30)) + + + return pcd + else: + print_help() + exit(1) + +if __name__=="__main__": + if len(sys.argv) != 3: + print_help() + exit(1) + + source = load_model(sys.argv[1]) + target = load_model(sys.argv[2]) + + + manual_registration(source,target) + + +""" + T= np.array([[ + -0.0012672310739158602, + 0.9949285482395186, + 0.10057622991248588, + -25.694912518310723 + ], + [ + -0.8657917020077689, + 0.04923712830735478, + -0.49797633872558233, + 139.51474209125365 + ], + [ + -0.5004029604827456, + -0.08770911636796375, + 0.8613384863374299, + -94.0109597829117 + ],[0,0,0,1]]) + #pcd.transform(T) +""" \ No newline at end of file diff --git a/3D-Tools/QueryPoses.py b/3D-Tools/QueryPoses.py new file mode 100644 index 0000000..68c194b --- /dev/null +++ b/3D-Tools/QueryPoses.py @@ -0,0 +1,219 @@ +import open3d as o3d +import numpy as np +import copy +import argparse +import sys +import yaml + +def normalize(v): + norm = np.linalg.norm(v) + if norm == 0: + return v + return v / norm + +def spherical_to_cartesian(r, theta, phi,normal): + x = r * np.cos(theta) + y = r * np.sin(theta) * np.sin(phi) + z = r * np.sin(theta) * np.cos(phi) + + vec = np.array([x, y, z]) + + return vec + +def rotate_vector(vector, axis, angle): + # Rodrigues' rotation formula + axis = normalize(axis) + cos_angle = np.cos(angle) + sin_angle = np.sin(angle) + return (cos_angle * vector + + sin_angle * np.cross(axis, vector) + + (1 - cos_angle) * np.dot(axis, vector) * axis) + + +def create_arrow(start, direction,size=1,color = [1, 0.5, 0]): + color=np.asanyarray(color) + # Ensure normal is a 1D array + normal = direction.flatten() + point =start.flatten() + + # Create the arrow geometry + arrow = o3d.geometry.TriangleMesh.create_arrow(cylinder_radius=0.5*size, cone_radius=1*size, + cylinder_height=5.0*size, cone_height=3.0*size, + resolution=20*size, cylinder_split=4, cone_split=1) + + + arrow.paint_uniform_color(color) + + # Compute the rotation matrix to align the arrow with the normal + arrow_direction = normal / np.linalg.norm(normal) + z_axis = np.array([0, 0, 1]) + cross_product = np.cross(z_axis, arrow_direction) + dot_product = np.dot(z_axis, arrow_direction) + if np.allclose(cross_product, 0) and dot_product > 0: # Vectors are parallel and in the same direction + R = np.eye(3) + elif np.allclose(cross_product, 0) and dot_product < 0: # Vectors are parallel and in opposite direction + R = -np.eye(3) + else: + cos_theta = dot_product + sin_theta = np.linalg.norm(cross_product) + skew_symmetric = np.array([[0, -cross_product[2], cross_product[1]], + [cross_product[2], 0, -cross_product[0]], + [-cross_product[1], cross_product[0], 0]]) + R = np.eye(3) + skew_symmetric + np.dot(skew_symmetric, skew_symmetric) * ((1 - cos_theta) / (sin_theta ** 2)) + + arrow.rotate(R, center=(0, 0, 0)) + + # Translate the arrow to the point location + arrow.translate(point) + + return arrow + + +def create_pose_grid(center_point, surface_normal, distance, total_num_locations=1000, num_orientations=8,visualize=False,inverse_Transformation=True): + arrows = [] + transformations = [] + num_locations=np.round(np.sqrt(total_num_locations)).astype(int) + if visualize: + arrows.append(create_arrow(center_point + surface_normal * distance, -surface_normal, color=[0, 0, 0])) + + # Find an arbitrary axis perpendicular to surface_normal for rotation + if np.all(surface_normal == np.array([1, 0, 0])) or np.all(surface_normal == np.array([-1, 0, 0])): + perpendicular_axis = np.array([0, 1, 0]) + secondary_perpendicular_axis = np.array([0, 0, 1]) + else: + perpendicular_axis = normalize(np.cross(surface_normal, np.array([1, 0, 0]))) + if not np.all(surface_normal == np.array([0, 1, 0])): + secondary_perpendicular_axis = normalize(np.cross(surface_normal, np.array([0, 0, 1]))) + else: + secondary_perpendicular_axis = normalize(np.cross(surface_normal, np.array([0, 1, 0]))) + + angle_increment = np.pi / num_locations / 2 + + pose_nr=1 + for i in range(num_locations): + rotation_angle = -np.pi / 4 + angle_increment * i + rotated_normal = rotate_vector(surface_normal, perpendicular_axis, rotation_angle) + for j in range(num_locations): + secondary_rotation_angle = -np.pi / 4 + angle_increment * j + z_axis = rotate_vector(rotated_normal, secondary_perpendicular_axis, secondary_rotation_angle) + arrow_position = center_point + z_axis * distance + + if visualize: + arrows.append(create_arrow(arrow_position, -z_axis, color=[0, 0, 1])) + for k in range(num_orientations): + x_axis = rotate_vector(normalize(np.cross(secondary_perpendicular_axis, z_axis)), + z_axis, 2*np.pi/num_orientations * k) + if visualize: + arrows.append(create_arrow(arrow_position, x_axis, color=[1, 0, 0])) + + R=np.eye(3) + R[0]= normalize(x_axis) + R[1]= normalize(np.cross(x_axis,-z_axis)) + R[2]= normalize(-z_axis) + t = np.matmul(R,-arrow_position) + + #R=np.transpose(R) + T = np.eye(4) + if not inverse_Transformation: + T[0:3,0:3]=R + T[0:3,3]=t + else: + R=np.transpose(R) + T[0:3,0:3]=R + T[0:3,3]=-np.matmul(R,t) + + + if not visualize: + print(f"Generated Pose {pose_nr}:", i+1,j+1,k+1,f"\tAngle: {rotation_angle/np.pi*180}°,{secondary_rotation_angle/np.pi*180}°,{2*np.pi/num_orientations * k/np.pi*180}°") + pose_nr+=1 + transformations.append(T) + + + return arrows,transformations + +def get_selection(idx, model,distance,num_locations=10,num_orientations=8, visualize=False): + + # Ensure points and normals are numpy arrays + points = np.asarray(model.points) + normals = np.asarray(model.normals) + + # Get the point and normal at the given index + point = points[idx].flatten() + normal = normals[idx].flatten() + normal = normalize(normal) + + normal_arrow=create_arrow(point,normal) + camera_arrow,transformations = create_pose_grid(point,normal,distance,num_locations,num_orientations,visualize=visualize) + + if visualize: + vis = o3d.visualization.Visualizer() + vis.create_window() + opt = vis.get_render_option() + opt.show_coordinate_frame = True + opt.background_color = np.asarray([0.5, 0.5, 0.5]) + + vis.add_geometry(model) + + # Add the arrow to the visualizer + vis.add_geometry(normal_arrow) + + for a in camera_arrow: + vis.add_geometry(a) + + vis.run() + vis.destroy_window() + + return transformations + +def pick_points(model): + print("") + print("1) Please pick at least three correspondences using [shift + left click]") + print(" Press [shift + right click] to undo point picking") + print("2) Afther picking points, press q for close the window") + vis = o3d.visualization.VisualizerWithEditing() + vis.create_window() + opt = vis.get_render_option() + opt.show_coordinate_frame = True + opt.background_color = np.asarray([0.5, 0.5, 0.5]) + vis.add_geometry(model) + vis.run() # user picks points + vis.destroy_window() + print("") + return vis.get_picked_points() + +def load_model(fpath:str): + if fpath.endswith(".stl"): + mesh = o3d.io.read_triangle_mesh(fpath) + pcd = mesh.sample_points_uniformly(number_of_points=250000,use_triangle_normal=True) + return pcd + + elif fpath.endswith(".ply") or fpath.endswith(".pcd") : + pcd =o3d.io.read_point_cloud(fpath) + pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1,max_nn=30)) + return pcd + + +if __name__=="__main__": + parser = argparse.ArgumentParser(description="Visualize a point cloud with a selected point and normal direction.") + parser.add_argument('file_path', type=str, help='Path to the pointcloud/mesh file') + parser.add_argument('distance', type=int, help='Distance from the Model') + parser.add_argument('num_locations', type=int, help='Number of total locations for the camera',default=10) + parser.add_argument('num_orientations', type=int, help='Number of total orientations per location for the camera',default=8) + parser.add_argument('visualize',type=bool, help="Show the poses after calculation",default=False) + + args = parser.parse_args() + source = load_model(args.file_path) + + idx = pick_points(source)[0] + pts = source + + transf=np.asanyarray(get_selection(idx,source,args.distance,args.num_locations,args.num_orientations,args.visualize)) + + data=dict(poses=transf) + yaml.add_representer(np.ndarray, lambda dumper, array: dumper.represent_list(array.tolist())) + print(yaml.dump(data["poses"][0],default_flow_style=True)) + + transf = np.array([t.flatten() for t in transf]) + + np.savetxt('values.csv', transf, fmt="%32.32f", delimiter=";") + \ No newline at end of file diff --git a/3D-Tools/RegisterPC.py b/3D-Tools/RegisterPC.py new file mode 100644 index 0000000..0d8a611 --- /dev/null +++ b/3D-Tools/RegisterPC.py @@ -0,0 +1,24 @@ +import numpy as np +import open3d as o3d +import glob + +pc_dir = "//baba/Veroeffentlichungen/2024/Refloid/Messungen/Rohdaten/Demo" +pc_files = sorted(glob.glob(f"{pc_dir}/**/*.ply",recursive=True),reverse=False) + +transformations = np.genfromtxt("Transformationen_Messung_CAD_Fein.csv", delimiter=";", dtype=float) +transformations = [np.reshape(T, (4, 4)) for T in transformations] + +fusion=None + +for i,(pc,T) in enumerate(zip(pc_files,transformations)): + pcd=o3d.io.read_point_cloud(pc) + pcd.transform(T) + o3d.io.write_point_cloud(f"//baba/Veroeffentlichungen/2024/Refloid/Messungen/Punktewolken/Feineinpassung/{i}.ply",pcd,print_progress=True) + + if i == 0: + fusion=o3d.io.read_point_cloud(pc) + fusion.transform(T) + else: + fusion+=pcd + +o3d.io.write_point_cloud("transformed_pcds_fusion.ply",fusion) \ No newline at end of file diff --git a/3D-Tools/Stauebli2Poses.py b/3D-Tools/Stauebli2Poses.py new file mode 100644 index 0000000..856c80e --- /dev/null +++ b/3D-Tools/Stauebli2Poses.py @@ -0,0 +1,81 @@ +import xml.etree.cElementTree as ET +import re +import numpy as np +import argparse + + +def transformation_matrix(pose): + x, y, z, rx, ry, rz = pose + # Convert angles from degrees to radians + rx = np.radians(rx) + ry = np.radians(ry) + rz = np.radians(rz) + + # Rotation matrix around the X-axis + Rx = np.array([ + [1, 0, 0, 0], + [0, np.cos(rx), -np.sin(rx), 0], + [0, np.sin(rx), np.cos(rx), 0], + [0, 0, 0, 1] + ]) + + # Rotation matrix around the Y-axis + Ry = np.array([ + [np.cos(ry), 0, np.sin(ry), 0], + [0, 1, 0, 0], + [-np.sin(ry), 0, np.cos(ry), 0], + [0, 0, 0, 1] + ]) + + # Rotation matrix around the Z-axis + Rz = np.array([ + [np.cos(rz), -np.sin(rz), 0, 0], + [np.sin(rz), np.cos(rz), 0, 0], + [0, 0, 1, 0], + [0, 0, 0, 1] + ]) + + # Combined rotation matrix + R = np.dot(np.dot(Rx, Ry), Rz) + + # Translation matrix + T = np.array([ + [1, 0, 0, x], + [0, 1, 0, y], + [0, 0, 1, z], + [0, 0, 0, 1] + ]) + + T[:3,:3] = R[:3,:3] + return T + +def get_poses(path): + root = ET.parse(path).getroot()[0] + raw_poses=[] + poses=[] + pattern = re.compile(r'^[a-z]{2}$') + + for child in root: + name=child.get("name") + value=[c for c in child] + if pattern.match(name) or name== "iff": + raw_poses.append((name,value[0].attrib)) + + for n,p in raw_poses: + poses.append([float(p.get("x")),float(p.get("y")),float(p.get("z")),float(p.get("rx")),float(p.get("ry")),float(p.get("rz"))]) + poses = np.array(poses) + + return poses + +if __name__=="__main__": + + parser = argparse.ArgumentParser(description="Visualize a point cloud with a selected point and normal direction.") + parser.add_argument('file_path', type=str, help='Path to the pointcloud/mesh file') + args = parser.parse_args() + + poses=get_poses(args.file_path) + + transf = np.array([transformation_matrix(p).flatten() for p in poses]) + + np.savetxt('trans_staubli.csv', transf, fmt="%32.32f", delimiter=";")#r11,r12,r13,t1;r21,r22,r23,t2;r31,32,r33,t3;0,0,0,1 + np.savetxt('poses_staubli.csv', poses, fmt="%32.32f", delimiter=";") #x,y,z,rx,ry,rz \ No newline at end of file diff --git a/3D-Tools/VizPC.py b/3D-Tools/VizPC.py new file mode 100644 index 0000000..2f0e7d4 --- /dev/null +++ b/3D-Tools/VizPC.py @@ -0,0 +1,79 @@ +import glob +import numpy as np +import open3d as o3d +import matplotlib.pyplot as plt + +def create_arrow(T,size=1,color = [0, 0, 0]): + start = [0,0,0] + R = np.transpose(T[:3,:3]) + t = -np.dot(R,T[:3,3]) + + print(R,t) + # Create the arrow geometry + arrow = o3d.geometry.TriangleMesh.create_arrow(cylinder_radius=0.5*size, cone_radius=1*size, + cylinder_height=10.0*size, cone_height=3.0*size, + resolution=20*size, cylinder_split=4, cone_split=1) + + + arrow.rotate(R, center=(0, 0, 0)) + arrow.paint_uniform_color(color) + # Translate the arrow to the point location + arrow.translate(t) + + return arrow + + +def show_poses(trans, mesh_path=None,mesh_transform=None): + #point_cloud = o3d.geometry.PointCloud() + #point_cloud.points = o3d.utility.Vector3dVector(points) + + # Visualize the point cloud with bigger points + vis = o3d.visualization.Visualizer() + vis.create_window() + + + mesh=o3d.geometry.LineSet.create_from_triangle_mesh(o3d.io.read_triangle_mesh("../pyrefloid/res/data/cad.stl")) + vis.add_geometry(mesh) + + if mesh_path is not None: + for M,T in zip(mesh_path,mesh_transform): + #mesh=o3d.io.read_triangle_mesh(M) + mesh = o3d.io.read_point_cloud(M) + mesh.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1,max_nn=30)) + mesh.transform(T) + vis.add_geometry(mesh) + + render_option = vis.get_render_option() + render_option.point_size = 3.0 + + # Enable shading + render_option.mesh_shade_option = o3d.visualization.MeshShadeOption.Color + render_option.show_coordinate_frame = True + render_option.background_color = np.asarray([0.5, 0.5, 0.5]) + vis.run() + vis.destroy_window() + + +def inverse_tranformation(T): + T_0=T.copy() + T_0[:3,:3] = T_0[:3,:3].transpose() + T_0[:3,3]=-np.dot(T_0[:3,:3],T_0[:3,3]) + return T_0 + +if __name__ == "__main__": + transformation_file = "./trans_cad_corrected.csv" + transformations = np.genfromtxt(transformation_file, delimiter=";", dtype=float) + transformations = [np.reshape(T, (4, 4)) for T in transformations] + + pc_dir = "//baba/Veroeffentlichungen/2024/Refloid/Messungen/Demo" + + pc_files = sorted(glob.glob(f"{pc_dir}/**/*.ply",recursive=True),reverse=False) + + + s=63 + n=18 + + #s=1 + n=3 + + show_poses(transformations[s:s+n],pc_files[s:s+n],transformations[s:s+n]) \ No newline at end of file diff --git a/3D-Tools/VizPoses.py b/3D-Tools/VizPoses.py new file mode 100644 index 0000000..ea12038 --- /dev/null +++ b/3D-Tools/VizPoses.py @@ -0,0 +1,90 @@ +import os +import numpy as np +import open3d as o3d + +def create_pyramid(T, size=10, color=[1, 1, 1]): + R = T[:3, :3] + t = T[:3, 3] + + # Create vertices and lines for the inverted pyramid + half_size = size / 2.0 + vertices = [ + [-half_size, -half_size, size], [half_size, -half_size, size], + [half_size, half_size, size], [-half_size, half_size, size], + [0, 0, 0] + ] + lines = [ + [0, 1], [1, 2], [2, 3], [3, 0], # Base square + [0, 4], [1, 4], [2, 4], [3, 4] # Pyramid sides + ] + colors = [color for _ in lines] + + line_set = o3d.geometry.LineSet( + points=o3d.utility.Vector3dVector(vertices), + lines=o3d.utility.Vector2iVector(lines), + ) + line_set.colors = o3d.utility.Vector3dVector(colors) + + # Apply rotation and translation to the pyramid + line_set.rotate(R, center=(0, 0, 0)) + line_set.translate(t) + + return line_set + + +def create_arrow(T, size=1, color=[1, 0.5, 0]): + R = T[:3, :3] + t = T[:3, 3] + + arrow = o3d.geometry.TriangleMesh.create_arrow( + cylinder_radius=0.5 * size, cone_radius=1 * size, + cylinder_height=50.0 * size, cone_height=3.0 * size, + resolution=20, cylinder_split=4, cone_split=1 + ) + + arrow.paint_uniform_color(color) + arrow.rotate(R, center=(0, 0, 0)) + arrow.translate(t) + + return arrow + + +def show_poses(trans, mesh_path=None, meshtransform=None,fov_pyramid=True): + vis = o3d.visualization.Visualizer() + vis.create_window() + + for t in trans: + vis.add_geometry(create_arrow(t)) + vis.add_geometry(create_pyramid(t)) + + if mesh_path is not None: + mesh = o3d.io.read_triangle_mesh(mesh_path) + mesh.compute_vertex_normals() + + if meshtransform is not None: + R_mesh = meshtransform[:3, :3] + t_mesh = meshtransform[:3, 3] + mesh.rotate(R_mesh, center=(0, 0, 0)) + mesh.translate(t_mesh) + + vis.add_geometry(mesh) + + render_option = vis.get_render_option() + render_option.point_size = 15.0 + render_option.mesh_shade_option = o3d.visualization.MeshShadeOption.Color + render_option.show_coordinate_frame = True + render_option.background_color = np.asarray([0.5, 0.5, 0.5]) + + vis.run() + vis.destroy_window() + +if __name__ == "__main__": + # Define the path to your transformation file + transformation_file = "./poses.csv" + + # Read the transformations from the CSV file + transformations = np.genfromtxt(transformation_file, delimiter=";", dtype=float) + transformations = [np.reshape(T, (4, 4)) for T in transformations] + + # Visualize the transformations + show_poses(transformations[:], mesh_path="../pyrefloid/res/data/cad.stl") \ No newline at end of file diff --git a/3D-Tools/example_workflow.sh b/3D-Tools/example_workflow.sh new file mode 100644 index 0000000..8fd9e54 --- /dev/null +++ b/3D-Tools/example_workflow.sh @@ -0,0 +1,5 @@ +python .\3D-Tools\QueryPoses.py .\pyrefloid\res\data\cad.stl 300 100 8 true #model working_distance num_orientations fringe_directions +python EstTransform.py ..\pointcloud\pointcloudcamA_normal_00654.ply ..\pyrefloid\res\data\cad.stl +python Stauebli2Poses.py "//baba/Veroeffentlichungen/2024/Refloid/Messungen/refloid_poses_extra.dtx" +python .\EstTranformationsPGO.py \\baba\Veroeffentlichungen\2024\Refloid\Messungen\Punktewolken\Grobeinpassung\ 0.5 +python ComparePoses.py \ No newline at end of file diff --git a/3D-Tools/real2cad.py b/3D-Tools/real2cad.py new file mode 100644 index 0000000..ee308dd --- /dev/null +++ b/3D-Tools/real2cad.py @@ -0,0 +1,29 @@ + +import numpy as np + +#AA - pose[0] +#T0=np.array([[-3.79172520e-01, 5.45439008e-01, -7.47478754e-01, 2.96758822e+02], +# [ 9.24293746e-01, 1.85110718e-01, -3.33788996e-01, 1.29448659e+02], +# [-4.36952102e-02, -8.17453553e-01, -5.74334761e-01, 1.83342818e+02], +# [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]) + +#pose[76] +T_0 = np.array([[-4.48000822e-01 ,-6.61437329e-02 ,-8.91583013e-01, 3.34696030e+02], + [ 8.93872398e-01 ,-5.20489870e-02, -4.45289837e-01 , 1.56685757e+02], + [-1.69528607e-02 ,-9.96451659e-01 ,8.24420461e-02 ,-4.54816377e+00], + [ 0.00000000e+00 , 0.00000000e+00, 0.00000000e+00 , 1.00000000e+00]]) + +transformation_file = "poses_pgo.csv" + +transformations = np.genfromtxt(transformation_file, delimiter=";", dtype=float) +transformations = [np.reshape(T, (4, 4)) for T in transformations[::]] + +cad_trans=[] + + +for t in transformations[:]: + cad_trans.append(np.dot(T_0,t)) + +cad_trans = np.array([t.flatten() for t in cad_trans]) + +np.savetxt('trans_cad.csv', cad_trans, fmt="%32.32f", delimiter=";") \ No newline at end of file diff --git a/3D-Tools/viz_poses.m b/3D-Tools/viz_poses.m new file mode 100644 index 0000000..24347a8 --- /dev/null +++ b/3D-Tools/viz_poses.m @@ -0,0 +1,69 @@ +close all +function visualize_transformations_with_arrows() + % File path to the transformation file + transformation_file = '\\baba\Veroeffentlichungen\2024\Refloid\Messungen\Transformationen\\Transformationen_Messung_CAD.csv'; + mesh_path = '\\baba\Veroeffentlichungen\2024\Refloid\Referenzmodelle\Demo_CAD\Demo.STL'; + + % Read the transformations from the CSV file + transformations = read_transformations(transformation_file); + + % Load the mesh + mesh = stlread(mesh_path); + + % Create a figure for visualization + figure; + hold on; + axis equal; + xlabel('X'); + ylabel('Y'); + zlabel('Z'); + grid on; + + % Plot the mesh + trisurf(mesh.ConnectivityList, mesh.Points(:, 1), mesh.Points(:, 2), mesh.Points(:, 3), 'FaceAlpha', 0.3, 'EdgeColor', 'none'); + + % Visualize the transformations + for i = 1:size(transformations, 3) + T = transformations(:, :, i); + + % Create and plot the arrow for the transformation + create_arrow(T, 'r'); % Red for the arrow + + % Optionally, you can also create and plot difference lines here if needed + end + + % Set view and lighting + view(3); + camlight; + lighting gouraud; + hold off; +end + +function transformations = read_transformations(file_path) + % Read the transformations from a CSV file and return them as 4x4xN matrices + data = readmatrix(file_path); + num_transformations = size(data, 1); + transformations = zeros(4, 4, num_transformations); + + for i = 1:num_transformations + transformations(:, :, i) = transpose(reshape(data(i, :), [4, 4])); + end +end + +function create_arrow(T, color) + % Construct and plot an arrow representing the transformation + R = T(1:3, 1:3); % Rotation matrix + t = T(1:3, 4); % Translation vector + + % Define the arrow start and end points + start_point = t'; + end_point = t' + (R(:, 3) * 50)'; % Scale the arrow length as needed + + % Plot the arrow + quiver3(start_point(1), start_point(2), start_point(3), ... + end_point(1) - start_point(1), end_point(2) - start_point(2), end_point(3) - start_point(3), ... + color); +end + +% Run the visualization +visualize_transformations_with_arrows(); \ No newline at end of file diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..5d591c9 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,32 @@ +#Make sure nvidia-container-toolkit; a nvidia driver (>=525) and matching libnvidia-common-525 libnvidia-extra-525 libnvidia-fbc1-525 libnvidia-gl-525 are installed +#check that the versions of libnvoptix and libnvidia-rtcore are matching the nvidia-smi - they are present in /lib/x86_64*/ on host and container and should be equal or greater 525 + +FROM nvidia/cuda:12.0.0-devel-ubuntu20.04 +MAINTAINER Peter Shobowale (IMR, Uni Hannover) +ARG OPTIX_VERSION=7.6.0 +ADD dependencies/NVIDIA-OptiX-SDK-${OPTIX_VERSION}-linux64-x86_64 /usr/local/optix +ENV IS_THIS_RUN_IN_DOCKER TRUE +ENV LD_LIBRARY_PATH /usr/lib/x86_64-linux-gnu/:/usr/local/cuda/lib64:${LD_LIBRARY_PATH} +ENV DEBIAN_FRONTEND=noninteractive +ENV TZ=Etc/UTC +ENV OPTIX_PATH=/usr/local/optix/ +ENV CUDA_PATH=/usr/local/cuda +ENV PATH="$OPTIX_PATH:$PATH" +ENV OPTIX_EMBED_HEADERS=1 + +COPY ./conda_environment.yml /dependencies/conda_environment.yml +WORKDIR /pyrefloid + +RUN apt-get update && apt-get install -y \ + wget\ + libgl1-mesa-glx\ + libglib2.0-0\ + nano\ + git + +RUN mkdir -p /opt/conda +RUN wget https://repo.anaconda.com/miniconda/Miniconda3-py38_23.11.0-2-Linux-x86_64.sh -O /opt/conda/miniconda.sh && bash /opt/conda/miniconda.sh -b -p /opt/miniconda +RUN . /opt/miniconda/bin/activate\ + && conda env update --name base --file /dependencies/conda_environment.yml + +ENTRYPOINT ["/bin/bash", "-c", "/pyrefloid/init_env.sh"] diff --git a/README.md b/README.md new file mode 100644 index 0000000..7513e75 --- /dev/null +++ b/README.md @@ -0,0 +1,98 @@ +# pyrefloid + +A [python-optix](https://github.com/mortacious/python-optix) based pathtracer for simulating fringe projection profilometry systems + +## Use Cases +* multireflection analysis and avoidance +* pattern frequency simulation +* accuracy prediction +* ... + +## Getting started + +### On Docker with Linux Desktop/Server (recommended) + +1. Clone the repo + +2. Install and configure [Cuda 12.x](https://developer.nvidia.com/cuda-12-0-0-download-archive?), [nvida-container-toolkit >=1.13](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html), libnvoptix and libnvidia-rtcore (available with `apt install libnvidia-gl-$NVIDIA_DRIVER_VERSION` after installation of cuda as part of the nvidia repo) + +3. Download the [Nvidia Optix 7.6](https://developer.nvidia.com/optix/downloads/7.6.0/linux64-x86_64)-install-script and put it in the dependencies directory + +4. Start the setup via docker compose up -d --build + +5. At the end of the setup a interactive shell should open and you are ready to start the renderer with `python pyrefloid/FringeProjection.py` + +### On Windows and Linux (locally) + +You have to install: +[Optix 7.6](https://developer.nvidia.com/designworks/optix/downloads/legacy), +[Cuda 12.x](https://developer.nvidia.com/cuda-12-0-0-download-archive?) and +[Conda](https://www.anaconda.com/download) + +1. Install python with the necessary requirements + - Options: + - a) Install a conda enviroment including the dependencies via `conda env create --file .\conda_environment.yml -n "YOUR_ENV_NAME" ` + + - b) Install Python and MSVC compiler for windows (GCC or Clang for Linux) and take care of the python deps (use the conda_enviroment.yml file as a reference for pip) `unrecommended - (conflicting/ circular dependencies)` + +2. Set Environment Variable + * Linux + * `export OPTIX_PATH = xxxx (path of the NVIDA_OPTIX_SDK_7.6 direcotry)` + * `export CUDA_PATH = xxxx` + * If using venv, add both paths to the PATH variable! + * `export PATH = $CUDA_PATH:$OPTIX_PATH:$PATH` + * Windows + * Follow this [Guide](https://learn.microsoft.com/en-us/sql/integration-services/lesson-1-1-creating-working-folders-and-environment-variables?view=sql-server-ver16) + * Create both variables with names as above i.e. `OPTIX_PATH` with value `"C:\ProgramData\NVIDIA Corporation\OptiX SDK 7.6.0\"` + * Append both directorys to the PATH variable + +3. Activate the conda enviroment and install this repo via `pip install -e .` + +4. Start the simulation via `python pyrefloid/FringeProjection.py` + + +### Tipps +#### General +* The repo/package needs to be installed editable `pip install -e ./pyrefloid` as the compiler structure of cupy depends on relative pathes +* Tested with + * NVidia GV100, 4070Ti and 3090 + * Windows 10, Ubuntu 20.04/22.04 and Debian 12 + * Nvidia drivers 525.xxx - 545.xxx +* WSL2 seems to not support optix (currently) + +#### Docker +* Make sure there are no errors during `./setup_docker.sh` +* Make sure that libnvoptix.so is present inside and outside of the docker container --> ls -la /lib/x86_64-linux-gnu/libnv* +* Make sure that the version of libnvoptix.so links to a file that matches the installed driver version (>= 525) i.e. `libnvoptix.so.525.147.05` +#### +* Changes in docker-sessions are persistent +* It is possible to attach and debug sessions via the vscode docker plugin +* open3d visualizaitons should be streamed from the container to your local computer if started via the vscode docker plugin +* A former session can be reopend via `./start_docker.sh` +* If you need a reset of the container use `./init_image.sh` for a full rebuild use `./setup_docker.sh` + + + +## Todo List +### Performance +reduce the number of calls per rendering - pass list of extrinsics bevor rendering \ +implement Object rotation - currently only translation is possible\ +Spheric sampling \ +Uniform sampling \ +Cylindric sampling \ + +### Features +Support for all BRDF models\ +Support for different light sources \ +Support for different materials \ +Support for orthographic cameras \ +Support depth of field \ + +### Optimization +Pose Optimization \ +Optimization of the BRDF parameters \ +Optimization of the light source parameters \ +Optimization of the material parameters \ +Optimization of the camera parameters \ +Optimization of the depth of field parameters \ +Optimization of the sampling parameters \ diff --git a/coc.py b/coc.py new file mode 100644 index 0000000..92cfd59 --- /dev/null +++ b/coc.py @@ -0,0 +1,35 @@ +import glob +import numpy as np +import matplotlib.pyplot as plt +import cv2 + +coc_files=sorted(glob.glob("./rendering/CoCBuffer*.png"),reverse=True) +frame_files=sorted(glob.glob("./rendering/FrameBuffer*.png"),reverse=True) + +for cf,ff in zip(coc_files,frame_files) : + print(cf) + img=cv2.imread(ff) + img=cv2.medianBlur(img,5) + coc=cv2.imread(cf,cv2.IMREAD_ANYDEPTH)/(2**16-1)*img.shape[0] + coc = np.array(np.round(coc)//2*2+1,dtype=np.uint8) + dof=img.copy() + + filter_sizes=np.unique(coc) + + for f in filter_sizes: + if f <5 or f > min(coc.shape[0]/2,coc.shape[1]/2) : + continue + gaussian = cv2.GaussianBlur(img,(f,f),0) + dof[coc==f]=gaussian[coc==f] + + ax=plt.subplot(221) + plt.imshow(img) + plt.subplot(222, sharex=ax,sharey=ax) + plt.imshow(coc) + plt.colorbar() + plt.subplot(223, sharex=ax,sharey=ax) + plt.imshow(dof) + plt.subplot(224, sharex=ax,sharey=ax) + plt.imshow(img[:,:,0]-dof[:,:,0]) + plt.colorbar() + plt.show() \ No newline at end of file diff --git a/conda_environment.yml b/conda_environment.yml new file mode 100644 index 0000000..5373f62 --- /dev/null +++ b/conda_environment.yml @@ -0,0 +1,225 @@ +name: multiref +channels: + - conda-forge + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_kmp_llvm + - ca-certificates=2023.11.17=hbcca054_0 + - cuda-version=11.8=h70ddcb2_2 + - cudatoolkit=11.8.0=h4ba93d1_12 + - cupy=12.0.0=py38h405e1b6_4 + - fastrlock=0.8.2=py38h17151c0_2 + - intel-openmp=2023.1.0=hdb19cb5_46306 + - ld_impl_linux-64=2.40=h41732ed_0 + - libblas=3.9.0=20_linux64_openblas + - libcblas=3.9.0=20_linux64_openblas + - libffi=3.4.4=h6a678d5_0 + - libgcc-ng=13.2.0=h807b86a_3 + - libgfortran-ng=13.2.0=h69a702a_3 + - libgfortran5=13.2.0=ha4646dd_3 + - liblapack=3.9.0=20_linux64_openblas + - libopenblas=0.3.25=pthreads_h413a1c8_0 + - libsqlite=3.41.2=h2797004_1 + - libstdcxx-ng=13.2.0=h7e041cc_3 + - libzlib=1.2.13=hd590300_5 + - llvm-openmp=17.0.6=h4dfa4b3_0 + - mkl=2023.2.0=h84fe81f_50496 + - ncurses=6.4=h59595ed_2 + - numpy=1.24.4=py38h59b608b_0 + - openssl=3.0.12=hd590300_0 + - pip=23.3.1=pyhd8ed1ab_0 + - python=3.8.18=h955ad1f_0 + - python_abi=3.8=2_cp38 + - readline=8.2=h8228510_1 + - setuptools=68.2.2=pyhd8ed1ab_0 + - sqlite=3.41.2=h2c6b66d_1 + - tbb=2021.5.0=h924138e_5 + - tk=8.6.13=noxft_h4845f30_101 + - wheel=0.41.2=pyhd8ed1ab_0 + - xz=5.4.5=h5eee18b_0 + - zlib=1.2.13=hd590300_5 + - zstd=1.5.5=hfc55251_0 + - pip: + - addict==2.4.0 + - aiofiles==22.1.0 + - aiosqlite==0.19.0 + - ansi2html==1.9.1 + - anyio==4.2.0 + - argon2-cffi==23.1.0 + - argon2-cffi-bindings==21.2.0 + - arrow==1.3.0 + - asttokens==2.4.1 + - attrs==23.1.0 + - babel==2.14.0 + - backcall==0.2.0 + - beautifulsoup4==4.12.2 + - bleach==6.1.0 + - blinker==1.7.0 + - certifi==2023.11.17 + - cffi==1.16.0 + - charset-normalizer==3.3.2 + - click==8.1.7 + - colorama==0.4.6 + - comm==0.2.0 + - configargparse==1.7 + - contourpy==1.1.1 + - cycler==0.12.1 + - cython==3.0.6 + - dash==2.14.2 + - dash-core-components==2.0.0 + - dash-html-components==2.0.0 + - dash-table==5.0.0 + - dataclasses-json==0.6.3 + - debugpy==1.8.0 + - decorator==5.1.1 + - defusedxml==0.7.1 + - deprecated==1.2.14 + - entrypoints==0.4 + - exceptiongroup==1.2.0 + - executing==2.0.1 + - fastjsonschema==2.19.0 + - flask==3.0.0 + - fonttools==4.47.0 + - fqdn==1.5.1 + - glfw==2.6.4 + - idna==3.6 + - imageio==2.33.1 + - imgui==2.0.0 + - importlib-metadata==7.0.0 + - importlib-resources==6.1.1 + - ipykernel==6.27.1 + - ipython==8.12.3 + - ipython-genutils==0.2.0 + - ipywidgets==8.1.1 + - isoduration==20.11.0 + - itsdangerous==2.1.2 + - jedi==0.19.1 + - jinja2==3.1.2 + - joblib==1.3.2 + - json5==0.9.14 + - jsonpointer==2.4 + - jsonschema==4.20.0 + - jsonschema-specifications==2023.11.2 + - jupyter-client==7.4.9 + - jupyter-core==5.5.1 + - jupyter-events==0.9.0 + - jupyter-server==2.12.1 + - jupyter-server-fileid==0.9.0 + - jupyter-server-terminals==0.5.0 + - jupyter-server-ydoc==0.8.0 + - jupyter-ydoc==0.2.5 + - jupyterlab==3.6.6 + - jupyterlab-pygments==0.3.0 + - jupyterlab-server==2.25.2 + - jupyterlab-widgets==3.0.9 + - kiwisolver==1.4.5 + - lazy-loader==0.3 + - markdown-it-py==3.0.0 + - markupsafe==2.1.3 + - marshmallow==3.20.2 + - matplotlib==3.7.4 + - matplotlib-inline==0.1.6 + - mdurl==0.1.2 + - meshio==5.3.4 + - mistune==3.0.2 + - mypy-extensions==1.0.0 + - natsort==8.4.0 + - nbclassic==1.0.0 + - nbclient==0.9.0 + - nbconvert==7.13.0 + - nbformat==5.9.2 + - nest-asyncio==1.5.8 + - networkx==3.1 + - notebook==6.5.6 + - notebook-shim==0.2.3 + - numpy-stl==3.1.1 + - open3d==0.18.0 + - opencv-contrib-python==4.8.1.78 + - opencv-python==4.8.1.78 + - overrides==7.4.0 + - packaging==23.2 + - pandas==2.0.3 + - pandocfilters==1.5.0 + - parso==0.8.3 + - path==16.9.0 + - pexpect==4.9.0 + - pickleshare==0.7.5 + - pillow==10.1.0 + - pkgutil-resolve-name==1.3.10 + - platformdirs==4.1.0 + - plotly==5.18.0 + - pooch==1.8.0 + - prometheus-client==0.19.0 + - prompt-toolkit==3.0.43 + - psutil==5.9.7 + - ptyprocess==0.7.0 + - pure-eval==0.2.2 + - pycparser==2.21 + - pygltflib==1.16.1 + - pygments==2.17.2 + - pyopengl==3.1.7 + - pyparsing==3.1.1 + - pyqt5-qt5==5.15.2 + - pyqt5-sip==12.13.0 + - pyqt6==6.6.1 + - pyqt6-qt6==6.6.1 + - pyqt6-sip==13.6.0 + - pyquaternion==0.9.9 + - python-dateutil==2.8.2 + - python-json-logger==2.0.7 + - python-optix==1.0.0 + - python-utils==3.8.1 + - pytz==2023.3.post1 + - pyusb==1.2.1 + - pyvista==0.43.1 + - pyvistaqt==0.11.0 + - pywavelets==1.4.1 + - pyyaml==6.0.1 + - pyzmq==24.0.1 + - assimp_py==1.0.6 + - qtpy==2.4.1 + - referencing==0.32.0 + - requests==2.31.0 + - retrying==1.3.4 + - rfc3339-validator==0.1.4 + - rfc3986-validator==0.1.1 + - rich==13.7.0 + - rpds-py==0.15.2 + - scikit-image==0.21.0 + - scikit-learn==1.3.2 + - scipy==1.10.1 + - scooby==0.9.2 + - send2trash==1.8.2 + - six==1.16.0 + - sniffio==1.3.0 + - soupsieve==2.5 + - stack-data==0.6.3 + - svgwrite==1.4.3 + - tenacity==8.2.3 + - terminado==0.18.0 + - threadpoolctl==3.2.0 + - tifffile==2023.7.10 + - tinycss2==1.2.1 + - tomli==2.0.1 + - tornado==6.4 + - tqdm==4.66.1 + - traitlets==5.14.0 + - types-python-dateutil==2.8.19.14 + - typing-extensions==4.9.0 + - typing-inspect==0.9.0 + - tzdata==2023.3 + - uri-template==1.3.0 + - urllib3==2.1.0 + - vtk==9.3.0 + - wcwidth==0.2.12 + - webcolors==1.13 + - webencodings==0.5.1 + - websocket-client==1.7.0 + - werkzeug==3.0.1 + - widgetsnbextension==4.0.9 + - wrapt==1.16.0 + - y-py==0.6.2 + - ypy-websocket==0.8.4 + - zipp==3.17.0 + diff --git a/conda_environment_windows.yml b/conda_environment_windows.yml new file mode 100644 index 0000000..93af4dc --- /dev/null +++ b/conda_environment_windows.yml @@ -0,0 +1,166 @@ +name: multiref +channels: + - conda-forge + - defaults +dependencies: + - ca-certificates=2023.11.17=h56e8100_0 + - cuda-version=11.8=h70ddcb2_2 + - cudatoolkit=11.8.0=hd77b12b_0 + - cupy=12.0.0=py38hf95616d_1 + - fastrlock=0.8=py38h885f38d_2 + - intel-openmp=2023.2.0=h57928b3_50497 + - libblas=3.9.0=20_win64_mkl + - libcblas=3.9.0=20_win64_mkl + - libffi=3.4.4=hd77b12b_0 + - liblapack=3.9.0=20_win64_mkl + - mkl=2023.2.0=h6a75c08_50497 + - openssl=3.0.12=h2bbff1b_0 + - pip=23.3.1=py38haa95532_0 + - python=3.8.18=h1aa4202_0 + - python_abi=3.8=2_cp38 + - setuptools=68.2.2=py38haa95532_0 + - sqlite=3.41.2=h2bbff1b_0 + - tbb=2021.5.0=h2d74725_1 + - vc=14.2=h21ff451_1 + - vs2015_runtime=14.27.29016=h5e58377_2 + - wheel=0.41.2=py38haa95532_0 + - pip: + - aiofiles==22.1.0 + - aiosqlite==0.19.0 + - anyio==4.2.0 + - argon2-cffi==23.1.0 + - argon2-cffi-bindings==21.2.0 + - arrow==1.3.0 + - asttokens==2.4.1 + - attrs==23.1.0 + - babel==2.14.0 + - backcall==0.2.0 + - beautifulsoup4==4.12.2 + - bleach==6.1.0 + - certifi==2023.11.17 + - cffi==1.16.0 + - charset-normalizer==3.3.2 + - colorama==0.4.6 + - comm==0.2.0 + - contourpy==1.1.1 + - cycler==0.12.1 + - cython==3.0.6 + - debugpy==1.8.0 + - decorator==5.1.1 + - defusedxml==0.7.1 + - entrypoints==0.4 + - exceptiongroup==1.2.0 + - executing==2.0.1 + - fastjsonschema==2.19.0 + - fonttools==4.47.0 + - fqdn==1.5.1 + - idna==3.6 + - imageio==2.33.1 + - importlib-metadata==7.0.0 + - importlib-resources==6.1.1 + - ipykernel==6.27.1 + - ipython==8.12.3 + - ipython-genutils==0.2.0 + - ipywidgets==8.1.1 + - isoduration==20.11.0 + - jedi==0.19.1 + - jinja2==3.1.2 + - json5==0.9.14 + - jsonpointer==2.4 + - jsonschema==4.20.0 + - jsonschema-specifications==2023.11.2 + - jupyter-client==7.4.9 + - jupyter-core==5.5.1 + - jupyter-events==0.9.0 + - jupyter-server==2.12.1 + - jupyter-server-fileid==0.9.0 + - jupyter-server-terminals==0.5.0 + - jupyter-server-ydoc==0.8.0 + - jupyter-ydoc==0.2.5 + - jupyterlab==3.6.6 + - jupyterlab-pygments==0.3.0 + - jupyterlab-server==2.25.2 + - jupyterlab-widgets==3.0.9 + - kiwisolver==1.4.5 + - lazy-loader==0.3 + - markdown-it-py==3.0.0 + - markupsafe==2.1.3 + - matplotlib==3.7.4 + - matplotlib-inline==0.1.6 + - mdurl==0.1.2 + - meshio==5.3.4 + - mistune==3.0.2 + - natsort==8.4.0 + - nbclassic==1.0.0 + - nbclient==0.9.0 + - nbconvert==7.13.0 + - nbformat==5.9.2 + - nest-asyncio==1.5.8 + - networkx==3.1 + - notebook==6.5.6 + - notebook-shim==0.2.3 + - numpy==1.24.4 + - opencv-contrib-python==4.8.1.78 + - overrides==7.4.0 + - packaging==23.2 + - pandas==2.0.3 + - pandocfilters==1.5.0 + - parso==0.8.3 + - pickleshare==0.7.5 + - pillow==10.1.0 + - pkgutil-resolve-name==1.3.10 + - platformdirs==4.1.0 + - pooch==1.8.0 + - prometheus-client==0.19.0 + - prompt-toolkit==3.0.43 + - psutil==5.9.7 + - pure-eval==0.2.2 + - pycparser==2.21 + - pygments==2.17.2 + - pyparsing==3.1.1 + - python-dateutil==2.8.2 + - python-json-logger==2.0.7 + - python-optix==1.0.0 + - pytz==2023.3.post1 + - pyusb==1.2.1 + - pyvista==0.43.1 + - pywavelets==1.4.1 + - pywin32==306 + - pywinpty==2.0.12 + - pyyaml==6.0.1 + - assimp_py==1.0.7 + - pyzmq==24.0.1 + - referencing==0.32.0 + - requests==2.31.0 + - rfc3339-validator==0.1.4 + - rfc3986-validator==0.1.1 + - rich==13.7.0 + - rpds-py==0.15.2 + - scikit-image==0.21.0 + - scipy==1.10.1 + - scooby==0.9.2 + - send2trash==1.8.2 + - six==1.16.0 + - sniffio==1.3.0 + - soupsieve==2.5 + - stack-data==0.6.3 + - terminado==0.18.0 + - tifffile==2023.7.10 + - tinycss2==1.2.1 + - tomli==2.0.1 + - tornado==6.4 + - traitlets==5.14.0 + - types-python-dateutil==2.8.19.14 + - typing-extensions==4.9.0 + - tzdata==2023.3 + - uri-template==1.3.0 + - urllib3==2.1.0 + - vtk==9.3.0 + - wcwidth==0.2.12 + - webcolors==1.13 + - webencodings==0.5.1 + - websocket-client==1.7.0 + - widgetsnbextension==4.0.9 + - y-py==0.6.2 + - ypy-websocket==0.8.4 + - zipp==3.17.0 \ No newline at end of file diff --git a/dependencies/place_NVIDIA_OptiX_SDK-7.6.0_here b/dependencies/place_NVIDIA_OptiX_SDK-7.6.0_here new file mode 100644 index 0000000..06a2f72 --- /dev/null +++ b/dependencies/place_NVIDIA_OptiX_SDK-7.6.0_here @@ -0,0 +1 @@ +https://developer.nvidia.com/optix/downloads/7.6.0/linux64-x86_64 diff --git a/docker-compose.yml b/docker-compose.yml new file mode 100644 index 0000000..936ba8d --- /dev/null +++ b/docker-compose.yml @@ -0,0 +1,18 @@ +version: '3' +services: + refloid: + container_name: refloid + build: + context: . + dockerfile: Dockerfile + args: + - BUILD_DATE=$(date -u +"%Y-%m-%dT%H:%M:%SZ") + environment: + - NVIDIA_DRIVER_CAPABILITIES=graphics,compute,utility + volumes: + - .:/pyrefloid + runtime: nvidia + #gpus: all + command: /bin/bash -c "/pyrefloid/init_env.sh; python pyrefloid/FringeProjection.py" + tty: true + restart: unless-stopped diff --git a/init_env.sh b/init_env.sh new file mode 100644 index 0000000..f360107 --- /dev/null +++ b/init_env.sh @@ -0,0 +1,21 @@ +#! /bin/bash + +source /opt/miniconda/bin/activate + +# Check if the package is installed +if ! pip freeze|grep -q "-e /pyrefloid"; then + echo "$pyrefloid is not installed, installing..." + # Install the package via pip + pip install -e /pyrefloid + if [ $? -eq 0 ]; then + echo "Installation successful" + else + echo "Error: Installation failed. Please check your pip setup." + exit 1 + fi +else + echo "Welcome" +fi + + +/bin/bash diff --git a/pyrefloid/FPCamera.py b/pyrefloid/FPCamera.py new file mode 100644 index 0000000..a697c63 --- /dev/null +++ b/pyrefloid/FPCamera.py @@ -0,0 +1,162 @@ +from dataclasses import dataclass + +import cv2 + +from pyrefloid.utils.struct_helper import StructHelper +import numpy as np +from enum import Enum +from typing import Tuple +from pyrefloid.utils.logger import get_logger +logger = get_logger(__name__) + + +class CameraType(Enum): + PERSPECTIVE_CAMERA = 0 + ORTHOGRAPHIC_CAMERA = 1 + Kalles_Super_Special_Camera = 2 + + +@dataclass +class FPCamera(StructHelper): + __slots__ = ['name', 'height', 'width', 'intrinsics', 'extrinsics', 'distortion', 'pixel_size', 'camera_type', + 'sensor_area', 'sensor_size', 'aperture_width', 'aperture_height', 'bit_depth', 'exposure' + 'aspect_ratio', 'depth_of_field', 'aperture_diameter', 'aperture_samples', 'view_width', 'view_height'] + + def __init__(self, name: str = "camA", camera_type: str = "PERSPECTIVE"): + super().__init__() + logger.debug("FPCamera : __init__()") + # initialize all attributes to default values + for slot in self.__slots__: + setattr(self, slot, None) + self.name: str = name + self.depth_of_field: int = 280 + self.aperture_diameter: int = 15 + self.aperture_samples: int = 300 + self.view_width: int = 120 + self.view_height: int = 120 + self.camera_type = CameraType[camera_type] + self.bit_depth: int = 12 + self.pose = np.eye(4, dtype=np.float32) + self.exposure: int = 2000 + + def __del__(self): + logger.debug("FPCamera : __del__()") + + def set_pixel_size(self, pixel_size: float): + logger.debug("FPCamera : set_pixel_size()") + self.pixel_size=pixel_size + if self.width is not None: + self.set_sensor_area() + + + def set_resolution(self, resolution: Tuple[int, int]): + logger.debug("FPCamera : set_resolution()") + self.width, self.height = resolution + if self.pixel_size is not None: + self.set_sensor_area() + + + def get_resolution(self) -> Tuple[int, int]: + logger.debug("FPCamera : get_resolution()") + return self.width, self.height + + def set_bit_depth(self, bit_depth: int): + logger.debug("FPCamera : set_bit_depth()") + self.bit_depth = bit_depth + + def set_distortion(self, distortion: np.ndarray): + logger.debug("FPCamera : set_distortion()") + self.distortion = distortion + + def get_distortion(self) -> np.ndarray: + logger.debug("FPCamera : get_distortion()") + return self.distortion + + def set_intrinsics(self, intrinsics: np.ndarray): + logger.debug("FPCamera : set_intrinsics()") + self.intrinsics = np.asarray(intrinsics) + + def get_intrinsics(self) -> np.ndarray: + logger.debug("FPCamera : get_intrinsics()") + return self.intrinsics + + def set_pose(self, pose: np.ndarray, add_extrinsics: bool = False): + logger.debug("FPCamera : set_pose()") + pose = np.asarray(pose) + if pose.shape == (3, 4): + pose = np.concatenate((pose, np.array([[0, 0, 0, 1]])), axis=0) + if pose is not None: + if add_extrinsics: + origin_T_light = np.linalg.inv(self.extrinsics) + self.pose = np.matmul(pose, origin_T_light) + else: + self.pose = pose + + def set_exposure(self, exposure: int): + logger.debug("FPCamera : set_exposure()") + self.exposure = exposure + + def set_extrinsics(self, extrinsics: np.ndarray): + logger.debug("FPLight : set_extrinsics()") + extrinsics = np.asarray(extrinsics) + if np.asarray(extrinsics).shape == (3, 4): + extrinsics = np.concatenate((extrinsics, np.array([[0, 0, 0, 1]])), axis=0) + self.extrinsics = np.asarray(extrinsics) + + def get_pose(self) -> np.ndarray: + logger.debug("FPCamera : get_pose()") + return self.pose + + # todo: correct calculation of camera properties + def set_sensor_area(self) -> Tuple[float, float]: + logger.debug("FPCamera : get_sensor_area()") + self.sensor_size = self.pixel_size * np.array([self.width,self.height]) + self.sensor_area = self.sensor_size[0] * self.sensor_size[1] + return self.sensor_area + + # todo: correct calculation of camera properties + def get_aperture_size(self, sensor_size: float, aspect_ratio: float) -> Tuple[float, float]: + logger.debug("FPCamera : get_aperture_size()") + self.aperture_width = sensor_size * aspect_ratio + self.aperture_height = sensor_size * aspect_ratio + return self.aperture_width, self.aperture_height + + # todo: correct calculation of camera properties + def get_camera_parameters(self) -> Tuple[float, float, float]: + if self.sensor_size is None or self.pixel_size is None: + logger.debug("FP: get_camera_parameters - pixel_size and sensor_area needs to be set") + camera_matrix=self.get_intrinsics() + # self.get_aperture_size(sensor_size=0.25, aspect_ratio=1.0) + fov_x, fov_y, focal_length, principal_point,aspectRatio = cv2.calibrationMatrixValues(camera_matrix, (self.width, self.height), self.sensor_size[0],self.sensor_size[1]) + return fov_x, fov_y, focal_length, principal_point,aspectRatio,self.pixel_size + + def prepare_camera(self) -> StructHelper: + camera = StructHelper( + names=("camera_type", "distortion", "K", "K_inv", "Rt", "depth_of_field", + "aperture_diameter", "aperture_samples", "view_width", "view_height", "resolution"), + formats=("i4", "5f4", "9f4", "9f4", "16f4", "f4", "f4", "u4", "f4", "f4", "2i4"), size=1, + alignment=8) + + #ToDo embedd in Sim + #fov_x, fov_y, focal_length, principal_point,aspectRatio,_=self.get_camera_parameters() + + camera[0]["camera_type"] = self.camera_type.value + camera[0]["distortion"] = self.distortion + camera[0]["K"] = self.intrinsics.flatten() + camera[0]["K_inv"] = np.linalg.inv(self.intrinsics).flatten() + camera[0]["Rt"] = self.pose.flatten() + camera[0]["depth_of_field"] = self.depth_of_field + camera[0]["aperture_diameter"] = self.aperture_diameter + camera[0]["aperture_samples"] = self.aperture_samples + camera[0]["view_width"] = self.view_width + camera[0]["view_height"] = self.view_height + camera[0]["resolution"] = np.array(self.get_resolution()).flatten() + #camera[0]["focal_length"] = focal_length + + return camera + + +if __name__ == '__main__': + cam = FPCamera() + cam.set_resolution((640, 480)) + cam.set_distortion(np.array([0.0, 0.0, 0.0, 0.0, 0.0])) diff --git a/pyrefloid/FPLight.py b/pyrefloid/FPLight.py new file mode 100644 index 0000000..3f28b2c --- /dev/null +++ b/pyrefloid/FPLight.py @@ -0,0 +1,176 @@ +from typing import Union, List, Tuple + +import numpy as np +import cupy as cp +import cv2 +from pyrefloid.utils.logger import get_logger +from pyrefloid.utils.struct_helper import StructHelper +from pyrefloid.params import LightType +from pyrefloid.utils.PatternGeneration import generatePattern +from pyrefloid.utils.dataclasses import Sequence +from pathlib import Path + +logger = get_logger(__name__) + + +class FPLight(StructHelper): + __slots__ = ['name', 'height', 'width', 'projector_changed', 'intrinsics', 'extrinsics', 'distortion', 'pixel_size', + 'sensor_size', 'sensor_area', 'aperture_width', 'aperture_height', 'focal_length', 'principal_point', + 'aspect_ratio', 'depth_of_field', 'aperture_diameter', 'aperture_samples', 'view_width', 'view_height', + 'pattern', 'light_type', 'pose', 'pattern_count', 'mask', 'pattern_flattened'] + + def __init__(self, name: str, light_type: str): + super().__init__() + logger.debug("FPLight : __init__()") + self.name = name + self.light_type = LightType[light_type] + self.pattern = None + self.pattern_flattened = None + self.mask = None + self.distortion = np.array([0.0, 0.0, 0.0, 0.0, 0.0], np.float32) + self.intrinsics = np.eye(3, dtype=np.float32) + self.extrinsics = np.eye(4, dtype=np.float32) + self.pose = np.eye(4, dtype=np.float32) + self.width, self.height = 0, 0 + self.pattern_count: Union[int, None] = None + + def __del__(self): + logger.debug("FPLight : __del__()") + + def set_resolution(self, resolution: Tuple[int, int]): + logger.debug("FPLight : set_resolution()") + self.width = resolution[0] + self.height = resolution[1] + + def get_resolution(self) -> Tuple[int, int]: + logger.debug("FPLight : get_resolution()") + return self.width, self.height + + def set_distortion(self, distortion: np.ndarray): + logger.debug("FPLight : set_distortion()") + self.distortion = distortion + + def get_distortion(self) -> np.ndarray: + logger.debug("FPLight : get_distortion()") + return self.distortion + + def get_pattern(self, pattern=None, load_from_path: Path = None) -> cp.ndarray: + if isinstance(pattern, Sequence): + pattern_list = generatePattern(frequency=None, Sequence=pattern, resolution=(self.width, self.height)) + else: + pattern_list = generatePattern(frequency=(6, 6)) + if pattern is None and load_from_path is not None: + pattern_list = [np.load(item) for item in load_from_path.iterdir()] + + # return cp.asarray(pattern_list, dtype=cp.float32).flatten() + # flattened_pattern_list = [item.reshape(-1) for item in pattern_list] + # return cp.asarray(np.concatenate(flattened_pattern_list, axis=0), dtype=cp.float32) + return pattern_list + + def set_pattern(self, pattern: Union[list, np.ndarray, Sequence]): + logger.debug("FPLight : set_pattern()") + if isinstance(pattern, list): + self.pattern_count = len(pattern) + self.pattern = pattern + self.pattern_flattened = cp.asarray(self.pattern, dtype=cp.float32).flatten() + elif isinstance(pattern, np.ndarray): + self.pattern_count = len(pattern) # check if this is correct + self.pattern = pattern + self.pattern_flattened = cp.asarray(self.pattern, dtype=cp.float32).flatten() + elif isinstance(pattern, Sequence): + pattern_list = self.get_pattern(pattern) + self.pattern_count = len(pattern_list) + self.pattern = pattern_list + self.pattern_flattened = cp.asarray(self.pattern, dtype=cp.float32).flatten() + else: + raise TypeError("pattern must be list or numpy.ndarray") + + def apply_mask(self, pro_reflections, quarter_list: Union[List[int], None] = None): + if self.light_type == LightType.PERSPECTIVE_PROJECTOR or self.light_type == LightType.ORTHOGRAPHIC_PROJECTOR: + if quarter_list is not None: + h, w = pro_reflections.shape + image = np.zeros_like(pro_reflections) + if 1 in quarter_list: + image[0:h // 2, 0:w // 2] = 1 + if 2 in quarter_list: + image[0:h // 2, w // 2:] = 1 + if 3 in quarter_list: + image[h // 2:, 0: w // 2] = 1 + if 4 in quarter_list: + image[h // 2:, w // 2:] = 1 + mask = np.where(image > 0.5, 1, 0).astype(np.uint8) + else: + kernel = np.ones((5, 5), np.uint8) + mask = cv2.erode(pro_reflections, kernel, iterations=5).astype(np.uint8) + pattern = [cv2.bitwise_and(img, img, mask=mask) for img in self.pattern] + self.pattern_flattened = cp.asarray(pattern, dtype=cp.float32).flatten() + return mask + + def remove_mask(self): + logger.debug("FPLight : remove_mask()") + self.mask = None + if self.light_type == LightType.PERSPECTIVE_PROJECTOR or self.light_type == LightType.ORTHOGRAPHIC_PROJECTOR: + self.pattern_flattened = cp.asarray(self.pattern, dtype=cp.float32).flatten() + + def set_intrinsics(self, intrinsics: np.ndarray): + logger.debug("FPLight : set_intrinsics()") + self.intrinsics = np.asarray(intrinsics) + + def get_intrinsics(self) -> np.ndarray: + logger.debug("FPLight : get_intrinsics()") + return self.intrinsics + + def set_extrinsics(self, extrinsics: np.ndarray): + logger.debug("FPLight : set_extrinsics()") + extrinsics = np.asarray(extrinsics) + if np.asarray(extrinsics).shape == (3, 4): + extrinsics = np.concatenate((extrinsics, np.array([[0, 0, 0, 1]])), axis=0) + self.extrinsics = np.asarray(extrinsics) + + def set_pose(self, pose: np.ndarray, add_extrinsics: bool = False): + logger.debug("FPLight : set_pose()") + pose = np.asarray(pose) + if pose.shape == (3, 4): + pose = np.concatenate((pose, np.array([[0, 0, 0, 1]])), axis=0) + if pose is not None: + if add_extrinsics: + origin_T_light = np.linalg.inv(self.extrinsics) + self.pose = np.matmul(pose, origin_T_light) + else: + self.pose = pose + + def get_pose(self) -> np.ndarray: + logger.debug("FPCamera : get_pose()") + return self.pose + + def prepare_light(self) -> StructHelper: + if self.pattern is None and self.light_type == LightType.PERSPECTIVE_PROJECTOR |\ + LightType.ORTHOGRAPHIC_PROJECTOR: + pattern = self.get_pattern() + self.set_pattern(pattern) + light = StructHelper( + names=("light_type", "intensity", "position", "color", "corner", "v1", "v2", "normal", + "up", "distortion", "K", "K_inv", "Rt", "resolution", "projector_images"), + formats=("i4", "f4", "3f4", "3f4", "3f4", "3f4", "3f4", "3f4", "3f4", "5f4", "9f4", "9f4", "16f4", + "2i4", "u8"), size=1, alignment=8) + + # projector_itemsize = _aligned_itemsize(("u8", "i4", "f4", "3f4", "3f4", "3f4", "3f4", "3f4", "3f4", "3f4", "5f4", "9f4", "9f4", "16f4", "2i4"), 8) + + if self.pattern_flattened is not None: + light[0]["projector_images"] = self.pattern_flattened.data.ptr # optional: is set to 0 in struct helper + + light[0]["light_type"] = self.light_type + light[0]["intensity"] = 10000.0 # W / mm^2 + light[0]["position"] = np.asarray([2.0, 2.0, 2.0], np.float32) + light[0]["color"] = np.array([1.0, 1.0, 1.0], np.float32) + light[0]["corner"] = np.array([0.0, 0.0, 0.0], np.float32) # optional: is set to 0 in struct helper + light[0]["v1"] = np.array([0.0, 0.0, 0.0], np.float32) # optional: is set to 0 in struct helper + light[0]["v2"] = np.array([0.0, 0.0, 0.0], np.float32) # optional: is set to 0 in struct helper + light[0]["normal"] = np.array([0.0, 0.0, 0.0], np.float32) # optional: is set to 0 in struct helper + light[0]["distortion"] = self.distortion # optional: is set to 0 in struct helper + light[0]["K"] = self.intrinsics.flatten() # optional: is set to 0 in struct helper + light[0]["K_inv"] = np.linalg.inv(self.intrinsics).flatten() # optional: is set to 0 in struct helper + light[0]["Rt"] = self.pose.flatten() # optional: is set to 0 in struct helper + light[0]["resolution"] = np.array(self.get_resolution()).flatten() # optional: is set to 0 in struct helper + + return light diff --git a/pyrefloid/FPMaterial.py b/pyrefloid/FPMaterial.py new file mode 100644 index 0000000..3c7d65a --- /dev/null +++ b/pyrefloid/FPMaterial.py @@ -0,0 +1,65 @@ +import numpy as np + +from pyrefloid.utils.logger import get_logger +from pyrefloid.params import MaterialType + +logger = get_logger(__name__) + +DATA_TYPES = { + "f4": np.float32(0.0), + "3f4": np.array([0.0, 0.0, 0.0], dtype=np.float32), + "u4": np.uint32(0), + "u8": np.zeros((4,), dtype=np.float32), + "MaterialType": MaterialType(0), +} + +MATERIAL_PARAMETERS = {"albedo": "3f4", + "metallic": "f4", + "roughness": "f4", + "F0" : "f4" + } + +MATERIAL_TYPE_DICT = { + "pbr": MaterialType(0), +} + + +def convert_str_to_material_type(material_type): + return MATERIAL_TYPE_DICT[material_type] + + +def initialize_data_types(slot_key): + data_type_key = MATERIAL_PARAMETERS[slot_key] + return DATA_TYPES[data_type_key] + + +class Material: + __slots__ = [ + "albedo", + "metallic", + "roughness", + "F0" + ] + + def __init__(self, material_dict): + logger.debug("FPObject : __init__()") + for slot in self.__slots__: + setattr(self, slot, initialize_data_types(slot)) + + for key, value in material_dict.items(): + if hasattr(self, key): + if key == "material_type": + value = convert_str_to_material_type(value) + + if isinstance(value, np.ndarray): + if value.dtype == getattr(self, key).dtype and value.shape == getattr(self, key).shape: + setattr(self, key, value) + else: + logger.error("FPObject : __init__() : Invalid data type for slot %s", key) + elif isinstance(value, list): + if len(value) == len(getattr(self, key)): + setattr(self, key, np.array(value, dtype=getattr(self, key).dtype)) + else: + logger.error("FPObject : __init__() : Invalid data type for slot %s", key) + else: + setattr(self, key, value) diff --git a/pyrefloid/FPObject.py b/pyrefloid/FPObject.py new file mode 100644 index 0000000..a63c7b7 --- /dev/null +++ b/pyrefloid/FPObject.py @@ -0,0 +1,327 @@ +from typing import Union + +import optix as ox +import cupy as cp +from enum import Enum +from pathlib import Path +import meshio +import assimp_py +import numpy as np +from pyrefloid.FPMaterial import Material +from pyrefloid.utils.logger import get_logger +from pyrefloid.utils.struct_helper import StructHelper, array_to_device_memory +from pyrefloid.utils.dataclasses import dataclass + +logger = get_logger(__name__) + +script_dir = Path(__file__).parent.absolute() + +g_tessellation_resolution = 128 + +assimp_post_process_steps = assimp_py.Process_Triangulate | assimp_py.Process_GenSmoothNormals | assimp_py.Process_RemoveRedundantMaterials | assimp_py.Process_SortByPType + +class AnimationMode(Enum): + NONE = 0 + STATIC = 1 + DEFORM = 2 + EXPLODE = 3 + + +@dataclass +class TriangleAttribute: + vertex: Union[np.ndarray, None] = None + normal: Union[np.ndarray, None] = None + tangents: Union[np.ndarray, None] = None + texcoord: Union[np.ndarray, None] = None + + +@dataclass +class MeshData: + vertices: Union[np.ndarray, None] = None + indices: Union[np.ndarray, None] = None + normals: Union[np.ndarray, None] = None + tangents: Union[np.ndarray, None] = None + bitangents: Union[np.ndarray, None] = None + texcoords: Union[np.ndarray, None] = None + + +def cross(a, b): + return np.array([ + a[1] * b[2] - a[2] * b[1], + a[2] * b[0] - a[0] * b[2], + a[0] * b[1] - a[1] * b[0] + ]) + +def cross_batch(a, b): + return np.stack([ + a[:, 1] * b[:, 2] - a[:, 2] * b[:, 1], + a[:, 2] * b[:, 0] - a[:, 0] * b[:, 2], + a[:, 0] * b[:, 1] - a[:, 1] * b[:, 0] + ], axis=-1) + +def updateAABB(minimum, maximum, vertices): + np.minimum(minimum, vertices.min(axis=0), out=minimum) + np.maximum(maximum, vertices.max(axis=0), out=maximum) + +def normalize(v): + v = np.asarray(v) + norm = np.linalg.norm(v, axis=v.ndim-1, keepdims=True) + norm[norm == 0] = 1 # To avoid division by zero + return v / norm + +class FPObject: + __slots__ = ["name", "object_id", "object_type", "animation_mode", "pose", 'material', "object_type", + "geometry_acceleration_build_input", "geometry_acceleration_structure", "generated_vertex_kernel", + "mesh", 'object_material', 'geometry_instance_data', 'path'] + + def __init__(self, name="default", + object_material=None, + animation_mode=AnimationMode.STATIC, + pose=np.eye(4, dtype=np.float32), + loading_path=None): + logger.debug("FPObject : __init__()") + + for slot in self.__slots__: + setattr(self, slot, None) + + self.object_material = self.set_material(object_material) + self.path = loading_path + self.name = name + self.pose = np.asarray(pose) + self.mesh = MeshData() + + if isinstance(animation_mode, str): + self.animation_mode = AnimationMode[animation_mode] + elif isinstance(animation_mode, AnimationMode): + self.animation_mode = animation_mode + else: + raise ValueError("FPObject : __init__() : animation_mode is not a valid AnimationMode") + + if loading_path is not None: + self.load_obj_mesh(loading_path) + + def set_material(self, material): + logger.debug("FPObject : set_material()") + return Material(material) + + def __del__(self): + logger.debug("FPObject : __del__()") + + def set_object_pose(self, pose, ias_build_input=None): + logger.debug("FPObject : set_object_pose()") + pose = np.asarray(pose) + if pose.shape == (3, 4): + pose = np.concatenate((pose, np.array([[0, 0, 0, 1]])), axis=0) + if pose is not None: + self.pose = pose + if ias_build_input is not None: + ias_build_input[self.object_id].transform = self.pose[:3, :4] + ias_build_input.update_instance(self.object_id) + else: + logger.debug("FPObject : set_object_pose() : ias_build_input is None, can't update pose") + + def move_object_relative(self, ias_build_input, direction: str = 'x', offset=10): + if ias_build_input is not None: + if direction == 'x': + self.pose[0, 3] += offset + elif direction == 'y': + self.pose[1, 3] += offset + elif direction == 'z': + self.pose[2, 3] += offset + else: + logger.warn("FPObject : move_object_relative() : unknown direction") + ias_build_input[self.object_id].transform = self.pose[:3, :4] + ias_build_input.update_instance(self.object_id) + else: + logger.debug("FPObject : move_object_relative() : ias_build_input is None, can't update pose") + + def get_pose(self): + logger.debug("FPObject : get_pose()") + return self.pose + + def update_mesh_accel(self, ctx, time, ias_build_input): + logger.debug("FPObject : update_mesh_accel()") + # todo: Update poses of object (transofmration) + + return ias_build_input + + def build_mesh_accel(self, ctx, time): + allow_update = False if self.animation_mode == AnimationMode.STATIC or self.animation_mode == AnimationMode.NONE \ + else True + logger.debug("FPObject : build_mesh_accel()") + + if self.mesh.indices is not None: + self.geometry_acceleration_build_input = ox.BuildInputTriangleArray(self.mesh.vertices, + self.mesh.indices, + flags=[ox.GeometryFlags.NONE]) + else: + self.geometry_acceleration_build_input = ox.BuildInputTriangleArray(self.mesh.vertices, + flags=[ox.GeometryFlags.NONE]) + + self.geometry_acceleration_structure = ox.AccelerationStructure(ctx, self.geometry_acceleration_build_input, + compact=True, allow_update=allow_update, + random_vertex_access=True) + + def load_obj_mesh(self, path: Union[str, Path]) -> MeshData: + if isinstance(path, str): + path = Path(path) + assert path.exists(), f"File {path} does not exist" + logger.debug("FPObject : load_obj_mesh()") + + scene = assimp_py.ImportFile(str(path), assimp_post_process_steps) + + # This is only working with one Mesh right now but could be possible to extract complex scene from assimp + + mesh = scene.meshes[0] + self.mesh.vertices = np.array(mesh.vertices, dtype=np.float32) + + needs_normals = True + needs_tangents = True + needs_texcoords = True + + if len(mesh.indices) > 0: + self.mesh.indices = np.array(mesh.indices, dtype=np.uint32) + + if len(mesh.normals) > 0: + self.mesh.normals = np.array(mesh.normals, dtype=np.float32) + needs_normals = False + + if mesh.tangents is not None: + self.mesh.tangents = np.array(mesh.tangents, dtype=np.float32) + needs_tangents = False + + if len(mesh.texcoords) > 0: + self.mesh.texcoords = np.array(mesh.texcoords, dtype=np.float32) + needs_texcoords = False + + if needs_normals: + raise RuntimeError("This should never happen because assimp does normal calculations!") + + if needs_tangents: + self.mesh.tangents = self.calculate_tangents(self.mesh.vertices, self.mesh.indices, self.mesh.normals) + if needs_texcoords: + self.mesh.texcoords = np.zeros([self.mesh.vertices.shape[0], 3], dtype=np.float32) + logger.debug("FPObject : load_obj_mesh() : mesh loaded") + + return self.mesh + + def set_object_id(self, id): + logger.debug("FPObject : set_object_id()") + self.object_id = id + + def create_calibration_target(self): + logger.debug("FPObject : create_calibration_target()") + + def create_multiple_circular_grid_board(self): + logger.debug("FPObject : create_multiple_circular_grid_board()") + + def calculate_tangents(self, vertices, indices, normals): + # Calculate tangents and bitangents from vertices and indices + logger.debug("FPObject : calculate_tangents()") + + assert len(indices) >= 3 + + # Flatten the indices to simplify processing + flat_indices = np.array(indices).flatten() + + # Extract the relevant vertices based on indices + relevant_vertices = vertices[flat_indices] + + # Initialize aabbLo and aabbHi with the first vertex + aabbLo = np.min(relevant_vertices, axis=0) + aabbHi = np.max(relevant_vertices, axis=0) + + # Calculate the extents and determine the primary axis + extents = aabbHi - aabbLo + maxComponent = np.argmax(extents) + + # Set tangent and bitangent directions based on the primary axis + if maxComponent == 0: # x-axis + direction = np.array([1.0, 0.0, 0.0]) + bidirection = np.array([0.0, 1.0, 0.0]) + elif maxComponent == 1: # y-axis + direction = np.array([0.0, 1.0, 0.0]) + bidirection = np.array([0.0, 0.0, -1.0]) + else: # z-axis + direction = np.array([0.0, 0.0, -1.0]) + bidirection = np.array([0.0, 1.0, 0.0]) + + # Use broadcasting to prepare directions + directions = np.tile(direction, (normals.shape[0], 1)) + bidirections = np.tile(bidirection, (normals.shape[0], 1)) + + # Calculate tangents in a vectorized way + dot_products = np.abs(np.sum(normals * directions, axis=1)) + collinear_mask = dot_products >= 0.999 + + bitangents = normalize(cross_batch(normals, directions)) + tangents = normalize(cross_batch(bitangents, normals)) + + # Handle collinear cases + tangents[collinear_mask] = normalize(cross_batch(bidirections[collinear_mask], normals[collinear_mask])) + + return tangents + + + def prepare_geometry_instance_data(self): + logger.debug("FPObject : prepare_geometry_instance_data()") + + triangle_attributes_data_type = np.dtype({"names": ["vertex", "normal", "tangent", "texcoord"], + "formats": [(" 0 and \ + self.mesh.indices.shape[0] > 0 and \ + self.mesh.texcoords.shape[0] > 0 and \ + self.mesh.normals.shape[0] > 0 and \ + self.mesh.tangents.shape[0] > 0: + + triangle_attributes = np.zeros(self.mesh.vertices.shape[0], dtype=triangle_attributes_data_type) + for i in range(self.mesh.vertices.shape[0]): + triangle_attributes[i] = (self.mesh.vertices[i], self.mesh.normals[i], + self.mesh.tangents[i], self.mesh.texcoords[i]) + + indices = np.zeros(self.mesh.indices.shape[0], dtype=indices_dtype) + + for i in range(self.mesh.indices.shape[0]): + indices[i] = (self.mesh.indices[i],) + else: + triangle_attributes = np.zeros(1, dtype=triangle_attributes_data_type) + indices = np.zeros(1, dtype=indices_dtype) + + size = triangle_attributes.shape[0] + mem = array_to_device_memory(triangle_attributes) + combined_triangle_attributes_struct = cp.ndarray(size, dtype=triangle_attributes_data_type, memptr=mem) + + size = indices.shape[0] + mem = array_to_device_memory(indices) + combined_indices_struct = cp.ndarray(size, dtype=indices_dtype, memptr=mem) + + object_to_world = self.pose + world_to_object = np.linalg.inv(np.concatenate((object_to_world, np.array([[0, 0, 0, 1]])), axis=0)) + + # Check if the resulting matrix is the identity matrix + is_identity = np.allclose(world_to_object, np.identity(4)) + + world_to_object = world_to_object[:3, :] + + self.geometry_instance_data = StructHelper(names=( + "objectToWorld", "worldToObject", "attributes", "indices", "light_id", ), + formats=("12f4", "12f4", "u8", "u8", "i4",), + size=1, + alignment=8, + values=(object_to_world.flatten(), + world_to_object.flatten(), + combined_triangle_attributes_struct, + combined_indices_struct, + -1, + )) diff --git a/pyrefloid/FringeProjectionSystem.py b/pyrefloid/FringeProjectionSystem.py new file mode 100644 index 0000000..483f618 --- /dev/null +++ b/pyrefloid/FringeProjectionSystem.py @@ -0,0 +1,684 @@ +import csv +import os +import time +from pathlib import Path +from typing import List, Tuple + +import natsort +import pandas +import cv2 +import numpy as np +import yaml +import open3d as o3d + +from pyrefloid.FPCamera import FPCamera +from pyrefloid.FPLight import FPLight +from pyrefloid.FPObject import FPObject +from pyrefloid.OptixState import OptixState +from pyrefloid.params import LightType + +from pyrefloid.utils.logger import get_logger +from pyrefloid.utils.struct_helper import combine_multiple_structs +from pyrefloid.utils.loader import initMeasurementClass +from pyrefloid.utils.dataclasses import PatternType, ImageData + +logger = get_logger(__name__) +config_dir = Path(__file__).parent.absolute() / 'res' / 'config' +result_dir = Path(__file__).parent.parent.absolute() / 'results' + + +class FringeProjectionSystem: + __slots__ = ['cameras', 'lights', 'fp_objects', 'sensor_poses', + 'object_poses', 'pose_counter', 'img', 'active_projector', + 'tstart', 'LCR_pattern', 'reflection_depth', 'save_path', + 'save_path_folder', 'total_poses', 'state', 'method', + 'calib_data', 'patterns', 'origin_device', 'default_poses', + 'sensor_moving', 'active_camera', 'sub_frames', + 'sensor_changed', 'resources', 'pattern_count', 'f_num', 'focal_length', 'focus_distance', + 'pixel_size', 'scene_data'] + + def __init__(self, cfg_path=None): + for slot in self.__slots__: + setattr(self, slot, None) + logger.debug("FringeProjectionSystem __init__") + self.state: OptixState = OptixState() + self.state.add_context() + self.scene_data = None + self.fp_objects: List[FPObject] = [] + self.cameras: dict = {} + self.lights: dict = {} + self.default_poses: dict = {} + self.sensor_moving: bool = False + self.pose_counter: int = 0 + self.sensor_changed: bool = False + self.sub_frames: int = 1 + self.pattern_count: int = 1 + self.reflection_depth: int = 8 + self.state.set_reflection_depth(self.reflection_depth) + self.state.set_samples_per_launch(1) + self.state.set_samples_per_reflection(4) + self.tstart: float = 0 + + if cfg_path is not None: + if os.environ.get("IS_THIS_RUN_IN_DOCKER", False): + cfg_path = os.getcwd() / cfg_path + else: + cfg_path = "/pyrefloid" / cfg_path + + with open(cfg_path) as f: + config = yaml.load(f, Loader=yaml.SafeLoader)["config"] + + self.method = initMeasurementClass(config_dict=config) + self.patterns = self.method.get_patterns() + self.f_num = config["f_num"] + self.focus_distance = config["focus_distance"] + + def __del__(self): + logger.debug("FringeProjectionSystem __del__") + del self.state.params + + def get_scene_data(self, path: Path): + logger.debug("FringeProjectionSystem: read_rendering_scene_data()") + fp_objects = [] + if path.suffix == '.yaml': + with open(path) as f: + self.scene_data = yaml.load(f, Loader=yaml.SafeLoader) + self.object_poses = {} + for scene_object_name, scene_object in self.scene_data["objects"].items(): + if 'path' in self.scene_data['objects'][scene_object_name].keys(): + path = Path(__file__).parent.parent.absolute() / self.scene_data['objects'][scene_object_name][ + 'path'] + else: + path = None + fp_object = FPObject(name=scene_object_name, + object_material=scene_object["material"], + animation_mode=scene_object["animation_mode"], + pose=scene_object["default_pose"], + loading_path=path) + fp_objects.append(fp_object) + self.default_poses[scene_object_name] = scene_object["default_pose"] + if 'poses' in self.scene_data['objects'][scene_object_name].keys(): + self.object_poses[scene_object_name] = self.scene_data['objects'][scene_object_name]['poses'] + if 'poses_path' in self.scene_data['objects'][scene_object_name].keys(): + try: + poses_path = Path(__file__).parent.parent.absolute() / self.scene_data['objects'][scene_object_name][ + 'poses_path'] + df = pandas.read_csv(poses_path, header=None, delimiter=';') + transformations = df.values + self.object_poses[scene_object_name] = [np.reshape(transformations[i], (4, 4)) for i in + range(transformations.shape[0])] + except: + raise FileNotFoundError + else: + raise Exception(f'Given filetype {path.suffix} is not supported') + if 'poses' in self.scene_data['Sensor'].keys(): + self.sensor_poses = self.scene_data['Sensor']['poses'] + if 'poses_path' in self.scene_data['Sensor'].keys(): + try: + poses_path = Path(__file__).parent.parent.absolute() / self.scene_data['Sensor']['poses_path'] + df = pandas.read_csv(poses_path, header=None, delimiter=';') + transformations = df.values + self.sensor_poses = [np.reshape(transformations[i], (4, 4)) for i in range(transformations.shape[0])] + except: + raise FileNotFoundError + + num_sensor_poses = len(self.sensor_poses) if self.sensor_poses is not None else 0 + self.total_poses = max( + [len(self.scene_data['objects'][scene_object_name]['poses']) for scene_object_name in self.scene_data['objects']] + + [len(self.object_poses[scene_object_name]) for scene_object_name in self.scene_data['objects']] + + [num_sensor_poses]) + + self.origin_device = self.scene_data['Sensor']['origin_device'] + self.default_poses[self.origin_device] = self.scene_data['Sensor']['default_pose_camA'] + if 'second_cam' in self.scene_data['Sensor'].keys(): + second_camera = self.scene_data['Sensor']['second_cam'] + self.default_poses[second_camera] = self.scene_data['Sensor']['default_pose_camB'] + self.default_poses['proA'] = self.scene_data['Sensor']['default_pose_pro'] + return fp_objects + + def update_sensor(self, default_pose: bool = False, pose_counter: int = 0): + logger.debug(f"FringeProjectionSystem: update_rendering_poses() iteration: " + f"{self.pose_counter}") + if default_pose: + for fp_object in self.fp_objects: + fp_object.set_object_pose(pose=self.default_poses[fp_object.name], + ias_build_input=self.state.ias_build_input) + for cam_name in self.cameras.keys(): + self.cameras[cam_name].set_pose(pose=self.default_poses[cam_name]) + for light_name in self.lights.keys(): + if self.lights[light_name].light_type == LightType.PERSPECTIVE_PROJECTOR or \ + LightType.ORTHOGRAPHIC_PROJECTOR: + self.lights[light_name].set_pose(pose=self.default_poses[light_name]) + else: + # Todo: implement this usecase for other light types + self.lights[light_name].position = self.default_poses[light_name] + else: + if pose_counter < self.total_poses: + # loop over all object poses + for fp_object in self.fp_objects: + if pose_counter < len(self.object_poses[fp_object.name]): + fp_object.set_object_pose(pose=self.object_poses[fp_object.name][pose_counter], + ias_build_input=self.state.ias_build_input) + else: + fp_object.set_object_pose(pose=self.object_poses[fp_object.name][0], + ias_build_input=self.state.ias_build_input) + for cam_name in self.cameras.keys(): + add_extrinsics = True + if cam_name in self.origin_device: + add_extrinsics = False + if self.sensor_poses is not None: + if self.pose_counter < len(self.sensor_poses): + self.cameras[cam_name].set_pose(pose=self.sensor_poses[pose_counter], + add_extrinsics=add_extrinsics) + else: + self.cameras[cam_name].set_pose(pose=self.default_poses[cam_name], + add_extrinsics=add_extrinsics) + + for light_name in self.lights.keys(): + add_extrinsics = True + if light_name in self.origin_device: + add_extrinsics = False + + if self.sensor_poses is not None: + if pose_counter < len(self.sensor_poses): + if self.lights[ + light_name].light_type == LightType.PERSPECTIVE_PROJECTOR or LightType.ORTHOGRAPHIC_PROJECTOR: + self.lights[light_name].set_pose(pose=self.sensor_poses[pose_counter], + add_extrinsics=add_extrinsics) + else: + if self.lights[ + light_name].light_type == LightType.PERSPECTIVE_PROJECTOR or LightType.ORTHOGRAPHIC_PROJECTOR: + self.lights[light_name].set_pose(pose=self.default_poses[light_name], + add_extrinsics=add_extrinsics) + else: + raise Exception('No more poses available') + + self.state.handle_sensor_update(self.cameras, self.lights) + + def add_objects(self, objects: List[FPObject]): + logger.debug("FringeProjectionSystem: add_objects()") + for fp_object in objects: + if isinstance(fp_object, FPObject): + fp_object.build_mesh_accel(self.state.ctx, self.state.time) + self.fp_objects.append(fp_object) + else: + raise Exception(f'Given object type {type(objects[0])} is not supported') + self.state.prepare_objects(self.fp_objects) + + def add_light(self, light_name: str, light_type: str) -> FPLight: + pro_params = self.method.projector_parameters + + logger.debug("FringeProjectionSystem: add_lights()") + fp_light = FPLight(light_name, light_type) + fp_light.set_resolution(pro_params["resolution"]) + if self.scene_data["Sensor"].get("apply_projector_distortion"): + fp_light.set_distortion(pro_params["distortion"]) + self.state.params.apply_projector_distortion = 1 + else: + fp_light.set_distortion(np.array([0.0, 0.0, 0.0, 0.0, 0.0], np.float32)) + self.state.params.apply_projector_distortion = 0 + fp_light.set_intrinsics(pro_params["K"]) + fp_light.set_extrinsics(pro_params["Rt"]) + fp_light.set_pattern(self.patterns) + self.lights[light_name] = fp_light + + return fp_light + + def add_camera(self, cam_name: str, camera_type: str) -> FPCamera: + cam_params = self.method.camera_parameters + + logger.debug("FringeProjectionSystem: set_camera()") + fp_cam = FPCamera(name=cam_name, camera_type=camera_type) + fp_cam.set_resolution(resolution=cam_params["resolution"]) + fp_cam.set_intrinsics(intrinsics=cam_params["K"]) + fp_cam.set_extrinsics(extrinsics=cam_params["Rt"]) + if self.scene_data["Sensor"].get("apply_camera_distortion"): + fp_cam.set_distortion(distortion=cam_params["distortion"]) + self.state.params.apply_camera_distortion = 1 + else: + fp_cam.set_distortion(np.array([0.0, 0.0, 0.0, 0.0, 0.0], np.float32)) + self.state.params.apply_camera_distortion = 0 + fp_cam.set_pixel_size(pixel_size=cam_params["pixel_size"]) + self.cameras[cam_name] = fp_cam + return fp_cam + + def set_lights(self): + light_structs = [] + for light in self.lights.values(): + light_structs.append(light.prepare_light()) + if light.pattern_count is not None: + self.pattern_count = light.pattern_count + combined_light_struct = combine_multiple_structs(light_structs, "light") + self.state.params.lights = combined_light_struct.to_gpu() + self.state.params.num_lights = len(light_structs) + + def set_cameras(self): + camera_structs = [] + for cam in self.cameras.values(): + camera_structs.append(cam.prepare_camera()) + combined_camera_struct = combine_multiple_structs(camera_structs, "camera") + self.state.params.cameras = combined_camera_struct.to_gpu() + + def prepare_rendering(self): + if self.sensor_changed: + self.state.params.active_camera = list(self.cameras.keys()).index(self.active_camera) + cam_buffer_dimensions = self.cameras[self.active_camera].get_resolution() + self.focal_length = self.cameras[self.active_camera].get_camera_parameters()[2] + self.pixel_size = self.cameras[self.active_camera].get_camera_parameters()[-1] + pro_buffer_dimensions = self.lights[self.active_projector].get_resolution() + self.state.prepare_rendering(cam_buffer_dimensions, pro_buffer_dimensions, sensor_changed=self.sensor_changed) + self.sensor_changed = False + self.state.params.subframe_index[0] = 0 + self.tstart = time.perf_counter() + + def render_default_pose(self): + logger.debug("FringeProjectionSystem: render_default_pose()") + reflection_count = 0 + self.update_sensor(default_pose=True) + frame_buffer_list = [] + for i in range(self.pattern_count): + self.state.params.active_projector_image = i + + while self.state.params.subframe_index[0] < self.sub_frames: + logger.debug(f"Rendering pattern {self.state.params.active_projector_image}") + + self.state.time = (time.perf_counter() - self.tstart) + self.state.update_mesh_accel(objects=self.fp_objects, time=self.state.time) + frame_buffer, depth_buffer, _, _, _, pro_reflections, cam_reflections = self.state.render() + + filter_sizes = [] + coc = np.zeros(depth_buffer.shape) + + if i == 0 and self.state.params.subframe_index[0]: + depth_buffer = depth_buffer[:, :, 0] + + if self.focus_distance < 0: + filter_sizes = [1] + else: + if self.focus_distance == 0: + self.focus_distance = np.median(depth_buffer[depth_buffer != 0]) + logger.debug( + f"FringeProjectionSystem: render_default_pose() -> changed focus_distance: {self.focus_distance}") + + coc_radius = np.abs( + depth_buffer - self.focus_distance) / self.focus_distance * self.focal_length ** 2 / ( + self.f_num * (self.focus_distance - self.focal_length)) + coc = coc_radius / self.pixel_size + coc = np.array(np.round(coc) // 2 * 2 + 1, dtype=np.uint8) + coc[depth_buffer == 0] = 0 + filter_sizes = np.unique(coc) + cv2.imwrite(f"./rendering/CoC.png", coc) + + if self.patterns.pattern_list[i].pattern_type == PatternType.SOLIDFIELD: + reflection_count = np.sum(cam_reflections * 4) + + if self.state.params.subframe_index[0] == self.sub_frames: + + dof = frame_buffer.copy() + + for f in filter_sizes: + if f < 3 or f > min(coc.shape[0] / 2, coc.shape[1] / 2): + continue + gaussian = cv2.GaussianBlur(frame_buffer, (f, f), 0) + dof[coc == f] = gaussian[coc == f] + + cv2.imwrite(f"{save_path}/FrameBuffer{i:03}.png", + cv2.cvtColor(frame_buffer, cv2.COLOR_RGB2BGR) * 255) + cv2.imwrite(f"{save_path}/Result{i:03}.png", cv2.cvtColor(dof, cv2.COLOR_RGB2BGR) * 255) + cv2.imwrite(f"{save_path}/CamReflections{i:03}.png", cam_reflections * 255) + cv2.imwrite(f"{save_path}/ProReflections{i:03}.png", pro_reflections * 255) + + self.state.params.subframe_index = 0 + frame_buffer_list.append(cv2.cvtColor(frame_buffer, cv2.COLOR_BGR2GRAY)) + + return self.convert_image_list_to_dataclass(frame_buffer_list, cam_name=self.active_camera, + reflection_count=reflection_count, + cam_reflections=cam_reflections, pro_reflections=pro_reflections) + + def run_rendering(self, pose: int = 0, mask_cam=False, mask_pro=False, reflections_only=False, save=False, + save_path=None): + logger.debug("FringeProjectionSystem: render_default_pose()") + reflection_count = 0 + self.update_sensor(default_pose=False, pose_counter=pose) + frame_buffer_list = [] + for i in range(self.pattern_count): + self.state.params.active_projector_image = i + + while self.state.params.subframe_index[0] < self.sub_frames: + logger.debug(f"Rendering pattern {self.state.params.active_projector_image}") + + self.state.time = (time.perf_counter() - self.tstart) + self.state.update_mesh_accel(objects=self.fp_objects, time=self.state.time) + frame_buffer, depth_buffer, _, _, _, pro_reflections, cam_reflections = self.state.render() + + filter_sizes = [] + coc = np.zeros(depth_buffer.shape) + + if i == 0 and self.state.params.subframe_index[0]: + depth_buffer = depth_buffer[:, :, 0] + + if self.focus_distance < 0: + filter_sizes = [1] + else: + if self.focus_distance == 0: + self.focus_distance = np.median(depth_buffer[depth_buffer != 0]) + logger.debug( + f"FringeProjectionSystem: render_default_pose() -> changed focus_distance: {self.focus_distance}") + + coc_radius = np.abs( + depth_buffer - self.focus_distance) / self.focus_distance * self.focal_length ** 2 / ( + self.f_num * (self.focus_distance - self.focal_length)) + coc = coc_radius / self.pixel_size + coc = np.array(np.round(coc) // 2 * 2 + 1, dtype=np.uint8) + coc[depth_buffer == 0] = 0 + filter_sizes = np.unique(coc) + if save_path: + cv2.imwrite(f"{save_path}/Coc.png", coc) + else: + cv2.imwrite(f"./rendering/CoC.png", coc) + + if self.patterns.pattern_list[i].pattern_type == PatternType.SOLIDFIELD: + reflection_count = np.sum(cam_reflections * 4) + + if self.state.params.subframe_index[0] == self.sub_frames: + + dof = frame_buffer.copy() + + for f in filter_sizes: + if f < 3 or f > min(coc.shape[0] / 2, coc.shape[1] / 2): + continue + gaussian = cv2.GaussianBlur(frame_buffer, (f, f), 0) + dof[coc == f] = gaussian[coc == f] + + if save_path: + cv2.imwrite(f"{save_path}/FrameBuffer{i:03}.png", + cv2.cvtColor(frame_buffer, cv2.COLOR_RGB2BGR) * 255) + cv2.imwrite(f"{save_path}/Result{i:03}.png", cv2.cvtColor(dof, cv2.COLOR_RGB2BGR) * 255) + cv2.imwrite(f"{save_path}/CamReflections{i:03}.png", cam_reflections * 255) + cv2.imwrite(f"{save_path}/ProReflections{i:03}.png", pro_reflections * 255) + else: + cv2.imwrite(f"./rendering/FrameBuffer{i:03}.png", + cv2.cvtColor(frame_buffer, cv2.COLOR_RGB2BGR) * 255) + cv2.imwrite(f"./rendering/Result{i:03}.png", cv2.cvtColor(dof, cv2.COLOR_RGB2BGR) * 255) + cv2.imwrite(f"./rendering/CamReflections{i:03}.png", cam_reflections * 255) + cv2.imwrite(f"./rendering/ProReflections{i:03}.png", pro_reflections * 255) + + self.state.params.subframe_index = 0 + frame_buffer_list.append(cv2.cvtColor(frame_buffer, cv2.COLOR_BGR2GRAY)) + + normalized_depth = (depth_buffer - np.min(depth_buffer)) / (np.max(depth_buffer) - np.min(depth_buffer)) + + return self.convert_image_list_to_dataclass(frame_buffer_list, cam_name=self.active_camera, + reflection_count=reflection_count, + cam_reflections=cam_reflections, pro_reflections=pro_reflections, + hit_buffer=normalized_depth) + + @staticmethod + def apply_camera_mask(reflections: np.ndarray, image_list: List[np.ndarray]) -> List[np.ndarray]: + kernel = np.ones((5, 5), np.uint8) + eroded_cam_mask = cv2.erode(reflections, kernel, iterations=6).astype(np.uint8) + return [cv2.bitwise_and(img, img, mask=eroded_cam_mask) for img in image_list] + + def load_rendering(self, path: str): + """Load a rendering from a path""" + import os + image_list = [] + name_list = natsort.natsorted(os.listdir(path)) + for img in name_list: + if img.endswith(".npy"): + image_list.append(np.load(os.path.join(path, img))) + + exposure_count = len(image_list) // self.pattern_count + exposures = [20000 * x for x in range(1, exposure_count + 1)] + + images_data_dict = self.convert_image_list_to_dataclass(frame_buffer_list=image_list, + cam_reflections=None, + pro_reflections=None, + reflection_count=10, + cam_name=self.active_camera, + hit_buffer=None, + hit_indices=None, + exposures=exposures) + + return images_data_dict + + def convert_image_list_to_dataclass(self, frame_buffer_list, cam_reflections: np.ndarray = None, + pro_reflections: np.ndarray = None, reflection_count: int = 0, + cam_name: str = 'camA', hit_buffer: np.ndarray = None, + hit_indices: np.ndarray = None, exposures=None): + + exposure_count = len(frame_buffer_list) // self.pattern_count + images_data_dict = {} + exposure_dict = {} + + if exposures is None: + exposures = [20000 * x for x in range(1, exposure_count + 1)] + + for i, exp in enumerate(exposures): + images = ImageData(cam_name=cam_name, exposure=exp) + buffer_list = frame_buffer_list[i * self.pattern_count:(i + 1) * self.pattern_count] + + for i, pattern in enumerate(self.patterns.pattern_list): + if pattern.pattern_type == PatternType.SOLIDFIELD: + images.solid_field_images.append(buffer_list[i]) + images.cam_reflection = cam_reflections + images.pro_reflection = pro_reflections + images.reflection_count = reflection_count + images.hit_buffer = hit_buffer + images.hit_indices = hit_indices + logger.debug(f"FringeProjectionSystem: reflection_count = {images.reflection_count}") + + elif pattern.pattern_type == PatternType.SINUSOIDAL and pattern.direction == 'x': + images.x_fringe_images.append(buffer_list[i]) + images.x_pattern.append((pattern.frequency, pattern.phase)) + + elif pattern.pattern_type == PatternType.SINUSOIDAL and pattern.direction == 'y': + images.y_fringe_images.append(buffer_list[i]) + images.y_pattern.append((pattern.frequency, pattern.phase)) + + else: + images.additional_images.append(buffer_list[i]) + + exposure_dict[exp] = images + + images_data_dict[cam_name] = exposure_dict + return images_data_dict + + def switch_camera(self, cam_name): + self.active_camera = cam_name + self.sensor_changed = True + + def reconstruct_measurement(self, images_dict: dict, mask: np.ndarray = None) -> dict: + logger.debug("FringeProjectionSystem: reconstruct_measurement()") + self.method.reset_measurement() + result_dict = {} + + for cam in images_dict: + if mask is not None: + for exp in images_dict[cam].keys(): + images_dict[cam][exp].x_mask = mask.astype(bool) + images_dict[cam][exp].y_mask = mask.astype(bool) + + self.method.add_images(images_dict[cam], self.patterns) + self.method.get_height_map() # Called to create height_map internally + self.method.get_mesh() # Same here + + result_dict[cam] = self.method.get_result_data() + return result_dict + + @staticmethod + def create_camera_mesh_and_coordinate_frame(resolution: Tuple[int, int], K: np.ndarray, extrinsic: np.ndarray, + scale=1): + # Undistort the images to obtain the intrinsic parameters of the camera + + size = 100 + + # Extract the intrinsic parameters of the camera matrix + _fx, _fy, _cx, _cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2] + + # _w, _h = resolution + _w, _h = resolution + + # Specify our scale free camera parameters + # the variables _f, _w, _h, _cx, and _cy are the intrinsic parameters + # the corresponding f, w, h, cx and cy are normalized by _f so we # can scale them later. + w = _w / _fx + h = _h / _fy + cx = _cx / _fx + cy = _cy / _fy + + # Paramers to draw the image center vector + offset_cx = cx - w / 2.0 + offset_cy = cy - h / 2.0 + + points = [[0, 0, 0], + [offset_cx, offset_cy, scale], + [- 0.5 * w * scale, -0.5 * h * scale, scale], + [0.5 * w * scale, -0.5 * h * scale, scale], + [0.5 * w * scale, 0.5 * h * scale, scale], + [-0.5 * w * scale, 0.5 * h * scale, scale], + [- 0.5 * w * scale, 0.5 * -h * scale, scale]] + lines = [[0, 1], [2, 3], [3, 4], [4, 5], [5, 6], [0, 2], [0, 3], [0, 4], [0, 5], [2, 4], [3, 5]] + + # rescale cam symbol to visible size + points = np.array(points) * size + # apply camera pose transform + points = np.matmul(extrinsic, np.hstack((points, np.ones((points.shape[0], 1)))).T).T[:, :3] + + line_set = o3d.geometry.LineSet() + line_set.points = o3d.utility.Vector3dVector(points) + line_set.lines = o3d.utility.Vector2iVector(lines) + _color = [0, 1, 0] # Green + colors = [_color for i in range(len(lines))] + line_set.colors = o3d.utility.Vector3dVector(colors) + + # Create a mesh representing the coordinate frame at the top point of the pyramid + coord_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=size / 2, + origin=[0, 0, 0]) + # rotate the coordinate on the x-axis by 180 degrees + coord_frame.transform(extrinsic) + + return line_set, coord_frame + + def visualize_measurement_open3d(self, measurement_dict: dict): + logger.debug("FringeProjectionSystem: visualie_measurement_open3d()") + geometry_list = [] + for cam in measurement_dict: + T_cam = self.cameras[cam].get_pose() + K_cam = self.cameras[cam].get_intrinsics() + resolution = self.cameras[cam].get_resolution() + cam_line_set, cam_coordinate_frame = self.create_camera_mesh_and_coordinate_frame(resolution=resolution, + K=K_cam, + extrinsic=T_cam) + pcd = o3d.geometry.PointCloud() + + if measurement_dict[cam].mesh is not None: + pcd.points = o3d.utility.Vector3dVector(measurement_dict[cam].mesh[0]) + pcd.colors = o3d.utility.Vector3dVector(measurement_dict[cam].mesh[2] / 255) + pcd.transform(T_cam) + geometry_list.append(pcd) + + geometry_list.append(cam_line_set) + geometry_list.append(cam_coordinate_frame) + + T_pro = self.lights[self.active_projector].get_pose() + K_pro = self.lights[self.active_projector].get_intrinsics() + resolution = self.lights[self.active_projector].get_resolution() + pro_line_set, pro_coordinate_frame = self.create_camera_mesh_and_coordinate_frame(resolution=resolution, + K=K_pro, + extrinsic=T_pro) + CAD = o3d.io.read_triangle_mesh(str(self.fp_objects[0].path)) + CAD.transform(self.fp_objects[0].get_pose()) + CAD.paint_uniform_color([0.0, 0.0, 0.8]) + + # Visualize the mesh + o3d.visualization.draw_geometries(geometry_list + [CAD, pro_line_set, pro_coordinate_frame], width=800, + height=600) + + def save_pointcloud(self, measurement_dict, name: str, fpath: str = None): + if fpath is None: + fpath = "./" + if name is None: + name = "mesh" + for cam in measurement_dict: + pcd = o3d.geometry.PointCloud() + if measurement_dict[cam].mesh is not None: + pcd.points = o3d.utility.Vector3dVector(measurement_dict[cam].mesh[0]) + pcd.colors = o3d.utility.Vector3dVector(measurement_dict[cam].mesh[2] / 255) + else: + pcd.points = o3d.utility.Vector3dVector(np.array([[0, 0, 0]])) + + hm = np.zeros(measurement_dict[cam].x_phase_map.shape) + if measurement_dict[cam].height_map is not None: + hm = measurement_dict[cam].height_map[:, :, 2] + hm = hm / np.max(hm) + + o3d.io.write_point_cloud(f"{fpath}/pointcloud_{cam}_{name}.ply", pcd) + cv2.imwrite(f"{fpath}/HeightMap_{cam}_{name}.png", hm * 255) + + +if __name__ == '__main__': + cfg_file = config_dir / "virtual_camera.yaml" + print(cfg_file) + default_pose = False + mask_reflections_pro = False + mask_reflections_cam = False + save_reflection_counter = False + reflections_only = False + reflection_count_list = [] + mask = None + show_point_cloud = True + load_measurement = False + save_images = True + do_reconstruction = True + + FPS = FringeProjectionSystem(cfg_file) + + objects = FPS.get_scene_data(config_dir / "scene_data.yaml") + FPS.add_objects(objects[-1:]) + + FPS.add_camera(cam_name="camA", camera_type="PERSPECTIVE_CAMERA") + FPS.add_light(light_name="proA", light_type="PERSPECTIVE_PROJECTOR") + + FPS.set_cameras() + FPS.set_lights() + FPS.active_camera = "camA" + FPS.active_projector = "proA" + FPS.prepare_rendering() + + save_path = './rendering' + + if default_pose: + image_dict = FPS.render_default_pose() + + if do_reconstruction: + measurement_dict = FPS.reconstruct_measurement(image_dict) + FPS.visualize_measurement_open3d(measurement_dict) + else: + for pose in range(0, FPS.total_poses): + image_data = FPS.run_rendering(pose=pose, mask_cam=False, mask_pro=False, + reflections_only=False, save=save_images, save_path=save_path) + + if not do_reconstruction: + continue + + cam_reflections = image_data[FPS.active_camera][20000].cam_reflection + pro_reflections = image_data[FPS.active_camera][20000].pro_reflection + hit_buffer = image_data[FPS.active_camera][20000].hit_buffer + + measurement_dict = FPS.reconstruct_measurement(image_data) + + if show_point_cloud: + FPS.visualize_measurement_open3d(measurement_dict) + FPS.save_pointcloud(measurement_dict, fpath=save_path, name=f"normal_{pose:05}") + cv2.imwrite(f"{save_path}/CamReflections{pose:05}.png", cam_reflections * 255) + cv2.imwrite(f"{save_path}/ProReflections{pose:05}.png", pro_reflections * 255) + cv2.imwrite(f"{save_path}/Depth{pose:05}.png", hit_buffer[:, :, 0] * 255) + + FPS.method.reset_measurement() + + if save_reflection_counter: + csv_path = config_dir / "reflection_count_list_phong_modified.csv" + with open(config_dir / "reflection_count_list_phong_modified.csv", "w", newline='') as csvfile: + writer = csv.writer(csvfile) + [writer.writerow([item]) for item in reflection_count_list] diff --git a/pyrefloid/OptixState.py b/pyrefloid/OptixState.py new file mode 100644 index 0000000..2cc574c --- /dev/null +++ b/pyrefloid/OptixState.py @@ -0,0 +1,321 @@ +import collections +from copy import deepcopy +from pathlib import Path +from typing import Type, OrderedDict, Any, Tuple, List + +import cupy as cp +import numpy as np +import optix as ox +from numpy import ndarray + +from pyrefloid.FPObject import FPObject, AnimationMode +from pyrefloid.params import MaterialType +from pyrefloid.params import RayType, Params +from pyrefloid.utils.logger import get_logger +from pyrefloid.utils.struct_helper import combine_multiple_structs + +logger = get_logger(__name__) + +script_dir = Path(__file__).parent.absolute() +DEBUG = True + +if DEBUG: + exception_flags = ox.ExceptionFlags.DEBUG | ox.ExceptionFlags.TRACE_DEPTH | ox.ExceptionFlags.STACK_OVERFLOW + debug_level = ox.CompileDebugLevel.FULL + opt_level = ox.CompileOptimizationLevel.LEVEL_0 +else: + exception_flags = ox.ExceptionFlags.NONE + debug_level = ox.CompileDebugLevel.NONE + opt_level = ox.CompileOptimizationLevel.LEVEL_3 + + +class OptixState: + __slots__ = ['params', 'time', 'ctx', 'module', 'pipeline', 'pipeline_opts', 'shading_changed', + 'raygen_grp', 'miss_grp', 'hit_grp', 'occlusion_hit_grp', "occlusion_miss_grp", 'sbt', + 'generate_vertices_kernel', + 'raygen_sbt', 'miss_sbt', 'hit_sbts', + 'ias_build_input', 'ias', 'objects', + 'dc_index', 'frame_buffer', 'depth_buffer', 'accum_buffer', 'intensity_buffer', "hit_buffer", + "hit_indices_buffer", + 'instance_dict', "multireflection_buffer", 'instance_count', 'fbb'] + + def __init__(self): + logger.debug("OptixState : __init__()") + for slot in self.__slots__: + setattr(self, slot, None) + self.params = Params() + self.init_launch_params() + self.time: int = 0 + self.dc_index = 0 + self.fbb = ["fu"] + + def init_launch_params(self): + self.params.max_depth = 4 + self.params.frame_buffer = 0 + self.params.depth_buffer = 0 + self.params.accum_buffer = 0 + self.params.subframe_index = 0 + self.params.samples_per_launch = 128 # Set Higher for better quality of images TODO: check for optimal size + self.params.samples_per_reflection = 4 + + def set_reflection_depth(self, depth: int): + self.params.max_depth = depth + + def set_samples_per_launch(self, samples_per_launch: int): + logger.debug("OptixState : set_samples_per_launch()") + self.params.samples_per_launch = samples_per_launch + + def set_samples_per_reflection(self, samples_per_reflection: int): + logger.debug("OptixState : set_samples_per_reflection()") + self.params.samples_per_reflection = samples_per_reflection + + def add_context(self): + logger.debug("OptixState : add_context()") + optix_logger = ox.Logger(logger) + self.ctx = ox.DeviceContext(validation_mode=False, log_callback_function=optix_logger, log_callback_level=4) + self.ctx.cache_enabled = False + + @property + def launch_dimensions(self): + logger.debug("OptixState : launch_dimensions()") + return int(self.params.width[0]), int(self.params.height[0]) + + def create_module(self): + logger.debug("OptixState : create_module()") + self.pipeline_opts = ox.PipelineCompileOptions( + uses_motion_blur=False, + uses_primitive_type_flags=ox.PrimitiveTypeFlags.TRIANGLE, + traversable_graph_flags=ox.TraversableGraphFlags.ALLOW_SINGLE_LEVEL_INSTANCING, + exception_flags=exception_flags, + num_payload_values=2, + num_attribute_values=2, + pipeline_launch_params_variable_name="params") + + compile_opts = ox.ModuleCompileOptions( + max_register_count=ox.ModuleCompileOptions.DEFAULT_MAX_REGISTER_COUNT, + opt_level=opt_level, debug_level=debug_level) + + cuda_source = script_dir / "res/shaders/path_tracing.cu" + example_include_path = cuda_source.parent + + build_flags = ox.module.get_default_nvrtc_compile_flags(std="17", rdc=True) + (f'-I{example_include_path}',) + + self.module = ox.Module(self.ctx, str(cuda_source), compile_opts, self.pipeline_opts, compile_flags=build_flags) + + def create_program_groups(self): + logger.debug("OptixState : create_program_groups()") + ctx, module = self.ctx, self.module + + self.raygen_grp = ox.ProgramGroup.create_raygen(ctx, module, "__raygen__rg") + + self.miss_grp = ox.ProgramGroup.create_miss(ctx, module, "__miss__radiance") + self.hit_grp = ox.ProgramGroup.create_hitgroup(ctx, module, + entry_function_CH="__closesthit__radiance") + + self.occlusion_miss_grp = ox.ProgramGroup.create_miss(ctx, module, "__miss__occlusion") + self.occlusion_hit_grp = ox.ProgramGroup.create_hitgroup(ctx, module, + entry_function_CH="__closesthit__occlusion") + + def create_pipeline(self): + logger.debug("OptixState : create_pipeline()") + program_grps = [self.raygen_grp, self.miss_grp, self.hit_grp, + self.occlusion_hit_grp, self.occlusion_miss_grp] + + link_opts = ox.PipelineLinkOptions(max_trace_depth=self.params.max_depth, + debug_level=debug_level) + + self.pipeline = ox.Pipeline(self.ctx, + compile_options=self.pipeline_opts, + link_options=link_opts, + program_groups=program_grps, + max_traversable_graph_depth=2) + + self.pipeline.compute_stack_sizes(max_trace_depth=self.params.max_depth, max_cc_depth=0, max_dc_depth=0) + + def create_sbt(self, instance_dict: OrderedDict): + logger.debug("OptixState : create_sbt()") + + # Raygen Record Size + self.raygen_sbt = ox.SbtRecord(self.raygen_grp) + + # Miss Record Size + self.miss_sbt = ox.SbtRecord([self.miss_grp, self.occlusion_miss_grp]) + + # Hit Record Size + # TODO this should be calculated by instance count (number of objects in scene) + self.instance_dict = instance_dict + self.instance_count = sum([len(value) for value in self.instance_dict.values()]) + hit_groups = [self.hit_grp, self.occlusion_hit_grp] * self.instance_count + + self.hit_sbts = ox.SbtRecord(hit_groups, + names=( + "albedo", + "metallic", + "roughness", + "F0" + ), + formats=( + "3f4", "f4", "f4", "f4")) + # tdo: move this to FPObject + instance_index = 0 + for instance_type in self.instance_dict: + for instance in self.instance_dict[instance_type]: + self.hit_sbts['albedo'][instance_index * 2] = instance.object_material.albedo + self.hit_sbts['metallic'][instance_index * 2] = instance.object_material.metallic + self.hit_sbts['roughness'][instance_index * 2] = float(instance.object_material.roughness) + self.hit_sbts['F0'][instance_index * 2] = instance.object_material.F0 + instance_index += 1 + + self.sbt = ox.ShaderBindingTable(raygen_record=self.raygen_sbt, + miss_records=self.miss_sbt, + hitgroup_records=self.hit_sbts) + + def launch_subframe(self): + logger.debug("OptixState : launch_subframe()") + self.pipeline.launch(self.sbt, dimensions=self.launch_dimensions, params=self.params.handle) + + def handle_resize(self, buffer_dimensions: Tuple[int, int]): + logger.debug("OptixState : handle_resize()") + self.params.width, self.params.height = buffer_dimensions + cp.resize(self.frame_buffer, buffer_dimensions) + cp.resize(self.depth_buffer, buffer_dimensions) + cp.resize(self.accum_buffer, buffer_dimensions) + cp.resize(self.intensity_buffer, buffer_dimensions) + # cp.resize(self.intensity_buffer, buffer_dimensions) + + def handle_sensor_update(self, cameras, lights): + logger.debug("OptixState : handle_sensor_update()") + camera_structs = [] + for cam in cameras.values(): + camera_structs.append(cam.prepare_camera()) + combined_camera_struct = combine_multiple_structs(camera_structs, "camera") + self.params.cameras = combined_camera_struct.to_gpu() + light_structs = [] + for light in lights.values(): + light_structs.append(light.prepare_light()) + combined_light_struct = combine_multiple_structs(light_structs, 'light') + self.params.lights = combined_light_struct.to_gpu() + self.params.num_lights = len(light_structs) + + def prepare_objects(self, fp_objects: List[FPObject]): + instance_dictionary = collections.OrderedDict() + # TODO is mesh is used this should als check fore Mesh id because meshes can be same object type but different id + for instance in fp_objects: + if instance.object_type not in instance_dictionary: + instance_dictionary[instance.object_type] = [] + instance_dictionary[instance.object_type].append(instance) + + sbt_offset_index = 0 + optix_instances = [] + for instance_type in instance_dictionary: + instance_list = instance_dictionary[instance_type] + for instance in instance_list: + instance.set_object_id(len(optix_instances)) + optix_instance = ox.Instance(traversable=instance.geometry_acceleration_structure, + instance_id=len(optix_instances), + flags=ox.InstanceFlags.DISABLE_ANYHIT, + visibility_mask=255, + sbt_offset=sbt_offset_index, + transform=instance.pose) + instance.prepare_geometry_instance_data() + sbt_offset_index += RayType.RAY_TYPE_COUNT + optix_instances.append(optix_instance) + + self.create_geometry_instances_data(instance_dictionary) + self.ias_build_input = ox.BuildInputInstanceArray(optix_instances) + self.ias = ox.AccelerationStructure(context=self.ctx, + build_inputs=self.ias_build_input, + compact=True, + allow_update=True) + + self.params.trav_handle = self.ias.handle + + self.create_module() + self.create_program_groups() + self.create_pipeline() + self.create_sbt(instance_dict=instance_dictionary) + + def prepare_rendering(self, cam_buffer_dimensions: Tuple[int, int], pro_buffer_dimensions: Tuple[int, int], + sensor_changed: bool = False): + self.params.width, self.params.height = cam_buffer_dimensions + self.params.pro_width, self.params.pro_height = pro_buffer_dimensions + if sensor_changed: + self.handle_resize(buffer_dimensions=cam_buffer_dimensions) + else: + self.set_buffer_dimensions(cam_buffer_dimensions=cam_buffer_dimensions) + self.params.miss_color = np.array([0.0, 0.0, 0.0], np.float32) # Setting Background color to black + + def create_geometry_instances_data(self, instance_dictionary): + logger.debug("OptixState : create_instances_data()") + # for geometry instance data in instances generate combined struct and copy to GPU + struct_list = [] + for instance_type in instance_dictionary: + instance_list = instance_dictionary[instance_type] + for instance in instance_list: + struct_list.append(instance.geometry_instance_data) + + combined_struct = combine_multiple_structs(struct_list, "geometry_instance_data") + + self.params.geometry_instance_data = combined_struct.to_gpu() + + def set_buffer_dimensions(self, cam_buffer_dimensions: Tuple[int, int]): + if cam_buffer_dimensions is None: + cam_buffer_dimensions = (self.params.width, self.params.height) + self.frame_buffer = cp.zeros(cam_buffer_dimensions + (4,), dtype=cp.float32) + self.params.frame_buffer = self.frame_buffer.data.ptr + + self.depth_buffer = cp.zeros(cam_buffer_dimensions + (4,), dtype=cp.float32) + self.params.depth_buffer = self.depth_buffer.data.ptr + + self.accum_buffer = cp.zeros(cam_buffer_dimensions + (4,), dtype=cp.float32) + self.params.accum_buffer = self.accum_buffer.data.ptr + + self.hit_buffer = cp.zeros(cam_buffer_dimensions + (4,), dtype=cp.float32) + self.params.hit_buffer = self.hit_buffer.data.ptr + + self.hit_indices_buffer = cp.zeros(cam_buffer_dimensions + (4,), dtype=cp.float32) + self.params.hit_indices_buffer = self.hit_indices_buffer.data.ptr + + self.multireflection_buffer = cp.zeros(cam_buffer_dimensions + (4,), dtype=cp.float32) + self.params.multi_reflection_buffer = self.multireflection_buffer.data.ptr + + def render(self) -> Tuple[Type[ndarray], Type[ndarray], Type[ndarray], Type[ndarray], Type[ndarray], Any, Any]: + self.launch_subframe() + frame_buffer = cp.asnumpy(self.frame_buffer) + depth_buffer = cp.asnumpy(self.depth_buffer) + accum_buffer = cp.asnumpy(self.accum_buffer) + hit_buffer = cp.asnumpy(self.hit_buffer) + hit_indices = cp.asnumpy(self.hit_indices_buffer) + multireflection_buffer = cp.asnumpy(self.multireflection_buffer) + self.params.subframe_index = self.params.subframe_index[0] + 1 + logger.debug(f"Subframe index: {self.params.subframe_index}") + pix_x = np.clip(multireflection_buffer[:, :, 0], -1, int(self.params.pro_width[0]) - 1).astype(int) + pix_y = np.clip(multireflection_buffer[:, :, 1], -1, int(self.params.pro_height[0]) - 1).astype(int) + pro_reflections = np.zeros((int(self.params.pro_height[0]), int(self.params.pro_width[0]))) + pro_reflections[pix_y, pix_x] = multireflection_buffer[:, :, 2] + cam_reflections = multireflection_buffer[:, :, 2] + + if len(self.fbb) == 4: + import matplotlib.pyplot as plt + self.fbb.append(accum_buffer[:, :, 0]) + ax = plt.subplot(221) + plt.imshow(self.fbb[-1], cmap="gray") + plt.subplot(222, sharex=ax, sharey=ax) + plt.imshow(self.fbb[0], cmap="gray") + plt.subplot(223, sharex=ax, sharey=ax) + plt.imshow(self.fbb[-1] - self.fbb[0], cmap="gray") + plt.subplot(224, sharex=ax, sharey=ax) + plt.imshow(self.fbb[-1] - self.fbb[-2], cmap="gray") + plt.show() + else: + self.fbb = [] + self.fbb.append(accum_buffer[:, :, 0]) + + return frame_buffer, depth_buffer, accum_buffer, hit_buffer, hit_indices, pro_reflections, cam_reflections + + def update_mesh_accel(self, objects: List[FPObject], time): + logger.debug("FringeProjectionSystem: update_mesh_accel()") + for fp_object in objects: + # if fp_object.animation_mode != AnimationMode.NONE: + self.ias.update(fp_object.update_mesh_accel(ctx=self.ctx, time=time, ias_build_input=self. + ias_build_input)) diff --git a/pyrefloid/PoseGeneration.py b/pyrefloid/PoseGeneration.py new file mode 100644 index 0000000..61bc156 --- /dev/null +++ b/pyrefloid/PoseGeneration.py @@ -0,0 +1,72 @@ + +import numpy as np +from numpy import ndarray + + +def calculate_points_on_sphere(radius: int = 160, T_inintial: np.ndarray = np.eye(4), step_size: int = 10, + samples=25) -> tuple[list[ndarray], list[ndarray], list[ndarray]]: + point_list = [] + ref_point_list = [] + x_list = [0] + y_list = [0] + z_list = [0] + for row in range(samples): + for column in range(samples): + x = radius / 2 - step_size * row + y = radius / 2 - step_size * column + z = np.sqrt(pow(radius, 2) - pow(x, 2) - pow(y, 2)) + x_list.append(x) + y_list.append(y) + z_list.append(z) + transformed_point = np.matmul(T_inintial, np.reshape([x, y, z, 1], (4, 1))) + point_list.append(transformed_point) + ref_point_list.append(np.reshape([x, y, z, 1], (4, 1))) + + debug = True + if debug: + import plotly.express as px + # import plotly.graph_objects as go + fig1 = px.scatter_3d(x=x_list, y=y_list, z=z_list) + # fig2 = px.scatter_3d(x=x1_list, y=y1_list, z=z1_list) + # fig3 = go.Figure(data=fig1.data + fig2.data) + # fig3.show() + fig1.show() + + pose_list = [] + define_as_cartesian = False + + for point in point_list: + # todo: check if this transformation is needed??? + if not define_as_cartesian: + point = convert_spherical_to_cartesian(point) + # umständlich, da ich zu dämlich für numpy cross und norm bin :D + v = (T_inintial[:, 3].transpose() - point.transpose()).transpose() + z_direction = v / np.sqrt(np.sum(v ** 2)) + t = np.array([1, 0, 0]) + t.shape = (3, 1) + v = np.cross(z_direction[:3, :], t, axis=0) + x_direction = v / np.sqrt(np.sum(v ** 2)) + v = np.cross(z_direction[:3, :], x_direction, axis=0) + y_direction = v / np.sqrt(np.sum(v ** 2)) + + t_cam = np.zeros((4, 4)) + t_cam[:, 0] = np.append(x_direction, 0).ravel() + t_cam[:, 1] = np.append(y_direction, 0).ravel() + t_cam[:, 2] = z_direction.ravel() + t_cam[:, 3] = point.ravel() + pose_list.append(t_cam) + return point_list, ref_point_list, pose_list + + +def convert_spherical_to_cartesian(coordinates) -> np.ndarray: + # Do we need this function? it is used in refloid, but the results seem to be wrong + x = coordinates[0] * np.sin(coordinates[1] * (np.pi / 180.0)) * np.cos(coordinates[2] * (np.pi / 180.0)) + y = coordinates[0] * np.sin(coordinates[1] * (np.pi / 180.0)) * np.sin(coordinates[2] * (np.pi / 180.0)) + z = coordinates[0] * np.cos(coordinates[1] * (np.pi / 180.0)) + point = np.array([x, y, z, 1]) + point.shape = (4, 1) + return point + + +def polar2cart(r, theta, phi): + return [r * np.sin(theta) * np.cos(phi), r * np.sin(theta) * np.sin(phi), r * np.cos(theta)] diff --git a/pyrefloid/__init__.py b/pyrefloid/__init__.py new file mode 100644 index 0000000..b8023d8 --- /dev/null +++ b/pyrefloid/__init__.py @@ -0,0 +1 @@ +__version__ = '0.0.1' diff --git a/pyrefloid/params.py b/pyrefloid/params.py new file mode 100644 index 0000000..e2edd5b --- /dev/null +++ b/pyrefloid/params.py @@ -0,0 +1,75 @@ +import collections +from enum import IntEnum, Enum +import optix as ox + + +class RayType(IntEnum): + RAY_TYPE_RADIANCE = 0 + RAY_TYPE_OCCLUSION = 1 + RAY_TYPE_COUNT = 2 + + +class Params: + _params = collections.OrderedDict([ + # 8byte alignment + ('lights', "u8"), + ('frame_buffer', "u8"), + ('depth_buffer',"u8"), + ('accum_buffer', "u8"), + ('hit_buffer', "u8"), + ('hit_indices_buffer', "u8"), + ("multi_reflection_buffer", "u8"), + ("cameras", "u8"), + ("geometry_instance_data", "u8"), + # 4byte alignment + ('subframe_index', 'u4'), + ('width', 'u4'), + ('height', 'u4'), + ('pro_width', 'u4'), + ('pro_height', 'u4'), + ('samples_per_launch', 'u4'), + ('samples_per_reflection', 'u4'), + ('max_depth', 'u4'), + ("num_lights", "u4"), + ('miss_color', '3f4'), + ("solid_objects", "u4"), + ("volume_objects", "u4"), + ("active_camera", "u4"), + ("active_projector_image", "u4"), + ('trav_handle', 'u8'), + ("apply_camera_distortion", "u4"), + ("apply_projector_distortion", "u4") + ]) + + def __init__(self): + self.handle = ox.LaunchParamsRecord(names=tuple(self._params.keys()), + formats=tuple(self._params.values())) + + def __getattribute__(self, name): + if name in Params._params.keys(): + return self.__dict__['handle'][name] + else: + return super().__getattribute__(name) + + def __setattr__(self, name, value): + if name in Params._params.keys(): + self.handle[name] = value + elif name in {'handle'}: + super().__setattr__(name, value) + else: + raise AttributeError(name) + + def __str__(self): + return '\n'.join(f'{k}: {self.handle[k]}' for k in self._params) + + +class LightType(IntEnum): + POINTLIGHT = 0 # Constant PointLight + AMBIENT = 1 # Constant AmbientLight + PARALLELOGRAM = 2 # Rectangle Light + PERSPECTIVE_PROJECTOR = 3 # Projector Light + ORTHOGRAPHIC_PROJECTOR = 4 # Projector Light + + +class MaterialType(Enum): + PBR = 0 diff --git a/pyrefloid/res/config/fringe_system_calibration_50mm.json b/pyrefloid/res/config/fringe_system_calibration_50mm.json new file mode 100644 index 0000000..5b601bd --- /dev/null +++ b/pyrefloid/res/config/fringe_system_calibration_50mm.json @@ -0,0 +1,122 @@ +{ + "cams": { + "cam_50mm": { + "K": [ + [ + 10394.76600162533, + 0.0, + 1023.5 + ], + [ + 0.0, + 10396.281986322158, + 1023.5 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "Rt": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ] + ], + "distortion": [ + 0.0, + 0.0, + 0.0, + 0.0, + -751.8413696289062 + ], + "resolution": [ + 2048, + 2048 + ], + "undistortion": [ + -0.010709497146308422, + 0.8149083256721497, + -6.112560981819115e-07, + -6.123349294284708e-07, + 751.845947265625 + ], + "pixel_size": 2.5e-3 + } + }, + "date": "03/25/2024, 18:26:18", + "projectors": { + "proA": { + "K": [ + [ + 6095.892712684656, + 0.0, + 1762.9783347972377 + ], + [ + 0.0, + 6003.244406746256, + 1451.7277972072472 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "Rt": [ + [ + -0.0006552280443588507, + 0.9940975478634322, + 0.10848795328570454, + -23.769398600003058 + ], + [ + -0.8521065525011065, + 0.056224111435133776, + -0.5203395741993961, + 146.27779662909057 + ], + [ + -0.5233679335428272, + -0.09278423694378801, + 0.8470401947451315, + -97.9065115491688 + ] + ], + "distortion": [ + -0.17465165257453918, + -0.026187527924776077, + -0.007486446760594845, + 9.402549039805308e-05, + 2.0943515300750732 + ], + "resolution": [ + 3649, + 2281 + ], + "undistortion": [ + 0.17465165257453918, + 0.026187527924776077, + 0.007486446760594845, + -9.402549039805308e-05, + -2.094338893890381 + ] + } + } +} diff --git a/pyrefloid/res/config/fringe_system_calibration_50mm_undistorted.json b/pyrefloid/res/config/fringe_system_calibration_50mm_undistorted.json new file mode 100644 index 0000000..589c05b --- /dev/null +++ b/pyrefloid/res/config/fringe_system_calibration_50mm_undistorted.json @@ -0,0 +1,123 @@ +{ + "cams": { + "cam_50mm": { + "K": [ + [ + 10440.940985799221, + 0.0, + 1014.0153939911976 + ], + [ + 0.0, + 10441.521808920952, + 1015.9133804149371 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "Rt": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ] + ], + "distortion": [ + 0, + 0, + 0, + 0, + 0 + ], + "resolution": [ + 2048, + 2048 + ], + "undistortion": [ + 0, + 0, + 0, + 0, + 0 + ], + "pixel_size": 2.5e-3 + + } + }, + "date": "12/13/2022, 12:55:31", + "projectors": { + "projector": { + "K": [ + [ + 5848.329218947578, + 0.0, + 1758.474975172117 + ], + [ + 0.0, + 5848.92488329754, + 1158.7374365964795 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "Rt": [ + [ + -0.001368521786984024, + 0.9952529422991053, + 0.09731242465940404, + -25.69560459345587 + ], + [ + -0.8643812598570949, + 0.04775488565670842, + -0.5005641901932019, + 137.55625822173448 + ], + [ + -0.50283512681194, + -0.08480006922690769, + 0.8602126385395251, + -89.6281911397667 + ] + ], + "distortion": [ + 0, + 0, + 0, + 0, + 0 + ], + "resolution": [ + 3649, + 2281 + ], + "undistortion": [ + 0, + 0, + 0, + 0, + 0 + ] + } + } +} diff --git a/pyrefloid/res/config/fringe_system_mipi_4.json b/pyrefloid/res/config/fringe_system_mipi_4.json new file mode 100644 index 0000000..d44eab4 --- /dev/null +++ b/pyrefloid/res/config/fringe_system_mipi_4.json @@ -0,0 +1,33 @@ +{ + "cams": { + "camA": { + "K": [[1424.190449631344, 0.0, 893.8014981538375], [0.0, 1424.0070312911866, 609.915043650866], [0.0, 0.0, 1.0]], + "Rt": [ + [ + 1.0, 0.0, 0.0, 0.0 + ], + [ + 0.0, 1.0, 0.0, 0.0 + ], + [ + 0.0, 0.0, 1.0, 0.0 + ] + ], + "distortion": [0.344402551651001, -0.8505805730819702, 0.0006559525500051677, -0.003869660897180438, 0.6256954073905945], + "resolution": [ 1920, 1080 ], + "undistortion": [-0.344402551651001, 0.8505805730819702, -0.0006559525500051677, 0.003869660897180438, -0.6256893277168274] + } + }, + "date": "12/13/2022, 12:55:31", + "projectors": { + "projector": { + "K": [[4572.092357088892, 0.0, 764.0716997583703], [0.0, 4576.175644595492, 790.9084132388722], [0.0, 0.0, 1.0]], + "Rt": [[0.02140324716344572, 0.9966614902917794, 0.0787894331762172, -1.1956301707363834], + [-0.9312131361099936, 0.048553916872657865, -0.3612265387433671, 6.456879485058974], + [-0.3638461160257873, -0.06563833426963367, 0.9291434834982468, 38.46134300393483]], + "distortion": [-1.6743857823525115, 129.90666371808743, -0.006075473558828243, -0.0019224578912322757, -3975.9143896030896], + "resolution": [ 1536, 1536 ], + "undistortion":[1.6743857823525115, -129.90666371808743, 0.006075473558828243, 0.0019224578912322757, 3975.9143896030896] + } + } +} diff --git a/pyrefloid/res/config/real_system.json b/pyrefloid/res/config/real_system.json new file mode 100644 index 0000000..e05809d --- /dev/null +++ b/pyrefloid/res/config/real_system.json @@ -0,0 +1,122 @@ +{ + "cams": { + "cam_50mm": { + "K": [ + [ + 10629.822550439714, + 0.0, + 1008.1159793207873 + ], + [ + 0.0, + 10623.396560967047, + 1069.977802410331 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "Rt": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ] + ], + "distortion": [ + -0.1274699717760086, + -0.21171890199184418, + -0.001866104081273079, + 5.188226350583136e-05, + -191.046142578125 + ], + "resolution": [ + 2048, + 2048 + ], + "undistortion": [ + 0.1274699717760086, + 0.21171890199184418, + 0.001866104081273079, + -5.188226350583136e-05, + 191.04730224609375 + ], + "pixel_size": 2.5e-3 + } + }, + "date": "05/24/2024, 14:21:43", + "projectors": { + "proA": { + "K": [ + [ + 5827.901288263152, + 0.0, + 1752.3222333296721 + ], + [ + 0.0, + 5833.725815233292, + 1136.9154167976403 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "Rt": [ + [ + -0.0012672310739158602, + 0.9949285482395186, + 0.10057622991248588, + -25.694912518310723 + ], + [ + -0.8657917020077689, + 0.04923712830735478, + -0.49797633872558233, + 139.51474209125365 + ], + [ + -0.5004029604827456, + -0.08770911636796375, + 0.8613384863374299, + -94.0109597829117 + ] + ], + "distortion": [ + -0.19233177602291107, + 0.292228102684021, + 0.0010661755222827196, + 0.00046196934999898076, + 1.3608967065811157 + ], + "resolution": [ + 3649, + 2281 + ], + "undistortion": [ + 0.19233177602291107, + -0.292228102684021, + -0.0010661755222827196, + -0.00046196934999898076, + -1.3608884811401367 + ] + } + } +} \ No newline at end of file diff --git a/pyrefloid/res/config/scene_data.yaml b/pyrefloid/res/config/scene_data.yaml new file mode 100644 index 0000000..2f35ca4 --- /dev/null +++ b/pyrefloid/res/config/scene_data.yaml @@ -0,0 +1,28 @@ +objects: + measurement_specimen: + path: pyrefloid/res/data/cad.stl + object_type: MESH_OBJECT + animation_mode: NONE + default_pose: [[0.4455540317553001, 0.5490734056449985, 0.7071067811865476, -68.34343331516206],[0.8641276828841775, -0.05730050325452972, -0.5000000000000001, -38.56919664386574],[0.23401912840581945, -0.8338075602560705, 0.5, 314.25749061726225]] + #default_pose: [[ [ 1 , 0 , 0, 0 ],[ 0, 1, 0, 0 ],[ 0, 0, 1, 0 ] ]] + #default_pose: [[0.2705977583619882, 0.6532816032688104, 0.7071067811865475, -60.50910789307167],[0.8446231131804507, 0.19134209333380736, -0.5000000000000001, -62.73853697233971],[0.4619400933571697, -0.7325376100577836, 0.5000000000000001, 279.2054577903188]] + poses: [[ [ 1 , 0 , 0, 0 ],[ 0, 1, 0, 0 ],[ 0, 0, 1, 0 ] ]] + #poses_path: pyrefloid/res/config/values.csv + + material: + albedo: [ 1.0, 1.0, 1.0 ] # White color for a mirror-like reflection + metallic: 1.0 # Fully metallic. + roughness: 0.01 # Very low roughness for a sharp reflection. + F0: 0.91 # for alluminium + +Sensor: + origin_device: 'camA' + default_pose_camA: [ [ 1, 0, 0, 0 ], [ 0, 1, 0, 0 ], [ 0, 0, 1, 0 ], [ 0, 0, 0, 1 ] ] + default_pose_pro: [[-0.0013685217869840371, -0.8643812598570951, -0.5028351268119401, 73.79768393052548], + [0.9952529422991054, 0.04775488565670844, -0.08480006922690772, 11.40416587971304], + [0.09731242465940403, -0.5005641901932019, 0.8602126385395252, 148.4555413767116], + [0.0, 0.0, 0.0, 1.0]] + poses_path: pyrefloid/res/config/values.csv + apply_camera_distortion: False + apply_projector_distortion: False + diff --git a/pyrefloid/res/config/scene_data_backup.yaml b/pyrefloid/res/config/scene_data_backup.yaml new file mode 100644 index 0000000..5bd2481 --- /dev/null +++ b/pyrefloid/res/config/scene_data_backup.yaml @@ -0,0 +1,99 @@ +objects: + not_animated_sphere: + object_type: SPHERE_OBJECT + animation_mode: NONE + default_pose: [ [ 1, 0, 0, -4.5 ], [ 0, 1, 0, 0 ], [ 0, 0, 1, 50 ] ] + poses: [ [ [ 1, 0, 0, -4.5 ], [ 0, 1, 0, 0 ], [ 0, 0, 1, 50 ] ] ] + material: + Kd: [ 0.25005, 0.25005, 0.25005 ] + Ks: [ 0.00073, 0.00073, 0.00073 ] + specular_exponent: 87.68092 + material_type: "normal" + specular_reflection: 1 + + + static_sphere: + object_type: SPHERE_OBJECT + animation_mode: NONE + default_pose: [ [ 1, 0, 0, -1.5 ], [ 0, 1, 0, 0 ],[ 0, 0, 1, 50 ] ] + poses: [ [ [ 1, 0, 0, -1.5 ], [ 0, 1, 0, 0 ],[ 0, 0, 1, 50 ] ]] + material: + Kd: [ 0.25005, 0.25005, 0.25005 ] +# Kd: [ 0.574952457584869, 0.574952457584869, 0.574952457584869 ] + Ks: [ 0.00073, 0.00073, 0.00073 ] +# Ks: [ 0.9944918732494927, 0.9944918732494927, 0.9944918732494927 ] +# specular_exponent: 87.72481555160613 + specular_exponent: 87.68092 + material_type: "phong" + specular_reflection: 1 # 0 for diffuse, 1 for specular + + + deforming_sphere: + object_type: SPHERE_OBJECT + animation_mode: NONE + default_pose: [ [ 1, 0, 0, 1.5 ],[ 0, 1, 0, 0 ],[ 0, 0, 1, 50 ] ] + poses: [ [ [ 1, 0, 0, 1.5 ],[ 0, 1, 0, 0 ],[ 0, 0, 1, 50 ] ] ] + material: + Kd: [ 0.50, 0.50, 0.50 ] + material_type: "normal" + + + measurement_specimen: + object_type: MESH_OBJECT + animation_mode: STATIC + default_pose: [[ 0.71 , 0 , -0.71, 15 ],[ 0, 1, 0, 0 ],[ 0.71, 0, 0.71, 300 ]] #[[ 1 , 0 , 0, 0 ],[ 0, -1, 0, 0 ],[ 0, 0, -1, 300 ]] # + poses: [[ [ 1 , 0 , 0, 0 ],[ 0, 1, 0, 0 ],[ 0, 0, 1, 0 ] ]] +# path: pyrefloid\res\data\turbineblade.stl +# path: pyrefloid\res\data\laufschaufel_endversion.stl + path: pyrefloid/res/data/Gom_Laufschaufel.stl + material: + Kd: [ 0.999, 0.999, 0.999 ] # PHONG Parameter shiny Compressor blade +# Kd: [ 0.5099418996734367, 0.5099418996734367, 0.5099418996734367 ] # BLINN-PHONG Parameter shiny Compressor blade +# Kd: [ 0.236, 0.236, 0.236 ] # BLINN-PHONG Parameter shiny Compressor blade gute Normal Map +# Kd: [ 0.795, 0.795, 0.795 ] # PHONG Parameter worn Turbine blade +# Kd: [ 0.21961930875675373,0.21961930875675373,0.21961930875675373 ] # BLINN-PHONG Parameter worn Turbine blade + + Ks: [ 0.6, 0.6, 0.6 ] # PHONG Parameter shiny Compressor blade +# Ks: [ 0.9944918732494927, 0.9944918732494927, 0.9944918732494927 ] # BLINN-PHONG Parameter shiny Compressor blade +# Ks: [ 0.999, 0.999, 0.999 ] # BLINN-PHONG Parameter shiny Compressor blade gute Normal Map +# Ks: [ 0.00000000, 0.00000000, 0.00000000 ] # PHONG Parameter worn Turbine blade +# Ks: [ 0.025354155023388825, 0.025354155023388825, 0.025354155023388825 ] # BLINN-PHONG Parameter worn Turbine blade + + specular_exponent: 14.0 # PHONG Parameter shiny Compressor blade +# specular_exponent: 56.7 # BLINN-PHONG Parameter shiny Compressor blade +# specular_exponent: 38.0 # BLINN-PHONG Parameter shiny Compressor blade gute Normal Map +# specular_exponent: 113.5 # PHONG Parameter worn Turbine blade +# specular_exponent: 0.0 # BLINN-PHONG Parameter worn Turbine blade + + emission_color: [ 0.0, 0.0, 0.0 ] +# emission_color: [ 1.0, 0.0, 0.0 ] + material_type: "phong" + specular_reflection: 1 # 0 for diffuse, 1 for specular + + + measurement_specimen: + object_type: MESH_OBJECT + animation_mode: STATIC + default_pose: [[-0.4455540317553001, -0.5490734056449985, -0.7071067811865476, 0.0], [0.5309433350338342, + -0.7980062631637937, 0.28510555753002675, 0.0], [0.23401912840581945, -0.8338075602560705, + 0.5, 300.0]] #[[ -0.71 , 0 , 0.71, 15 ],[ 0, 1, 0, 0 ],[ 0.71, 0, 0.71, 300 ]] + poses: [[ [ 1 , 0 , 0, 0 ],[ 0, 1, 0, 0 ],[ 0, 0, 1, 0 ] ]] + + path: pyrefloid/res/data/cad.stl + material: + Kd: [ 0.999, 0.999, 0.999 ] # PHONG Parameter shiny Compressor blade + Ks: [ 0.6, 0.6, 0.6 ] # PHONG Parameter shiny Compressor blade + specular_exponent: 14.0 # PHONG Parameter shiny Compressor blade + material_type: "phong" + specular_reflection: 1 # 0 for diffuse, 1 for specular + +Sensor: + origin_device: 'camA' +# second_cam: 'camB' + default_pose_camA: [ [ 1, 0, 0, 0 ], [ 0, 1, 0, 0 ], [ 0, 0, 1, 0 ], [ 0, 0, 0, 1 ] ] +# default_pose_camB: [ [ 1, 0, 0, 0 ], [ 0, 1, 0, 0 ], [ 0, 0, 1, 0 ], [ 0, 0, 0, 1 ] ] +# default_pose_pro: [ [ 1, 0, 0, 0 ], [ 0, 1, 0, 0 ], [ 0, 0, 1, 0 ], [ 0, 0, 0, 1 ] ] + default_pose_pro: [[-0.0013685217869840371, -0.8643812598570951, -0.5028351268119401, 73.79768393052548], [0.9952529422991054, 0.04775488565670844, -0.08480006922690772, 11.40416587971304], [0.09731242465940403, -0.5005641901932019, 0.8602126385395252, 148.4555413767116], [0.0, 0.0, 0.0, 1.0]] +# poses: [ [ [ 7.72232411e-08, 0.883330941, 0.46875,-75 ],[ 0.905414164, -0.198998272, 0.375, -60 ],[ 0.424529523, 0.424412847, -0.79978025, 127.964836], [ 0, 0, 0, 1 ] ] ] + poses_path: pyrefloid/res/config/Laufschaufel_gom.csv +# poses_path: pyrefloid\res\config\Laufschaufel.csv diff --git a/pyrefloid/res/config/test.json b/pyrefloid/res/config/test.json new file mode 100644 index 0000000..d605269 --- /dev/null +++ b/pyrefloid/res/config/test.json @@ -0,0 +1 @@ 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pyrefloid.utils.projector_template.Projector, + settings: + { + resolution: [3649, 2281], + brightness: 0.25 + } + } +config: + calibrationFile: './pyrefloid/res/config/real_system.json' + measurement: + class: pyrefloid.utils.phaseshift.MinImagesPhaseshift + settings: + direction: xy + sequence: {x: { frequencies: [ 1, 7, 49], + phases: [ [ 0, 90 ], [ 0, 90 ], [ 0, 90, 180, 270 ] ] }, + y: { frequencies: [ 1, 6, 36], + phases: [ [ 0, 90 ], [ 0, 90 ], [ 0, 90, 180, 270 ] ] }} + #useLaplacian: { "enable": True, "k_size": 1, "threshold": 10, "erosion": 0 } + #heightmapFilter: { "median": 5 } + #erodePhasemap: False + addColor: True + amplitudeThreshold : 0.00001 + + calibrationPattern: + type: circle + gridSize: [5, 5] + dimension: [-10, -10, 10, 10] + + calibrationExposures: [10000, 25000, 50000] + exposureTimes: [10000, 25000, 50000] + inversePattern: True + calibrationMethod: stereo + f_num: 4 + focus_distance: -1 #0 for focus_distance at avarage object distance and -1 for no depth 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All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of NVIDIA CORPORATION nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +#pragma once + +#include "motion_helper.h" +#include "material.h" + + +enum LightType +{ + POINTLIGHT = 0, //Constant PointLight + AMBIENT = 1, //Constant AmbientLight + PARALLELOGRAM = 2, //Rectangle Light + PERSPECTIVE_PROJECTOR = 3, //Projector Light + ORTHOGRAPHIC_PROJECTOR = 4, //Projector Light +}; + +struct Light{ + LightType light_type; + float intensity ; + float3 position ; + float3 color ; + float3 corner ; //Parallelogram Light + float3 v1 ; //Parallelogram Light + float3 v2 ; //Parallelogram Light + float3 normal ; //Parallelogram Light + float3 up ; //Parallelogram Light + float distortion[5]; + Matrix3x3 K; + Matrix3x3 K_inv; + Matrix4x4 Rt; + int2 resolution; + float* projector_images; +}; + +struct LightSample{ + float3 position; // Position of the light sample when a geometric light. + float distance; // Distance between surface and light sample positon, RT_DEFAULT_MAX for environment light. + float3 direction; // Direction from surface to light sampling position. + float3 emission; // Emission of this light sample, scaled by the inverse probabilty to have picked one of many lights. + float pdf; // Probability density for this light sample projected to solid angle. + float2 uv; +}; \ No newline at end of file diff --git a/pyrefloid/res/shaders/camera.h b/pyrefloid/res/shaders/camera.h new file mode 100644 index 0000000..6d28f1a --- /dev/null +++ b/pyrefloid/res/shaders/camera.h @@ -0,0 +1,31 @@ +// +// Created by Kern on 22/08/2022 +// + +#pragma once + +#include "motion_helper.h" + +enum class CameraType : int +{ + PERSPECTIVE = 0, + ORTHOGRAPHIC = 1, + FISHEYE = 2 +}; + +struct Camera +{ + CameraType type = CameraType::PERSPECTIVE; + float distortion[5] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; + Matrix3x3 K; + Matrix3x3 K_inv; + Matrix4x4 Rt; + + // Todo: Check the implementation of the following five parameters of Yunjie Pans master thesis + float depth_of_field = 280.f; + float diameter_aperture = 15.0f; + unsigned int aperture_samples = 0; //300 + float view_width = 120.0f;//for Orthographic Cameras //TODO + float view_height = 120.0f;//for Orthographic Cameras //TODO + int2 resolution; +}; \ No newline at end of file diff --git a/pyrefloid/res/shaders/helpers.h b/pyrefloid/res/shaders/helpers.h new file mode 100644 index 0000000..54a0ed1 --- /dev/null +++ b/pyrefloid/res/shaders/helpers.h @@ -0,0 +1,305 @@ +// +// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of NVIDIA CORPORATION nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// + +#pragma once + +#include +#include "vec_math.h" + +// DAR Prevent that division by very small floating point values results in huge values, for example dividing by pdf. +#define DENOMINATOR_EPSILON 1.0e-6f +#define SCENE_EPSILON 1e-4f +#define RT_DEFAULT_MAX 1.e27f + +__forceinline__ __device__ float3 toSRGB( const float3& c ) +{ + float invGamma = 1.0f / 2.4f; + float3 powed = make_float3( powf( c.x, invGamma ), powf( c.y, invGamma ), powf( c.z, invGamma ) ); + return make_float3( + c.x < 0.0031308f ? 12.92f * c.x : 1.055f * powed.x - 0.055f, + c.y < 0.0031308f ? 12.92f * c.y : 1.055f * powed.y - 0.055f, + c.z < 0.0031308f ? 12.92f * c.z : 1.055f * powed.z - 0.055f ); +} + +__forceinline__ __device__ float4 make_color_float( const float3& c ) +{ + // first apply gamma, then convert to float 3 +// float3 srgb = toSRGB( clamp( c, 0.0f, 1.0f ) ); + float3 srgb = clamp( c, 0.0f, 1.0f ); + return make_float4(srgb.x, srgb.y, srgb.z, 1.0f); +} + +__forceinline__ __device__ void print_matrix(const float* matrix){ + printf("Matrix Values: \n"); + printf("\t[%.3f %.3f %.3f %.3f\n", matrix[0], matrix[1], matrix[2], matrix[3]); + printf("\t%.3f %.3f %.3f %.3f\n", matrix[4], matrix[5], matrix[6], matrix[7]); + printf("\t%.3f %.3f %.3f %.3f\n", matrix[8], matrix[9], matrix[10], matrix[11]); + printf("\t%.3f %.3f %.3f %.3f]\n", matrix[12], matrix[13], matrix[14], matrix[15]); +} + +__forceinline__ __host__ __device__ bool isNull(const float3& v) +{ + return (v.x == 0.0f && v.y == 0.0f && v.z == 0.0f); +} + +__forceinline__ __host__ __device__ bool isNotNull(const float3& v) +{ + return (v.x != 0.0f || v.y != 0.0f || v.z != 0.0f); +} + +static __forceinline__ __device__ void cosine_sample_hemisphere(const float u1, const float u2, float3& p) +{ + // Uniformly sample disk. + const float r = sqrtf( u1 ); + const float phi = 2.0f*M_PIf * u2; + p.x = r * cosf( phi ); + p.y = r * sinf( phi ); + + // Project up to hemisphere. + p.z = sqrtf( fmaxf( 0.0f, 1.0f - p.x*p.x - p.y*p.y ) ); +} + +struct Onb +{ + __forceinline__ __device__ Onb(const float3& normal) + { + m_normal = normal; + + if( fabs(m_normal.x) > fabs(m_normal.z) ) + { + m_binormal.x = -m_normal.y; + m_binormal.y = m_normal.x; + m_binormal.z = 0; + } + else + { + m_binormal.x = 0; + m_binormal.y = -m_normal.z; + m_binormal.z = m_normal.y; + } + + m_binormal = normalize(m_binormal); + m_tangent = cross(m_binormal, m_normal); + } + + __forceinline__ __device__ float3 inverse_transform(const float3& p) const + { + return p.x * m_tangent + p.y * m_binormal + p.z * m_normal; + } + + float3 m_tangent; + float3 m_binormal; + float3 m_normal; +}; + +// Tangent-Bitangent-Normal orthonormal space. +struct TBN +{ + // Default constructor to be able to include it into other structures when needed. + __forceinline__ __host__ __device__ TBN() + { + } + + __forceinline__ __host__ __device__ TBN(const float3& n) + : normal(n) + { + if (fabsf(normal.z) < fabsf(normal.x)) + { + tangent.x = normal.z; + tangent.y = 0.0f; + tangent.z = -normal.x; + } + else + { + tangent.x = 0.0f; + tangent.y = normal.z; + tangent.z = -normal.y; + } + tangent = normalize(tangent); + bitangent = cross(normal, tangent); + } + + // Constructor for cases where tangent, bitangent, and normal are given as ortho-normal basis. + __forceinline__ __host__ __device__ TBN(const float3& t, const float3& b, const float3& n) + : tangent(t) + , bitangent(b) + , normal(n) + { + } + + // Normal is kept, tangent and bitangent are calculated. + // Normal must be normalized. + // Must not be used with degenerated vectors! + __forceinline__ __host__ __device__ TBN(const float3& tangent_reference, const float3& n) + : normal(n) + { + bitangent = normalize(cross(normal, tangent_reference)); + tangent = cross(bitangent, normal); + } + + __forceinline__ __host__ __device__ void negate() + { + tangent = -tangent; + bitangent = -bitangent; + normal = -normal; + } + + __forceinline__ __host__ __device__ float3 transformToLocal(const float3& p) const + { + return make_float3(dot(p, tangent), + dot(p, bitangent), + dot(p, normal)); + } + + __forceinline__ __host__ __device__ float3 transformToWorld(const float3& p) const + { + return p.x * tangent + p.y * bitangent + p.z * normal; + } + + float3 tangent; + float3 bitangent; + float3 normal; +}; + +__forceinline__ __host__ __device__ bool refract(float3& r, const float3& i, const float3& n, const float ior) +{ + float3 nn = n; + float negNdotV = dot(i, nn); + float eta; + + if (0.0f < negNdotV) + { + eta = ior; + nn = -n; + negNdotV = -negNdotV; + } + else + { + eta = 1.0f / ior; + } + + const float k = 1.0f - eta * eta * (1.0f - negNdotV * negNdotV); + + if (k < 0.0f) + { + // Initialize this value, so that r always leaves this function initialized. + r = make_float3(0.0f); + return false; + } + else + { + r = normalize(eta * i - (eta * negNdotV + sqrtf(k)) * nn); + return true; + } +} + +// This function evaluates a Fresnel dielectric function when the transmitting cosine ("cost") +// is unknown and the incident index of refraction is assumed to be 1.0f. +// \param et The transmitted index of refraction. +// \param costIn The cosine of the angle between the incident direction and normal direction. +__forceinline__ __device__ float evaluate_fresnel_dielectric(const float et, const float cosIn) +{ + const float cosi = fabsf(cosIn); + + float sint = 1.0f - cosi * cosi; + sint = (0.0f < sint) ? sqrtf(sint) / et : 0.0f; + + // Handle total internal reflection. + if (1.0f < sint) + { + return 1.0f; + } + + float cost = 1.0f - sint * sint; + cost = (0.0f < cost) ? sqrtf(cost) : 0.0f; + + const float et_cosi = et * cosi; + const float et_cost = et * cost; + + const float rPerpendicular = (cosi - et_cost) / (cosi + et_cost); + const float rParallel = (et_cosi - cost) / (et_cosi + cost); + + const float result = (rParallel * rParallel + rPerpendicular * rPerpendicular) * 0.5f; + + return (result <= 1.0f) ? result : 1.0f; +} + + +// Optimized version to calculate D and pdf reusing shared calculations. +__forceinline__ __device__ float2 ggx_D_pdf(const float2 a, const float3& wm) +{ + if (DENOMINATOR_EPSILON < wm.z) // Heaviside function: X_plus(wm * wg). (wm is in tangent space.) + { + const float cosThetaSqr = wm.z * wm.z; + const float tanThetaSqr = (1.0f - cosThetaSqr) / cosThetaSqr; + + const float phiM = atan2f(wm.y, wm.x); + const float cosPhiM = cosf(phiM); + const float sinPhiM = sinf(phiM); + + const float term = 1.0f + tanThetaSqr * ((cosPhiM * cosPhiM) / (a.x * a.x) + (sinPhiM * sinPhiM) / (a.y * a.y)); + + const float d = 1.0f / (M_PIf * a.x * a.y * cosThetaSqr * cosThetaSqr * term * term); // Heitz, Formula (85) + const float pdf = d * wm.z; // PDF with respect to the half-direction. + + return make_float2(d, pdf); + } + return make_float2(0.0f); +} + +// Return a sample direction in local tangent space coordinates. +__forceinline__ __device__ float3 ggx_sample(const float2 a, const float2 xi) +{ + // Made isotropic to a.y. Output vector scales .x accordingly. + const float theta = atanf(a.y * sqrtf(xi.x) / sqrtf(1.0f - xi.x)); // Walter, Formula (35). + const float phi = 2.0f * M_PIf * xi.y; // Walter, Formula (36). + const float sinTheta = sinf(theta); + return normalize(make_float3(cosf(phi) * sinTheta * a.x / a.y, // Heitz, Formula (77) + sinf(phi) * sinTheta, + cosf(theta))); +} + +// "Microfacet Models for Refraction through Rough Surfaces" - Walter, Marschner, Li, Torrance. +// PERF Using this because it's faster than the approximation below. +__forceinline__ __device__ float smith_G1(const float alpha, const float3& w, const float3& wm) +{ + const float w_wm = dot(w, wm); + if (w_wm * w.z <= 0.0f) // X_plus(v * m / v * n) from Walter, Formula (34). // PERF Checking the sign with a multiplication here. + { + return 0.0f; + } + const float cosThetaSqr = w.z * w.z; + const float sinThetaSqr = 1.0f - cosThetaSqr; + //const float tanTheta = (0.0f < sinThetaSqr) ? sqrtf(sinThetaSqr) / w.z : 0.0f; // PERF Remove the sqrtf() by calculating tanThetaSqr here + //const float invA = alpha * tanTheta; // because this is squared below: invASqr = alpha * alpha * tanThetaSqr; + //const float lambda = (-1.0f + sqrtf(1.0f + invA * invA)) * 0.5f; // Heitz, Formula (86) + //return 1.0f / (1.0f + lambda); // Heitz, below Formula (69) + const float tanThetaSqr = (0.0f < sinThetaSqr) ? sinThetaSqr / cosThetaSqr : 0.0f; + const float invASqr = alpha * alpha * tanThetaSqr; + return 2.0f / (1.0f + sqrtf(1.0f + invASqr)); // Optimized version is Walter, Formula (34) +} \ No newline at end of file diff --git a/pyrefloid/res/shaders/material.h b/pyrefloid/res/shaders/material.h new file mode 100644 index 0000000..780acf7 --- /dev/null +++ b/pyrefloid/res/shaders/material.h @@ -0,0 +1,14 @@ +#pragma once + +enum MaterialType +{ + MATERIAL_PBR = 0, + NUM_MATERIAL_TYPES, +}; + +struct Material { + float3 albedo; + float metallic; + float roughness; + float F0; +}; \ No newline at end of file diff --git a/pyrefloid/res/shaders/motion_helper.h b/pyrefloid/res/shaders/motion_helper.h new file mode 100644 index 0000000..8d951f0 --- /dev/null +++ b/pyrefloid/res/shaders/motion_helper.h @@ -0,0 +1,721 @@ +#pragma once + +#define RT_MATRIX_ACCESS(m,i,j) m[i*N+j] +#define RT_MAT_DECL template + + + template struct VectorDim { }; + template <> struct VectorDim<2> { typedef float2 VectorType; }; + template <> struct VectorDim<3> { typedef float3 VectorType; }; + template <> struct VectorDim<4> { typedef float4 VectorType; }; + + + template class Matrix; + + template __forceinline__ __host__ __device__ Matrix& operator*=(Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ bool operator==(const Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ bool operator!=(const Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix& operator-=(Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix& operator+=(Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix& operator*=(Matrix& m1, float f); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix&operator/=(Matrix& m1, float f); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix operator-(const Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix operator+(const Matrix& m1, const Matrix& m2); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix operator/(const Matrix& m, float f); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix operator*(const Matrix& m, float f); + RT_MAT_DECL __forceinline__ __host__ __device__ Matrix operator*(float f, const Matrix& m); + RT_MAT_DECL __forceinline__ __host__ __device__ typename Matrix::floatM operator*(const Matrix& m, const typename Matrix::floatN& v ); + RT_MAT_DECL __forceinline__ __host__ __device__ typename Matrix::floatN operator*(const typename Matrix::floatM& v, const Matrix& m); + template __forceinline__ __host__ __device__ Matrix operator*(const Matrix& m1, const Matrix& m2); + + + // Partial specializations to make matrix vector multiplication more efficient + template + __forceinline__ __host__ __device__ float2 operator*(const Matrix<2,N>& m, const typename Matrix<2,N>::floatN& vec ); + template + __forceinline__ __host__ __device__ float3 operator*(const Matrix<3,N>& m, const typename Matrix<3,N>::floatN& vec ); + template + __forceinline__ __host__ __device__ float4 operator*(const Matrix<4,N>& m, const typename Matrix<4,N>::floatN& vec ); + __forceinline__ __host__ __device__ float4 operator*(const Matrix<4,4>& m, const float4& vec ); + + /** + * @brief A matrix with M rows and N columns + * + * @ingroup CUDACTypes + * + * Description + * + * @ref Matrix provides a utility class for small-dimension floating-point + * matrices, such as transformation matrices. @ref Matrix may also be useful + * in other computation and can be used in both host and device code. + * Typedefs are provided for 2x2 through 4x4 matrices. + * + * History + * + * @ref Matrix was introduced in OptiX 1.0. + * + * See also + * \a rtVariableSetMatrix* + * + */ + template + class Matrix + { + public: + typedef typename VectorDim::VectorType floatN; /// A row of the matrix + typedef typename VectorDim::VectorType floatM; /// A column of the matrix + + /** Create an unitialized matrix */ + __host__ __device__ Matrix(); + + /** Create a matrix from the specified float array */ + __host__ __device__ explicit Matrix( const float data[M*N] ) { for(unsigned int i = 0; i < M*N; ++i) m_data[i] = data[i]; } + + /** Copy the matrix */ + __host__ __device__ Matrix( const Matrix& m ); + + /** Assignment operator */ + __host__ __device__ Matrix& operator=( const Matrix& b ); + + /** Access the specified element 0..N*M-1 */ + __host__ __device__ float operator[]( unsigned int i )const { return m_data[i]; } + + /** Access the specified element 0..N*M-1 */ + __host__ __device__ float& operator[]( unsigned int i ) { return m_data[i]; } + + /** Access the specified row 0..M. Returns float, float2, float3 or float4 depending on the matrix size */ + __host__ __device__ floatN getRow( unsigned int m )const; + + /** Access the specified column 0..N. Returns float, float2, float3 or float4 depending on the matrix size */ + __host__ __device__ floatM getCol( unsigned int n )const; + + /** Returns a pointer to the internal data array. The data array is stored in row-major order. */ + __host__ __device__ float* getData(); + + /** Returns a const pointer to the internal data array. The data array is stored in row-major order. */ + __host__ __device__ const float* getData()const; + + /** Assign the specified row 0..M. Takes a float, float2, float3 or float4 depending on the matrix size */ + __host__ __device__ void setRow( unsigned int m, const floatN &r ); + + /** Assign the specified column 0..N. Takes a float, float2, float3 or float4 depending on the matrix size */ + __host__ __device__ void setCol( unsigned int n, const floatM &c ); + + /** Returns the transpose of the matrix */ + __host__ __device__ Matrix transpose() const; + + /** Returns the inverse of the matrix */ + __host__ __device__ Matrix<4,4> inverse() const; + + /** Returns the determinant of the matrix */ + __host__ __device__ float det() const; + + /** Returns a rotation matrix */ + __host__ __device__ static Matrix<4,4> rotate(const float radians, const float3& axis); + + /** Returns a translation matrix */ + __host__ __device__ static Matrix<4,4> translate(const float3& vec); + + /** Returns a scale matrix */ + __host__ __device__ static Matrix<4,4> scale(const float3& vec); + + /** Creates a matrix from an ONB and center point */ + __host__ __device__ static Matrix<4,4> fromBasis( const float3& u, const float3& v, const float3& w, const float3& c ); + + /** Returns the identity matrix */ + __host__ __device__ static Matrix identity(); + + /** Ordered comparison operator so that the matrix can be used in an STL container */ + __host__ __device__ bool operator<( const Matrix& rhs ) const; + private: + /** The data array is stored in row-major order */ + float m_data[M*N]; + }; + + + + template + __forceinline__ __host__ __device__ Matrix::Matrix() + { + } + + template + __forceinline__ __host__ __device__ Matrix::Matrix( const Matrix& m ) + { + for(unsigned int i = 0; i < M*N; ++i) + m_data[i] = m[i]; + } + + template + __forceinline__ __host__ __device__ Matrix& Matrix::operator=( const Matrix& b ) + { + for(unsigned int i = 0; i < M*N; ++i) + m_data[i] = b[i]; + return *this; + } + + + /* + template + __forceinline__ __host__ __device__ float Matrix::operator[]( unsigned int i )const + { + return m_data[i]; + } + + + template + __forceinline__ __host__ __device__ float& Matrix::operator[]( unsigned int i ) + { + return m_data[i]; + } + */ + + template + __forceinline__ __host__ __device__ typename Matrix::floatN Matrix::getRow( unsigned int m )const + { + typename Matrix::floatN temp; + float* v = reinterpret_cast( &temp ); + const float* row = &( m_data[m*N] ); + for(unsigned int i = 0; i < N; ++i) + v[i] = row[i]; + + return temp; + } + + + template + __forceinline__ __host__ __device__ typename Matrix::floatM Matrix::getCol( unsigned int n )const + { + typename Matrix::floatM temp; + float* v = reinterpret_cast( &temp ); + for ( unsigned int i = 0; i < M; ++i ) + v[i] = RT_MATRIX_ACCESS( m_data, i, n ); + + return temp; + } + + + template + __forceinline__ __host__ __device__ float* Matrix::getData() + { + return m_data; + } + + + template + __forceinline__ __host__ __device__ const float* Matrix::getData() const + { + return m_data; + } + + + template + __forceinline__ __host__ __device__ void Matrix::setRow( unsigned int m, const typename Matrix::floatN &r ) + { + const float* v = reinterpret_cast( &r ); + float* row = &( m_data[m*N] ); + for(unsigned int i = 0; i < N; ++i) + row[i] = v[i]; + } + + + template + __forceinline__ __host__ __device__ void Matrix::setCol( unsigned int n, const typename Matrix::floatM &c ) + { + const float* v = reinterpret_cast( &c ); + for ( unsigned int i = 0; i < M; ++i ) + RT_MATRIX_ACCESS( m_data, i, n ) = v[i]; + } + + + // Compare two matrices using exact float comparison + template + __host__ __device__ bool operator==(const Matrix& m1, const Matrix& m2) + { + for ( unsigned int i = 0; i < M*N; ++i ) + if ( m1[i] != m2[i] ) return false; + return true; + } + + template + __host__ __device__ bool operator!=(const Matrix& m1, const Matrix& m2) + { + for ( unsigned int i = 0; i < M*N; ++i ) + if ( m1[i] != m2[i] ) return true; + return false; + } + + // Subtract two matrices of the same size. + template + __host__ __device__ Matrix operator-(const Matrix& m1, const Matrix& m2) + { + Matrix temp( m1 ); + temp -= m2; + return temp; + } + + + // Subtract two matrices of the same size. + template + __host__ __device__ Matrix& operator-=(Matrix& m1, const Matrix& m2) + { + for ( unsigned int i = 0; i < M*N; ++i ) + m1[i] -= m2[i]; + return m1; + } + + + // Add two matrices of the same size. + template + __host__ __device__ Matrix operator+(const Matrix& m1, const Matrix& m2) + { + Matrix temp( m1 ); + temp += m2; + return temp; + } + + + // Add two matrices of the same size. + template + __host__ __device__ Matrix& operator+=(Matrix& m1, const Matrix& m2) + { + for ( unsigned int i = 0; i < M*N; ++i ) + m1[i] += m2[i]; + return m1; + } + + + // Multiply two compatible matrices. + template + __host__ __device__ Matrix operator*( const Matrix& m1, const Matrix& m2) + { + Matrix temp; + + for ( unsigned int i = 0; i < M; ++i ) { + for ( unsigned int j = 0; j < R; ++j ) { + float sum = 0.0f; + for ( unsigned int k = 0; k < N; ++k ) { + float ik = m1[ i*N+k ]; + float kj = m2[ k*R+j ]; + sum += ik * kj; + } + temp[i*R+j] = sum; + } + } + return temp; + } + + + // Multiply two compatible matrices. + template + __host__ __device__ Matrix& operator*=(Matrix& m1, const Matrix& m2) + { + m1 = m1*m2; + return m1; + } + + + // Multiply matrix by vector + template + __host__ __device__ typename Matrix::floatM operator*(const Matrix& m, const typename Matrix::floatN& vec ) + { + typename Matrix::floatM temp; + float* t = reinterpret_cast( &temp ); + const float* v = reinterpret_cast( &vec ); + + for (unsigned int i = 0; i < M; ++i) { + float sum = 0.0f; + for (unsigned int j = 0; j < N; ++j) { + sum += RT_MATRIX_ACCESS( m, i, j ) * v[j]; + } + t[i] = sum; + } + + return temp; + } + + // Multiply matrix2xN by floatN + template + __forceinline__ __host__ __device__ float2 operator*(const Matrix<2,N>& m, const typename Matrix<2,N>::floatN& vec ) + { + float2 temp = { 0.0f, 0.0f }; + const float* v = reinterpret_cast( &vec ); + + int index = 0; + for (unsigned int j = 0; j < N; ++j) + temp.x += m[index++] * v[j]; + + for (unsigned int j = 0; j < N; ++j) + temp.y += m[index++] * v[j]; + + return temp; + } + + // Multiply matrix3xN by floatN + template + __forceinline__ __host__ __device__ float3 operator*(const Matrix<3,N>& m, const typename Matrix<3,N>::floatN& vec ) + { + float3 temp = { 0.0f, 0.0f, 0.0f }; + const float* v = reinterpret_cast( &vec ); + + int index = 0; + for (unsigned int j = 0; j < N; ++j) + temp.x += m[index++] * v[j]; + + for (unsigned int j = 0; j < N; ++j) + temp.y += m[index++] * v[j]; + + for (unsigned int j = 0; j < N; ++j) + temp.z += m[index++] * v[j]; + + return temp; + } + + // Multiply matrix4xN by floatN + template + __forceinline__ __host__ __device__ float4 operator*(const Matrix<4,N>& m, const typename Matrix<4,N>::floatN& vec ) + { + float4 temp = { 0.0f, 0.0f, 0.0f, 0.0f }; + + const float* v = reinterpret_cast( &vec ); + + int index = 0; + for (unsigned int j = 0; j < N; ++j) + temp.x += m[index++] * v[j]; + + for (unsigned int j = 0; j < N; ++j) + temp.y += m[index++] * v[j]; + + for (unsigned int j = 0; j < N; ++j) + temp.z += m[index++] * v[j]; + + for (unsigned int j = 0; j < N; ++j) + temp.w += m[index++] * v[j]; + + return temp; + } + + // Multiply matrix4x4 by float4 + __forceinline__ __host__ __device__ float4 operator*(const Matrix<4,4>& m, const float4& vec ) + { + float4 temp; + temp.x = m[ 0] * vec.x + + m[ 1] * vec.y + + m[ 2] * vec.z + + m[ 3] * vec.w; + temp.y = m[ 4] * vec.x + + m[ 5] * vec.y + + m[ 6] * vec.z + + m[ 7] * vec.w; + temp.z = m[ 8] * vec.x + + m[ 9] * vec.y + + m[10] * vec.z + + m[11] * vec.w; + temp.w = m[12] * vec.x + + m[13] * vec.y + + m[14] * vec.z + + m[15] * vec.w; + + return temp; + } + + // Multiply vector by matrix + template + __host__ __device__ typename Matrix::floatN operator*(const typename Matrix::floatM& vec, const Matrix& m) + { + typename Matrix::floatN temp; + float* t = reinterpret_cast( &temp ); + const float* v = reinterpret_cast( &vec); + + for (unsigned int i = 0; i < N; ++i) { + float sum = 0.0f; + for (unsigned int j = 0; j < M; ++j) { + sum += v[j] * RT_MATRIX_ACCESS( m, j, i ) ; + } + t[i] = sum; + } + + return temp; + } + + + // Multply matrix by a scalar. + template + __host__ __device__ Matrix operator*(const Matrix& m, float f) + { + Matrix temp( m ); + temp *= f; + return temp; + } + + + // Multply matrix by a scalar. + template + __host__ __device__ Matrix& operator*=(Matrix& m, float f) + { + for ( unsigned int i = 0; i < M*N; ++i ) + m[i] *= f; + return m; + } + + + // Multply matrix by a scalar. + template + __host__ __device__ Matrix operator*(float f, const Matrix& m) + { + Matrix temp; + + for ( unsigned int i = 0; i < M*N; ++i ) + temp[i] = m[i]*f; + + return temp; + } + + + // Divide matrix by a scalar. + template + __host__ __device__ Matrix operator/(const Matrix& m, float f) + { + Matrix temp( m ); + temp /= f; + return temp; + } + + + // Divide matrix by a scalar. + template + __host__ __device__ Matrix& operator/=(Matrix& m, float f) + { + float inv_f = 1.0f / f; + for ( unsigned int i = 0; i < M*N; ++i ) + m[i] *= inv_f; + return m; + } + + // Returns the transpose of the matrix. + template + __forceinline__ __host__ __device__ Matrix Matrix::transpose() const + { + Matrix ret; + for( unsigned int row = 0; row < M; ++row ) + for( unsigned int col = 0; col < N; ++col ) + ret[col*M+row] = m_data[row*N+col]; + return ret; + } + + // Returns the determinant of the matrix. + template<> + __forceinline__ __host__ __device__ float Matrix<3,3>::det() const + { + const float* m = m_data; + float d = m[0]*m[4]*m[8] + m[1]*m[5]*m[6] + m[2]*m[3]*m[7] + - m[0]*m[5]*m[7] - m[1]*m[3]*m[8] - m[2]*m[4]*m[6]; + return d; + } + + // Returns the determinant of the matrix. + template<> + __forceinline__ __host__ __device__ float Matrix<4,4>::det() const + { + const float* m = m_data; + float d = + m[0]*m[5]*m[10]*m[15]- + m[0]*m[5]*m[11]*m[14]+m[0]*m[9]*m[14]*m[7]- + m[0]*m[9]*m[6]*m[15]+m[0]*m[13]*m[6]*m[11]- + m[0]*m[13]*m[10]*m[7]-m[4]*m[1]*m[10]*m[15]+m[4]*m[1]*m[11]*m[14]- + m[4]*m[9]*m[14]*m[3]+m[4]*m[9]*m[2]*m[15]- + m[4]*m[13]*m[2]*m[11]+m[4]*m[13]*m[10]*m[3]+m[8]*m[1]*m[6]*m[15]- + m[8]*m[1]*m[14]*m[7]+m[8]*m[5]*m[14]*m[3]- + m[8]*m[5]*m[2]*m[15]+m[8]*m[13]*m[2]*m[7]- + m[8]*m[13]*m[6]*m[3]- + m[12]*m[1]*m[6]*m[11]+m[12]*m[1]*m[10]*m[7]- + m[12]*m[5]*m[10]*m[3]+m[12]*m[5]*m[2]*m[11]- + m[12]*m[9]*m[2]*m[7]+m[12]*m[9]*m[6]*m[3]; + return d; + } + + // Returns the inverse of the matrix. + template<> + __forceinline__ __host__ __device__ Matrix<4,4> Matrix<4,4>::inverse() const + { + Matrix<4,4> dst; + const float* m = m_data; + const float d = 1.0f / det(); + + dst[0] = d * (m[5] * (m[10] * m[15] - m[14] * m[11]) + m[9] * (m[14] * m[7] - m[6] * m[15]) + m[13] * (m[6] * m[11] - m[10] * m[7])); + dst[4] = d * (m[6] * (m[8] * m[15] - m[12] * m[11]) + m[10] * (m[12] * m[7] - m[4] * m[15]) + m[14] * (m[4] * m[11] - m[8] * m[7])); + dst[8] = d * (m[7] * (m[8] * m[13] - m[12] * m[9]) + m[11] * (m[12] * m[5] - m[4] * m[13]) + m[15] * (m[4] * m[9] - m[8] * m[5])); + dst[12] = d * (m[4] * (m[13] * m[10] - m[9] * m[14]) + m[8] * (m[5] * m[14] - m[13] * m[6]) + m[12] * (m[9] * m[6] - m[5] * m[10])); + dst[1] = d * (m[9] * (m[2] * m[15] - m[14] * m[3]) + m[13] * (m[10] * m[3] - m[2] * m[11]) + m[1] * (m[14] * m[11] - m[10] * m[15])); + dst[5] = d * (m[10] * (m[0] * m[15] - m[12] * m[3]) + m[14] * (m[8] * m[3] - m[0] * m[11]) + m[2] * (m[12] * m[11] - m[8] * m[15])); + dst[9] = d * (m[11] * (m[0] * m[13] - m[12] * m[1]) + m[15] * (m[8] * m[1] - m[0] * m[9]) + m[3] * (m[12] * m[9] - m[8] * m[13])); + dst[13] = d * (m[8] * (m[13] * m[2] - m[1] * m[14]) + m[12] * (m[1] * m[10] - m[9] * m[2]) + m[0] * (m[9] * m[14] - m[13] * m[10])); + dst[2] = d * (m[13] * (m[2] * m[7] - m[6] * m[3]) + m[1] * (m[6] * m[15] - m[14] * m[7]) + m[5] * (m[14] * m[3] - m[2] * m[15])); + dst[6] = d * (m[14] * (m[0] * m[7] - m[4] * m[3]) + m[2] * (m[4] * m[15] - m[12] * m[7]) + m[6] * (m[12] * m[3] - m[0] * m[15])); + dst[10] = d * (m[15] * (m[0] * m[5] - m[4] * m[1]) + m[3] * (m[4] * m[13] - m[12] * m[5]) + m[7] * (m[12] * m[1] - m[0] * m[13])); + dst[14] = d * (m[12] * (m[5] * m[2] - m[1] * m[6]) + m[0] * (m[13] * m[6] - m[5] * m[14]) + m[4] * (m[1] * m[14] - m[13] * m[2])); + dst[3] = d * (m[1] * (m[10] * m[7] - m[6] * m[11]) + m[5] * (m[2] * m[11] - m[10] * m[3]) + m[9] * (m[6] * m[3] - m[2] * m[7])); + dst[7] = d * (m[2] * (m[8] * m[7] - m[4] * m[11]) + m[6] * (m[0] * m[11] - m[8] * m[3]) + m[10] * (m[4] * m[3] - m[0] * m[7])); + dst[11] = d * (m[3] * (m[8] * m[5] - m[4] * m[9]) + m[7] * (m[0] * m[9] - m[8] * m[1]) + m[11] * (m[4] * m[1] - m[0] * m[5])); + dst[15] = d * (m[0] * (m[5] * m[10] - m[9] * m[6]) + m[4] * (m[9] * m[2] - m[1] * m[10]) + m[8] * (m[1] * m[6] - m[5] * m[2])); + return dst; + } + + // Returns a rotation matrix. + // This is a static member. + template<> + __forceinline__ __host__ __device__ Matrix<4,4> Matrix<4,4>::rotate(const float radians, const float3& axis) + { + Matrix<4,4> Mat = Matrix<4,4>::identity(); + float *m = Mat.getData(); + + // NOTE: Element 0,1 is wrong in Foley and Van Dam, Pg 227! + float sintheta=sinf(radians); + float costheta=cosf(radians); + float ux=axis.x; + float uy=axis.y; + float uz=axis.z; + m[0*4+0]=ux*ux+costheta*(1-ux*ux); + m[0*4+1]=ux*uy*(1-costheta)-uz*sintheta; + m[0*4+2]=uz*ux*(1-costheta)+uy*sintheta; + m[0*4+3]=0; + + m[1*4+0]=ux*uy*(1-costheta)+uz*sintheta; + m[1*4+1]=uy*uy+costheta*(1-uy*uy); + m[1*4+2]=uy*uz*(1-costheta)-ux*sintheta; + m[1*4+3]=0; + + m[2*4+0]=uz*ux*(1-costheta)-uy*sintheta; + m[2*4+1]=uy*uz*(1-costheta)+ux*sintheta; + m[2*4+2]=uz*uz+costheta*(1-uz*uz); + m[2*4+3]=0; + + m[3*4+0]=0; + m[3*4+1]=0; + m[3*4+2]=0; + m[3*4+3]=1; + + return Matrix<4,4>( m ); + } + + // Returns a translation matrix. + // This is a static member. + template<> + __forceinline__ __host__ __device__ Matrix<4,4> Matrix<4,4>::translate(const float3& vec) + { + Matrix<4,4> Mat = Matrix<4,4>::identity(); + float *m = Mat.getData(); + + m[3] = vec.x; + m[7] = vec.y; + m[11]= vec.z; + + return Matrix<4,4>( m ); + } + + // Returns a scale matrix. + // This is a static member. + template<> + __forceinline__ __host__ __device__ Matrix<4,4> Matrix<4,4>::scale(const float3& vec) + { + Matrix<4,4> Mat = Matrix<4,4>::identity(); + float *m = Mat.getData(); + + m[0] = vec.x; + m[5] = vec.y; + m[10]= vec.z; + + return Matrix<4,4>( m ); + } + + + // This is a static member. + template<> + __forceinline__ __host__ __device__ Matrix<4,4> Matrix<4,4>::fromBasis( const float3& u, const float3& v, const float3& w, const float3& c ) + { + float m[16]; + m[ 0] = u.x; + m[ 1] = v.x; + m[ 2] = w.x; + m[ 3] = c.x; + + m[ 4] = u.y; + m[ 5] = v.y; + m[ 6] = w.y; + m[ 7] = c.y; + + m[ 8] = u.z; + m[ 9] = v.z; + m[10] = w.z; + m[11] = c.z; + + m[12] = 0.0f; + m[13] = 0.0f; + m[14] = 0.0f; + m[15] = 1.0f; + + return Matrix<4,4>( m ); + } + + // Returns the identity matrix. + // This is a static member. + template + __forceinline__ __host__ __device__ Matrix Matrix::identity() + { + float temp[N*N]; + for(unsigned int i = 0; i < N*N; ++i) + temp[i] = 0; + for( unsigned int i = 0; i < N; ++i ) + RT_MATRIX_ACCESS( temp,i,i ) = 1.0f; + return Matrix( temp ); + } + + // Ordered comparison operator so that the matrix can be used in an STL container. + template + __forceinline__ __host__ __device__ bool Matrix::operator<( const Matrix& rhs ) const + { + for( unsigned int i = 0; i < N*M; ++i ) { + if( m_data[i] < rhs[i] ) + return true; + else if( m_data[i] > rhs[i] ) + return false; + } + return false; + } + + typedef Matrix<2, 2> Matrix2x2; + typedef Matrix<2, 3> Matrix2x3; + typedef Matrix<2, 4> Matrix2x4; + typedef Matrix<3, 2> Matrix3x2; + typedef Matrix<3, 3> Matrix3x3; + typedef Matrix<3, 4> Matrix3x4; + typedef Matrix<4, 2> Matrix4x2; + typedef Matrix<4, 3> Matrix4x3; + typedef Matrix<4, 4> Matrix4x4; + + + __forceinline__ __host__ __device__ Matrix<3,3> make_matrix3x3(const Matrix<4,4> &matrix) + { + Matrix<3,3> Mat; + float *m = Mat.getData(); + const float *m4x4 = matrix.getData(); + + m[0*3+0]=m4x4[0*4+0]; + m[0*3+1]=m4x4[0*4+1]; + m[0*3+2]=m4x4[0*4+2]; + + m[1*3+0]=m4x4[1*4+0]; + m[1*3+1]=m4x4[1*4+1]; + m[1*3+2]=m4x4[1*4+2]; + + m[2*3+0]=m4x4[2*4+0]; + m[2*3+1]=m4x4[2*4+1]; + m[2*3+2]=m4x4[2*4+2]; + + return Mat; + } + + +#undef RT_MATRIX_ACCESS +#undef RT_MAT_DECL + diff --git a/pyrefloid/res/shaders/path_tracing.cu b/pyrefloid/res/shaders/path_tracing.cu new file mode 100644 index 0000000..7e582b4 --- /dev/null +++ b/pyrefloid/res/shaders/path_tracing.cu @@ -0,0 +1,547 @@ +#include + +#include "path_tracing.h" +#include "vec_math.h" +#include "helpers.h" +#include "random.h" +#include "Light.h" +#include "transform.h" + +#define USE_DEBUG_EXCEPTIONS 1 + +extern "C" { + __constant__ Params params; +} + +__device__ __forceinline__ float3 schlick( const float3 spec_color, const float V_dot_H ) +{ + return spec_color + ( make_float3( 1.0f ) - spec_color ) * powf( 1.0f - V_dot_H, 5.0f ); +} + +__device__ __forceinline__ float vis( const float N_dot_L, const float N_dot_V, const float alpha ) +{ + const float alpha_sq = alpha*alpha; + + const float ggx0 = N_dot_L * sqrtf( N_dot_V*N_dot_V * ( 1.0f - alpha_sq ) + alpha_sq ); + const float ggx1 = N_dot_V * sqrtf( N_dot_L*N_dot_L * ( 1.0f - alpha_sq ) + alpha_sq ); + + float denominator = ggx0 + ggx1; + + // Avoid division by zero + if (denominator < 1e-6f) { + return 0.0f; + } + + return 2.0f * N_dot_L * N_dot_V / (denominator); +} + + +__device__ __forceinline__ float ggxNormal( const float N_dot_H, const float alpha ) +{ + const float alpha_sq = alpha*alpha; + const float N_dot_H_sq = N_dot_H*N_dot_H; + const float x = N_dot_H_sq*( alpha_sq - 1.0f ) + 1.0f; + return alpha_sq/( M_PIf*x*x ); +} + +__device__ bool sample_reflection_direction( + const float3& wi, // Incoming direction (view vector) + const float3& normal, // Surface normal + float roughness, // Surface roughness + unsigned int& seed, // Random seed for sampling + int sample_idx, // Sample index for stratification + int total_samples, // Total number of samples + float3& reflect_dir) // Output reflection direction +{ + // Handle near-perfect mirror reflection + if (roughness <= 0.01f) { + reflect_dir = reflect(wi, normal); // Perfect mirror reflection + + // Ensure the reflection direction is valid + if (dot(reflect_dir, normal) < 0.0f) { + return false; // Discard the sample + } + + return true; // Valid reflection direction + } + + float alpha = roughness * roughness; + + // Stratified sampling across the hemisphere + int strat_x = sample_idx % (int)sqrtf(total_samples); + int strat_y = sample_idx / (int)sqrtf(total_samples); + float2 stratified_sample = make_float2( + (strat_x + rnd(seed)) / sqrtf(total_samples), + (strat_y + rnd(seed)) / sqrtf(total_samples) + ); + + float phi = 2.0f * M_PIf * stratified_sample.x; + float cosTheta = sqrtf((1.0f - stratified_sample.y) / (1.0f + (alpha * alpha - 1.0f) * stratified_sample.y)); + float sinTheta = sqrtf(1.0f - cosTheta * cosTheta); + + float3 half_vector; + half_vector.x = sinTheta * cosf(phi); + half_vector.y = sinTheta * sinf(phi); + half_vector.z = cosTheta; + + // Transform the half-vector to align with the normal + Onb onb(normal); + half_vector = onb.inverse_transform(half_vector); + + reflect_dir = normalize(2.0f * dot(wi, half_vector) * half_vector - wi); + + // Ensure valid reflection direction + if (dot(reflect_dir, normal) < 0.0f) { + return false; // Discard the sample if it's invalid + } + + return true; // Valid reflection direction +} + + +static __forceinline__ __device__ void distort_pixels(float2 &uv, Camera &active_camera) +{ + Matrix3x3 K_inv = active_camera.K_inv; + + float X, Y, Z, r2, u_, v_; + X = uv.x * K_inv[0] + uv.y * 0.0f + K_inv[2]; + Y = uv.x * 0.0f + uv.y * K_inv[4] + K_inv[5]; + Z = uv.x * 0.0f + uv.y * 0.0f + 1.0f; + X /= Z; Y /= Z; + //radial^2 + r2 = X*X + Y*Y; + u_ = X * (1.0f + active_camera.distortion[0]*r2 + active_camera.distortion[1]*(r2*r2) + + active_camera.distortion[4]*(r2*r2*r2)) + 2.0f*active_camera.distortion[2]*(X*Y) + + active_camera.distortion[3]*(r2 + 2.0f*(X*X)); + v_ = Y * (1.0f + active_camera.distortion[0]*r2 + active_camera.distortion[1]*(r2*r2) + + active_camera.distortion[4]*(r2*r2*r2)) + active_camera.distortion[2]*(r2 + 2.0f*(Y*Y)) + + 2.0f*active_camera.distortion[3]*(X*Y); + + X = u_ * active_camera.K[0] + v_ * 0.0f + active_camera.K[2]; + Y = u_ * 0.0f + v_ * active_camera.K[4] + active_camera.K[5]; + Z = u_ * 0.0f + v_ * 0.0f + 1.0f; + //de-homogenize + uv.x = X / Z; + uv.y = Y / Z; +} + +static __forceinline__ __device__ void distort_projector_pixels(float2 &uv, const Light &projector) +{ + Matrix3x3 K_inv = projector.K_inv; + + float X, Y, Z, r2, u_, v_; + X = uv.x * K_inv[0] + uv.y * 0.0f + K_inv[2]; + Y = uv.x * 0.0f + uv.y * K_inv[4] + K_inv[5]; + Z = uv.x * 0.0f + uv.y * 0.0f + 1.0f; + X /= Z; Y /= Z; + // radial^2 + r2 = X * X + Y * Y; + u_ = X * (1.0f + projector.distortion[0] * r2 + projector.distortion[1] * (r2 * r2) + + projector.distortion[4] * (r2 * r2 * r2)) + 2.0f * projector.distortion[2] * (X * Y) + + projector.distortion[3] * (r2 + 2.0f * (X * X)); + v_ = Y * (1.0f + projector.distortion[0] * r2 + projector.distortion[1] * (r2 * r2) + + projector.distortion[4] * (r2 * r2 * r2)) + projector.distortion[2] * (r2 + 2.0f * (Y * Y)) + + 2.0f * projector.distortion[3] * (X * Y); + + X = u_ * projector.K[0] + v_ * 0.0f + projector.K[2]; + Y = u_ * 0.0f + v_ * projector.K[4] + projector.K[5]; + Z = u_ * 0.0f + v_ * 0.0f + 1.0f; + // de-homogenize + uv.x = X / Z; + uv.y = Y / Z; +} + + +static __forceinline__ __device__ void* unpackPointer( unsigned int i0, unsigned int i1 ) +{ + const unsigned long long uptr = static_cast( i0 ) << 32 | i1; + void* ptr = reinterpret_cast( uptr ); + return ptr; +} + + +static __forceinline__ __device__ void packPointer( void* ptr, unsigned int& i0, unsigned int& i1 ) +{ + const unsigned long long uptr = reinterpret_cast( ptr ); + i0 = uptr >> 32; + i1 = uptr & 0x00000000ffffffff; +} + +static __forceinline__ __device__ RadiancePRD* getPRD() +{ + const unsigned int u0 = optixGetPayload_0(); + const unsigned int u1 = optixGetPayload_1(); + + return reinterpret_cast( unpackPointer( u0, u1 ) ); +} + +static __forceinline__ __device__ void trace_radiance( + OptixTraversableHandle handle, + float3 ray_origin, + float3 ray_direction, + float tmin, + float tmax, + unsigned int mask, + RadiancePRD* prd) +{ + unsigned int u0, u1; + packPointer( prd, u0, u1 ); + optixTrace( + handle, + ray_origin, + ray_direction, + tmin, + tmax, + 0.0f, // rayTime + mask, + OPTIX_RAY_FLAG_NONE, + RAY_TYPE_RADIANCE, // SBT offset + RAY_TYPE_COUNT, // SBT stride + RAY_TYPE_RADIANCE, // missSBTIndex + u0, u1); +} + +static __forceinline__ __device__ void trace_occlusion( + OptixTraversableHandle handle, + float3 ray_origin, + float3 ray_direction, + float tmin, + float tmax, + unsigned int mask, + float* attenuation + ) +{ + optixTrace( + handle, + ray_origin, + ray_direction, + tmin, + tmax, + 0.0f, // rayTime + mask, + OPTIX_RAY_FLAG_TERMINATE_ON_FIRST_HIT, //OPTIX_RAY_FLAG_NONE, + RAY_TYPE_OCCLUSION, // SBT offset + RAY_TYPE_COUNT, // SBT stride + RAY_TYPE_OCCLUSION, // missSBTIndex + reinterpret_cast( *attenuation ) + ); +} + + +extern "C" __global__ void __raygen__rg() +{ + uint3 launch_index = optixGetLaunchIndex(); + const int width = params.width; + const unsigned int image_index = launch_index.y * width + launch_index.x; + + // If Subframe is 0 clear intensity_buffer + if(!params.subframe_index){ + params.multi_reflection_buffer[image_index] = make_float4(0.0f, 0.0f, 0.0f, 0.0f); + params.depth_buffer[image_index]=make_float4(0.0f, 0.0f, 0.0f, 0.0f); + } + + // The active camera is decided by the active camera index from params + Camera active_camera = params.cameras[params.active_camera]; + const int subframe_index = params.subframe_index; + + float3 result = make_float3(0.0f); + int i = params.samples_per_launch; + + unsigned int seed = tea<8>( image_index, subframe_index ); + do{ + + float2 subpixel_jitter; + if (params.samples_per_launch == 1) { + subpixel_jitter = make_float2(0.0f); + }else{ + subpixel_jitter = subframe_index == 0 ? make_float2(0.0f) : make_float2(rnd(seed) - 0.5f, rnd(seed) - 0.5f); + } + + float2 d = make_float2(static_cast(launch_index.x) + subpixel_jitter.x, + static_cast(launch_index.y) + subpixel_jitter.y); + + // Apply Distortion parameters to camera ray position + if(params.apply_camera_distortion){ + distort_pixels(d, active_camera); + } + + float3 ray_direction = normalize( + make_float3((1.0f / active_camera.K[0]) * (d.x - active_camera.K[2]), + (1.0f / active_camera.K[4]) * (d.y - active_camera.K[5]), 1.0f)); + + // Apply extrinsic transformation + ray_direction = normalize(make_matrix3x3(active_camera.Rt) * ray_direction); + float3 ray_origin = make_float3(active_camera.Rt.getCol(3)); + + // Trace Camera Ray + RadiancePRD prd; + prd.radiance = make_float3(0.f); + prd.done = false; + prd.seed = seed; + prd.origin = ray_origin; + prd.wi = ray_direction; + prd.depth = 0; + prd.image_index = image_index; + prd.wo = -prd.wi; + + trace_radiance( + params.trav_handle, + prd.origin, + prd.wi, + SCENE_EPSILON, + RT_DEFAULT_MAX, + OptixVisibilityMask(255), + &prd); + + result += prd.radiance; + + + } while(--i); + + #if USE_DEBUG_EXCEPTIONS + // DAR DEBUG Highlight numerical errors. + if (isnan(result.x) || isnan(result.y) || isnan(result.z)) + { + result = make_float3(1000000.0f, 0.0f, 0.0f); // super red + } + else if (isinf(result.x) || isinf(result.y) || isinf(result.z)) + { + result = make_float3(0.0f, 1000000.0f, 0.0f); // super green + } + else if (result.x < 0.0f || result.y < 0.0f || result.z < 0.0f) + { + result = make_float3(0.0f, 0.0f, 1000000.0f); // super blue + } + #else + // NaN values will never go away. Filter them out before they can arrive in the output buffer. + // This only has an effect if the debug coloring above is off! + if (!(isnan(result.x) || isnan(result.y) || isnan(result.z))) + #endif + { + float3 accum_color = result / static_cast( params.samples_per_launch ); + + if( subframe_index){ + const float a = 1.0f / static_cast( subframe_index+1 ); + const float3 accum_color_prev = make_float3( params.accum_buffer[ image_index ]); + accum_color = lerp( accum_color_prev, accum_color, a ); + } + + params.accum_buffer[image_index] = make_float4(accum_color, 1.0f); + params.frame_buffer[image_index] = make_color_float(accum_color); + } + +} + + +// Closest Hit Functions +extern "C" __global__ void __closesthit__radiance() +{ + GeometryInstanceData geometry_data = params.geometry_instance_data[optixGetInstanceId()]; + const unsigned int primitive_index = optixGetPrimitiveIndex(); + + State state; + + const uint3* indices = reinterpret_cast(geometry_data.indices); + const uint3 tri = indices[primitive_index]; + + const TriangleAttributes* attributes = reinterpret_cast(geometry_data.attributes); + + const TriangleAttributes& attr0 = attributes[tri.x]; + const TriangleAttributes& attr1 = attributes[tri.y]; + const TriangleAttributes& attr2 = attributes[tri.z]; + + const float2 barycentric_coords = optixGetTriangleBarycentrics(); + const float alpha = 1.0f - barycentric_coords.x - barycentric_coords.y; + + // Interpolating attributes using barycentric coordinates + state.normal_geo = cross(attr1.vertex - attr0.vertex, attr2.vertex - attr0.vertex); + state.normal = normalize(attr0.normal * alpha + attr1.normal * barycentric_coords.x + attr2.normal * barycentric_coords.y); + state.tangent = normalize(attr0.tangent * alpha + attr1.tangent * barycentric_coords.x + attr2.tangent * barycentric_coords.y); + state.texcoord = attr0.texcoord * alpha + attr1.texcoord * barycentric_coords.x + attr2.texcoord * barycentric_coords.y; + +// state.normal_geo = normalize(transformNormal(geometry_data.worldToObject, state.normal_geo)); +// state.tangent = normalize(transformVector(geometry_data.objectToWorld, state.tangent)); +// state.normal = normalize(transformNormal(geometry_data.worldToObject, state.normal)); + + RadiancePRD* prd = getPRD(); + const HitGroupData* rt_data = (HitGroupData*)optixGetSbtDataPointer(); + + prd->distance_buffer = optixGetRayTmax(); + prd->origin += prd->distance_buffer * prd->wi; + prd->triangle_indices = tri; + + // Flip normal to the side of the incomming ray + if (0.0f <= dot(prd->wi, state.normal)) { + state.normal_geo = -state.normal_geo; + state.tangent = -state.tangent; + state.normal = -state.normal; + } + + // Material parameters + float3 base_color = rt_data->material.albedo; + float metallic = rt_data->material.metallic; + float roughness = rt_data->material.roughness; + const float F0 = rt_data->material.F0; + + const float3 diff_color = base_color * (1.0f - F0) * (1.0f - metallic); + const float3 spec_color = lerp(make_float3(F0), base_color, metallic); + float alpha_roughness = fmaxf(roughness * roughness, 1e-2f); + + // Compute direct illumination + for (int light_index = 0; light_index < params.num_lights; ++light_index) { + const Light& light = params.lights[light_index]; + + if (light.light_type == LightType::PERSPECTIVE_PROJECTOR) { + const float L_dist = length(make_float3(light.Rt.getCol(3)) - prd->origin); + const float3 L = (make_float3(light.Rt.getCol(3)) - prd->origin) / L_dist; + const float3 V = -normalize(prd->wi); + const float3 H = normalize(L + V); + const float N_dot_L = dot(state.normal, L); + const float N_dot_V = dot(state.normal, V); + const float N_dot_H = dot(state.normal, H); + const float V_dot_H = dot(V, H); + + float4 point_4f = make_float4(prd->origin, 1.0f); + float4 point_in_projector_system = light.Rt.inverse() * point_4f; + float3 projector_pixel = light.K * make_float3(point_in_projector_system.x, point_in_projector_system.y, point_in_projector_system.z); + + float2 norm_coord = make_float2(projector_pixel.x / projector_pixel.z, projector_pixel.y / projector_pixel.z); + + float u = norm_coord.x; + float v = norm_coord.y; + + if (params.apply_projector_distortion) { + distort_projector_pixels(norm_coord, light); + } + + prd->projector_uv = make_float2(-1.0f, -1.0f); + + if (u > 0.0f && u < light.resolution.x && v > 0.0f && v < light.resolution.y && N_dot_L > 0.0f && N_dot_V > 0.0f) { + float attenuation = 1.0f; + prd->visible = false; + + trace_occlusion(params.trav_handle, prd->origin, L, SCENE_EPSILON, L_dist - SCENE_EPSILON, OptixVisibilityMask(255), &attenuation); + + if (attenuation > 0.0f) { + const unsigned int max_size_per_projector_image = light.resolution.x * light.resolution.y; + const unsigned int next_image = max_size_per_projector_image * params.active_projector_image; + float* image_address = light.projector_images + next_image + (static_cast(v) * light.resolution.x + (int)u); + float pixel_value = *image_address; + + const float3 F = schlick(spec_color, V_dot_H); + const float G_vis = vis(N_dot_L, N_dot_V, alpha_roughness); + const float D = ggxNormal(N_dot_H, alpha_roughness); + + // Diffuse term (Lambert) + float3 diff = (1.0f - F) * diff_color / M_PIf; + // Specular term + float3 spec = F * G_vis * D; + + prd->radiance += pixel_value * light.color * attenuation * light.intensity * N_dot_L * (diff + spec); + + prd->visible = true; + prd->projector_uv = make_float2(u, v); + } + } + } else if (light.light_type == LightType::POINTLIGHT) { + const float3 L = normalize(light.position - prd->origin); + const float3 V = -normalize(prd->wi); + const float3 H = normalize(L + V); + const float N_dot_L = fmaxf(dot(state.normal, L), 0.0f); + const float N_dot_V = fmaxf(dot(state.normal, V), 0.0f); + const float N_dot_H = fmaxf(dot(state.normal, H), 0.0f); + const float V_dot_H = fmaxf(dot(V, H), 0.0f); + + if (N_dot_L > 0.0f && N_dot_V > 0.0f) { + float attenuation = 1.0f; + prd->visible = false; + + trace_occlusion(params.trav_handle, prd->origin, L, SCENE_EPSILON, length(light.position - prd->origin) - SCENE_EPSILON, OptixVisibilityMask(255), &attenuation); + if (attenuation > 0.f) { + const float3 F = schlick(spec_color, V_dot_H); + const float G_vis = vis(N_dot_L, N_dot_V, alpha_roughness); + const float D = ggxNormal(N_dot_H, alpha_roughness); + + const float3 diff = diff_color / M_PIf; + + // Specular Term + const float3 spec = F * G_vis * D / (4.0f * N_dot_L * N_dot_V); + + prd->radiance += (light.color * attenuation * light.intensity * N_dot_L * (diff + spec)); + prd->visible = true; + } + } + } else if (light.light_type == LightType::AMBIENT) { + prd->radiance += light.color * base_color; + prd->visible = true; + } + } + + // Store values in the buffers + if(prd->depth == 0){ + params.depth_buffer[prd->image_index] = make_float4(prd->distance_buffer, prd->distance_buffer, prd->distance_buffer, 1.0f); + params.hit_buffer[prd->image_index] = make_float4(prd->origin.x, prd->origin.y, prd->origin.z, 1.0f); + params.hit_indices_buffer[prd->image_index] = make_float4(prd->triangle_indices.x, prd->triangle_indices.y, prd->triangle_indices.z, 1.0f); + } + + if(prd->depth && prd->visible && isNotNull(prd->radiance)){ + float depth_float = prd->depth * (1.0f / params.max_depth); + params.multi_reflection_buffer[prd->image_index] = make_float4(prd->projector_uv.x, prd->projector_uv.y, depth_float, 1); + } + + if (prd->depth < params.max_depth) { + // Increase the number of reflection rays + const int reflection_samples = params.samples_per_reflection; + float3 reflect_dir_sum = make_float3(0.0f); + int valid_samples = 0; + + for (int i = 0; i < reflection_samples; ++i) { + float3 reflect_dir; + bool valid_sample = sample_reflection_direction(prd->wi, state.normal, roughness, prd->seed, i, reflection_samples, reflect_dir); + + if (!valid_sample) { + continue; // Discard the invalid sample + } + + RadiancePRD new_prd; + new_prd.radiance = make_float3(0.0f); + new_prd.seed = prd->seed; + new_prd.origin = prd->origin + SCENE_EPSILON * reflect_dir; + new_prd.wi = reflect_dir; + new_prd.depth = prd->depth + 1; + new_prd.image_index = prd->image_index; + + trace_radiance(params.trav_handle, new_prd.origin, new_prd.wi, SCENE_EPSILON, RT_DEFAULT_MAX, OptixVisibilityMask(255), &new_prd); + + reflect_dir_sum += new_prd.radiance; + valid_samples++; + } + + if (valid_samples > 0) { + prd->radiance += (reflect_dir_sum / valid_samples) * spec_color; + } + } +} + + + + +extern "C" __global__ void __closesthit__occlusion() +{ + optixSetPayload_0( __float_as_uint( 0.0f ) ); // report attenuation, i.e. plane is opaque +} + +// ---------------------------------------------------------------------------- +// Miss programs +// ---------------------------------------------------------------------------- +extern "C" __global__ void __miss__radiance() +{ + RadiancePRD* prd = getPRD(); + prd->radiance = params.miss_color; + prd->done = true; +} + +extern "C" __global__ void __miss__occlusion() +{ + optixSetPayload_0( __float_as_uint( 1.0f ) ); // report attenuation +} \ No newline at end of file diff --git a/pyrefloid/res/shaders/path_tracing.h b/pyrefloid/res/shaders/path_tracing.h new file mode 100644 index 0000000..3b7a0d1 --- /dev/null +++ b/pyrefloid/res/shaders/path_tracing.h @@ -0,0 +1,151 @@ +// +// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of NVIDIA CORPORATION nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +// +#pragma once +#include "Light.h" +#include "camera.h" +#include "material.h" + +enum ObjectType +{ + PLANE_OBJECT = 1, + CUBE_OBJECT = 1 << 1, + SPHERE_OBJECT = 1 << 2, + VOLUME_OBJECT = 1 << 3, + CYLINDER_OBJECT = 1 << 4, + TORUS_OBJECT = 1 << 5, + TEAPOT_OBJECT = 1 << 6, + MESH_OBJECT = 1 << 7, + ANY_OBJECT = 0xFF, +}; + +enum AnimationType{ + NONE = 0, + STATIC = 1, + DEFORM = 2, + EXPLODE = 3, +}; + +enum RayType +{ + RAY_TYPE_RADIANCE = 0, + RAY_TYPE_OCCLUSION = 1, + RAY_TYPE_COUNT = 2 +}; + +struct TriangleAttributes +{ + float3 vertex; + float3 normal; + float3 tangent; + float3 texcoord; +}; + +// Structure storing the per instance data for all instances inside the geometryInstanceData buffer below. Indexed via optixGetInstanceId(). +struct GeometryInstanceData +{ + // 16-byte aligned + float4 objectToWorld[3]; + float4 worldToObject[3]; + // 8-byte aligned + // Using CUdeviceptr here to be able to handle different attribute and index formats for Triangles, Hair, and Curves. + CUdeviceptr attributes; + CUdeviceptr indices; + // 4-byte aligned +}; + + +struct Params +{ + // 8 byte alignment + + Light* lights; + float4* frame_buffer; + float4* depth_buffer; + float4* accum_buffer; + float4* hit_buffer; + float4* hit_indices_buffer; + float4* multi_reflection_buffer; + Camera* cameras; + GeometryInstanceData* geometry_instance_data; // Attributes, indices, idMaterial, idLight per instance. + // 4 byte alignment + unsigned int subframe_index; + unsigned int width; + unsigned int height; + unsigned int pro_width; + unsigned int pro_height; + unsigned int samples_per_launch; + unsigned int samples_per_reflection; + unsigned int max_depth; + unsigned int num_lights; + float3 miss_color; + unsigned int solid_objects; + unsigned int volume_objects; + unsigned int active_camera; + unsigned int active_projector_image; + OptixTraversableHandle trav_handle; + unsigned int apply_camera_distortion; + unsigned int apply_projector_distortion; +}; + +struct RayGenData +{ +}; + +struct HitGroupData +{ + Material material; +}; + +// Currently only containing some vertex attributes in world coordinates. +struct State +{ + float3 normal_geo; + float3 tangent; + float3 normal; + float3 texcoord; +// float3 albedo; // PERF Added albedo to the state to allow modulation with an optional texture once before BSDF sampling and evaluation. +}; + +struct RadiancePRD +{ + float3 radiance; + float3 origin; + float distance; + float distance_buffer; + float3 wi; // Incoming direction, to light, in world space. + float3 wo; // Outgoing direction, to observer, in world space. + unsigned int seed; // Random number generator input. + + int done; + bool visible; + uint3 triangle_indices; + float2 projector_uv; + int depth; + unsigned int image_index; // Add image index here +}; diff --git a/pyrefloid/res/shaders/random.h b/pyrefloid/res/shaders/random.h new file mode 100644 index 0000000..2c47c12 --- /dev/null +++ b/pyrefloid/res/shaders/random.h @@ -0,0 +1,71 @@ +// +// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of NVIDIA CORPORATION nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +#pragma once + +template +static __host__ __device__ __inline__ unsigned int tea( unsigned int val0, unsigned int val1 ) +{ + unsigned int v0 = val0; + unsigned int v1 = val1; + unsigned int s0 = 0; + + for( unsigned int n = 0; n < N; n++ ) + { + s0 += 0x9e3779b9; + v0 += ((v1<<4)+0xa341316c)^(v1+s0)^((v1>>5)+0xc8013ea4); + v1 += ((v0<<4)+0xad90777d)^(v0+s0)^((v0>>5)+0x7e95761e); + } + + return v0; +} + +// Generate random unsigned int in [0, 2^24) +static __host__ __device__ __inline__ unsigned int lcg(unsigned int &prev) +{ + const unsigned int LCG_A = 1664525u; + const unsigned int LCG_C = 1013904223u; + prev = (LCG_A * prev + LCG_C); + return prev & 0x00FFFFFF; +} + +static __host__ __device__ __inline__ unsigned int lcg2(unsigned int &prev) +{ + prev = (prev*8121 + 28411) % 134456; + return prev; +} + +// Generate random float in [0, 1) +static __host__ __device__ __inline__ float rnd(unsigned int &prev) +{ + return ((float) lcg(prev) / (float) 0x01000000); +} + +static __host__ __device__ __inline__ unsigned int rot_seed( unsigned int seed, unsigned int frame ) +{ + return seed ^ frame; +} diff --git a/pyrefloid/res/shaders/transform.h b/pyrefloid/res/shaders/transform.h new file mode 100644 index 0000000..3f512b2 --- /dev/null +++ b/pyrefloid/res/shaders/transform.h @@ -0,0 +1,96 @@ +#pragma once + +#ifndef TRANSFORM_H +#define TRANSFORM_H + + +#include + +#include "vec_math.h" + +// Get the 3x4 object to world transform and its inverse. +__forceinline__ __device__ void getTransforms(const OptixTraversableHandle handle, float4* mW, float4* mO) +{ + const float4* tW = optixGetInstanceTransformFromHandle(handle); + const float4* tO = optixGetInstanceInverseTransformFromHandle(handle); + + mW[0] = tW[0]; + mW[1] = tW[1]; + mW[2] = tW[2]; + + mO[0] = tO[0]; + mO[1] = tO[1]; + mO[2] = tO[2]; +} + +// Functions to get the individual transforms in case only one of them is needed. +__forceinline__ __device__ void getTransformObjectToWorld(const OptixTraversableHandle handle, float4* mW) +{ + const float4* tW = optixGetInstanceTransformFromHandle(handle); + + mW[0] = tW[0]; + mW[1] = tW[1]; + mW[2] = tW[2]; +} + +__forceinline__ __device__ void getTransformWorldToObject(const OptixTraversableHandle handle, float4* mO) +{ + const float4* tO = optixGetInstanceInverseTransformFromHandle(handle); + + mO[0] = tO[0]; + mO[1] = tO[1]; + mO[2] = tO[2]; +} + + +// Matrix3x4 * point. v.w == 1.0f +__forceinline__ __device__ float3 transformPoint(const float4* m, const float3& v) +{ + float3 r; + + r.x = m[0].x * v.x + m[0].y * v.y + m[0].z * v.z + m[0].w; + r.y = m[1].x * v.x + m[1].y * v.y + m[1].z * v.z + m[1].w; + r.z = m[2].x * v.x + m[2].y * v.y + m[2].z * v.z + m[2].w; + + return r; +} + +// Matrix3x4 * vector. v.w == 0.0f +__forceinline__ __device__ float3 transformVector(const float4* m, const float3& v) +{ + float3 r; + + r.x = m[0].x * v.x + m[0].y * v.y + m[0].z * v.z; + r.y = m[1].x * v.x + m[1].y * v.y + m[1].z * v.z; + r.z = m[2].x * v.x + m[2].y * v.y + m[2].z * v.z; + + return r; +} + +// (Matrix3x4^-1)^T * normal. v.w == 0.0f +// Takes the inverse matrix as input and applies it transposed. +__forceinline__ __device__ float3 transformNormal(const float4* m, const float3& v) +{ + float3 r; + + r.x = m[0].x * v.x + m[1].x * v.y + m[2].x * v.z; + r.y = m[0].y * v.x + m[1].y * v.y + m[2].y * v.z; + r.z = m[0].z * v.x + m[1].z * v.y + m[2].z * v.z; + + return r; +} + +// Matrix3x3 * vector. +// Used with light orientation matrices. +__forceinline__ __device__ float3 transformVector(const float3* m, const float3& v) +{ + float3 r; + + r.x = m[0].x * v.x + m[0].y * v.y + m[0].z * v.z; + r.y = m[1].x * v.x + m[1].y * v.y + m[1].z * v.z; + r.z = m[2].x * v.x + m[2].y * v.y + m[2].z * v.z; + + return r; +} + +#endif // TRANSFORM_H \ No newline at end of file diff --git a/pyrefloid/res/shaders/vec_math.h b/pyrefloid/res/shaders/vec_math.h new file mode 100644 index 0000000..dd56e93 --- /dev/null +++ b/pyrefloid/res/shaders/vec_math.h @@ -0,0 +1,2637 @@ +// +// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of NVIDIA CORPORATION nor the names of its +// contributors may be used to endorse or promote products derived +// from this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY +// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// + + +#pragma once + +#include +#include + +#if !defined(__CUDACC_RTC__) +#include +#include +#endif + +/* scalar functions used in vector functions */ +#ifndef M_PIf +#define M_PIf 3.14159265358979323846f +#endif +#ifndef M_PI_2f +#define M_PI_2f 1.57079632679489661923f +#endif +#ifndef M_1_PIf +#define M_1_PIf 0.318309886183790671538f +#endif + + +//#if !defined(__CUDACC__) + + +__forceinline__ __host__ __device__ void operator+=(float3& a, const float& b){ + a.x += b; + a.y += b; +} + +__forceinline__ __host__ __device__ bool is_zero(float2 v) { + return v.x == 0.0f && v.y == 0.0f; +} + +__forceinline__ __host__ __device__ bool is_zero(float3 v) { + return v.x == 0.0f && v.y == 0.0f && v.z == 0.0f; +} + +__forceinline__ __host__ __device__ bool is_zero(float4 v) { + return v.x == 0.0f && v.y == 0.0f && v.z == 0.0f && v.w == 0.0f; +} + +__forceinline__ __host__ __device__ int max(int a, int b) +{ + return a > b ? a : b; +} + +__forceinline__ __host__ __device__ int min(int a, int b) +{ + return a < b ? a : b; +} + +__forceinline__ __host__ __device__ long long max(long long a, long long b) +{ + return a > b ? a : b; +} + +__forceinline__ __host__ __device__ long long min(long long a, long long b) +{ + return a < b ? a : b; +} + +__forceinline__ __host__ __device__ unsigned int max(unsigned int a, unsigned int b) +{ + return a > b ? a : b; +} + +__forceinline__ __host__ __device__ unsigned int min(unsigned int a, unsigned int b) +{ + return a < b ? a : b; +} + +__forceinline__ __host__ __device__ unsigned long long max(unsigned long long a, unsigned long long b) +{ + return a > b ? a : b; +} + +__forceinline__ __host__ __device__ unsigned long long min(unsigned long long a, unsigned long long b) +{ + return a < b ? a : b; +} + + +/** lerp */ +__forceinline__ __host__ __device__ float lerp(const float a, const float b, const float t) +{ + return a + t*(b-a); +} + +/** bilerp */ +__forceinline__ __host__ __device__ float bilerp(const float x00, const float x10, const float x01, const float x11, + const float u, const float v) +{ + return lerp( lerp( x00, x10, u ), lerp( x01, x11, u ), v ); +} + +template +__forceinline__ __host__ __device__ IntegerType roundUp(IntegerType x, IntegerType y) +{ + return ( ( x + y - 1 ) / y ) * y; +} + +//#endif + +/** clamp */ +__forceinline__ __host__ __device__ float clamp( const float f, const float a, const float b ) +{ + return fmaxf( a, fminf( f, b ) ); +} + + +/* float2 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ float2 make_float2(const float s) +{ + return make_float2(s, s); +} +__forceinline__ __host__ __device__ float2 make_float2(const int2& a) +{ + return make_float2(float(a.x), float(a.y)); +} +__forceinline__ __host__ __device__ float2 make_float2(const uint2& a) +{ + return make_float2(float(a.x), float(a.y)); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ float2 operator-(const float2& a) +{ + return make_float2(-a.x, -a.y); +} + +/** min +* @{ +*/ +__forceinline__ __host__ __device__ float2 fminf(const float2& a, const float2& b) +{ + return make_float2(fminf(a.x,b.x), fminf(a.y,b.y)); +} +__forceinline__ __host__ __device__ float fminf(const float2& a) +{ + return fminf(a.x, a.y); +} +/** @} */ + +/** max +* @{ +*/ +__forceinline__ __host__ __device__ float2 fmaxf(const float2& a, const float2& b) +{ + return make_float2(fmaxf(a.x,b.x), fmaxf(a.y,b.y)); +} +__forceinline__ __host__ __device__ float fmaxf(const float2& a) +{ + return fmaxf(a.x, a.y); +} +/** @} */ + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ float2 operator+(const float2& a, const float2& b) +{ + return make_float2(a.x + b.x, a.y + b.y); +} +__forceinline__ __host__ __device__ float2 operator+(const float2& a, const float b) +{ + return make_float2(a.x + b, a.y + b); +} +__forceinline__ __host__ __device__ float2 operator+(const float a, const float2& b) +{ + return make_float2(a + b.x, a + b.y); +} +__forceinline__ __host__ __device__ void operator+=(float2& a, const float2& b) +{ + a.x += b.x; a.y += b.y; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ float2 operator-(const float2& a, const float2& b) +{ + return make_float2(a.x - b.x, a.y - b.y); +} +__forceinline__ __host__ __device__ float2 operator-(const float2& a, const float b) +{ + return make_float2(a.x - b, a.y - b); +} +__forceinline__ __host__ __device__ float2 operator-(const float a, const float2& b) +{ + return make_float2(a - b.x, a - b.y); +} +__forceinline__ __host__ __device__ void operator-=(float2& a, const float2& b) +{ + a.x -= b.x; a.y -= b.y; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ float2 operator*(const float2& a, const float2& b) +{ + return make_float2(a.x * b.x, a.y * b.y); +} +__forceinline__ __host__ __device__ float2 operator*(const float2& a, const float s) +{ + return make_float2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ float2 operator*(const float s, const float2& a) +{ + return make_float2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ void operator*=(float2& a, const float2& s) +{ + a.x *= s.x; a.y *= s.y; +} +__forceinline__ __host__ __device__ void operator*=(float2& a, const float s) +{ + a.x *= s; a.y *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ float2 operator/(const float2& a, const float2& b) +{ + return make_float2(a.x / b.x, a.y / b.y); +} +__forceinline__ __host__ __device__ float2 operator/(const float2& a, const float s) +{ + float inv = 1.0f / s; + return a * inv; +} +__forceinline__ __host__ __device__ float2 operator/(const float s, const float2& a) +{ + return make_float2( s/a.x, s/a.y ); +} +__forceinline__ __host__ __device__ void operator/=(float2& a, const float s) +{ + float inv = 1.0f / s; + a *= inv; +} +/** @} */ + +/** lerp */ +__forceinline__ __host__ __device__ float2 lerp(const float2& a, const float2& b, const float t) +{ + return a + t*(b-a); +} + +/** bilerp */ +__forceinline__ __host__ __device__ float2 bilerp(const float2& x00, const float2& x10, const float2& x01, const float2& x11, + const float u, const float v) +{ + return lerp( lerp( x00, x10, u ), lerp( x01, x11, u ), v ); +} + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ float2 clamp(const float2& v, const float a, const float b) +{ + return make_float2(clamp(v.x, a, b), clamp(v.y, a, b)); +} + +__forceinline__ __host__ __device__ float2 clamp(const float2& v, const float2& a, const float2& b) +{ + return make_float2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); +} +/** @} */ + +/** dot product */ +__forceinline__ __host__ __device__ float dot(const float2& a, const float2& b) +{ + return a.x * b.x + a.y * b.y; +} + +/** length */ +__forceinline__ __host__ __device__ float length(const float2& v) +{ + return sqrtf(dot(v, v)); +} + +/** normalize */ +__forceinline__ __host__ __device__ float2 normalize(const float2& v) +{ + float invLen = 1.0f / sqrtf(dot(v, v)); + return v * invLen; +} + +/** floor */ +__forceinline__ __host__ __device__ float2 floor(const float2& v) +{ + return make_float2(::floorf(v.x), ::floorf(v.y)); +} + +/** reflect */ +__forceinline__ __host__ __device__ float2 reflect(const float2& i, const float2& n) +{ + return i - 2.0f * n * dot(n,i); +} + +/** Faceforward +* Returns N if dot(i, nref) > 0; else -N; +* Typical usage is N = faceforward(N, -ray.dir, N); +* Note that this is opposite of what faceforward does in Cg and GLSL */ +__forceinline__ __host__ __device__ float2 faceforward(const float2& n, const float2& i, const float2& nref) +{ + return n * copysignf( 1.0f, dot(i, nref) ); +} + +/** exp */ +__forceinline__ __host__ __device__ float2 expf(const float2& v) +{ + return make_float2(::expf(v.x), ::expf(v.y)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ float getByIndex(const float2& v, int i) +{ + return ((float*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(float2& v, int i, float x) +{ + ((float*)(&v))[i] = x; +} + + +/* float3 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ float3 make_float3(const float s) +{ + return make_float3(s, s, s); +} +__forceinline__ __host__ __device__ float3 make_float3(const float2& a) +{ + return make_float3(a.x, a.y, 0.0f); +} +__forceinline__ __host__ __device__ float3 make_float3(const int3& a) +{ + return make_float3(float(a.x), float(a.y), float(a.z)); +} +__forceinline__ __host__ __device__ float3 make_float3(const uint3& a) +{ + return make_float3(float(a.x), float(a.y), float(a.z)); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ float3 operator-(const float3& a) +{ + return make_float3(-a.x, -a.y, -a.z); +} + +/** min +* @{ +*/ +__forceinline__ __host__ __device__ float3 fminf(const float3& a, const float3& b) +{ + return make_float3(fminf(a.x,b.x), fminf(a.y,b.y), fminf(a.z,b.z)); +} +__forceinline__ __host__ __device__ float fminf(const float3& a) +{ + return fminf(fminf(a.x, a.y), a.z); +} +/** @} */ + +/** max +* @{ +*/ +__forceinline__ __host__ __device__ float3 fmaxf(const float3& a, const float3& b) +{ + return make_float3(fmaxf(a.x,b.x), fmaxf(a.y,b.y), fmaxf(a.z,b.z)); +} +__forceinline__ __host__ __device__ float fmaxf(const float3& a) +{ + return fmaxf(fmaxf(a.x, a.y), a.z); +} +/** @} */ + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ float3 operator+(const float3& a, const float3& b) +{ + return make_float3(a.x + b.x, a.y + b.y, a.z + b.z); +} +__forceinline__ __host__ __device__ float3 operator+(const float3& a, const float b) +{ + return make_float3(a.x + b, a.y + b, a.z + b); +} +__forceinline__ __host__ __device__ float3 operator+(const float a, const float3& b) +{ + return make_float3(a + b.x, a + b.y, a + b.z); +} +__forceinline__ __host__ __device__ void operator+=(float3& a, const float3& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ float3 operator-(const float3& a, const float3& b) +{ + return make_float3(a.x - b.x, a.y - b.y, a.z - b.z); +} +__forceinline__ __host__ __device__ float3 operator-(const float3& a, const float b) +{ + return make_float3(a.x - b, a.y - b, a.z - b); +} +__forceinline__ __host__ __device__ float3 operator-(const float a, const float3& b) +{ + return make_float3(a - b.x, a - b.y, a - b.z); +} +__forceinline__ __host__ __device__ void operator-=(float3& a, const float3& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; +} +__forceinline__ __host__ __device__ bool operator>(float3& a, float b) +{ + return (a.x > b && a.y > b && a.z > b); +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ float3 operator*(const float3& a, const float3& b) +{ + return make_float3(a.x * b.x, a.y * b.y, a.z * b.z); +} +__forceinline__ __host__ __device__ float3 operator*(const float3& a, const float s) +{ + return make_float3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ float3 operator*(const float s, const float3& a) +{ + return make_float3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ void operator*=(float3& a, const float3& s) +{ + a.x *= s.x; a.y *= s.y; a.z *= s.z; +} +__forceinline__ __host__ __device__ void operator*=(float3& a, const float s) +{ + a.x *= s; a.y *= s; a.z *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ float3 operator/(const float3& a, const float3& b) +{ + return make_float3(a.x / b.x, a.y / b.y, a.z / b.z); +} +__forceinline__ __host__ __device__ float3 operator/(const float3& a, const float s) +{ + float inv = 1.0f / s; + return a * inv; +} +__forceinline__ __host__ __device__ float3 operator/(const float s, const float3& a) +{ + return make_float3( s/a.x, s/a.y, s/a.z ); +} +__forceinline__ __host__ __device__ void operator/=(float3& a, const float s) +{ + float inv = 1.0f / s; + a *= inv; +} +/** @} */ + +/** lerp */ +__forceinline__ __host__ __device__ float3 lerp(const float3& a, const float3& b, const float t) +{ + return a + t*(b-a); +} + +/** bilerp */ +__forceinline__ __host__ __device__ float3 bilerp(const float3& x00, const float3& x10, const float3& x01, const float3& x11, + const float u, const float v) +{ + return lerp( lerp( x00, x10, u ), lerp( x01, x11, u ), v ); +} + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ float3 clamp(const float3& v, const float a, const float b) +{ + return make_float3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); +} + +__forceinline__ __host__ __device__ float3 clamp(const float3& v, const float3& a, const float3& b) +{ + return make_float3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); +} +/** @} */ + +/** dot product */ +__forceinline__ __host__ __device__ float dot(const float3& a, const float3& b) +{ + return a.x * b.x + a.y * b.y + a.z * b.z; +} + +/** cross product */ +__forceinline__ __host__ __device__ float3 cross(const float3& a, const float3& b) +{ + return make_float3(a.y*b.z - a.z*b.y, a.z*b.x - a.x*b.z, a.x*b.y - a.y*b.x); +} + +/** length */ +__forceinline__ __host__ __device__ float length(const float3& v) +{ + return sqrtf(dot(v, v)); +} + +/** normalize */ +__forceinline__ __host__ __device__ float3 normalize(const float3& v) +{ + float invLen = 1.0f / sqrtf(dot(v, v)); + return v * invLen; +} + +/** floor */ +__forceinline__ __host__ __device__ float3 floor(const float3& v) +{ + return make_float3(::floorf(v.x), ::floorf(v.y), ::floorf(v.z)); +} + +/** reflect */ +__forceinline__ __host__ __device__ float3 reflect(const float3& i, const float3& n) +{ + return i - 2.0f * n * dot(n,i); +} + +/** Faceforward +* Returns N if dot(i, nref) > 0; else -N; +* Typical usage is N = faceforward(N, -ray.dir, N); +* Note that this is opposite of what faceforward does in Cg and GLSL */ +__forceinline__ __host__ __device__ float3 faceforward(const float3& n, const float3& i, const float3& nref) +{ + return n * copysignf( 1.0f, dot(i, nref) ); +} + +/** exp */ +__forceinline__ __host__ __device__ float3 expf(const float3& v) +{ + return make_float3(::expf(v.x), ::expf(v.y), ::expf(v.z)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ float getByIndex(const float3& v, int i) +{ + return ((float*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(float3& v, int i, float x) +{ + ((float*)(&v))[i] = x; +} + +/* float4 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ float4 make_float4(const float s) +{ + return make_float4(s, s, s, s); +} +__forceinline__ __host__ __device__ float4 make_float4(const float3& a) +{ + return make_float4(a.x, a.y, a.z, 0.0f); +} +__forceinline__ __host__ __device__ float4 make_float4(const int4& a) +{ + return make_float4(float(a.x), float(a.y), float(a.z), float(a.w)); +} +__forceinline__ __host__ __device__ float4 make_float4(const uint4& a) +{ + return make_float4(float(a.x), float(a.y), float(a.z), float(a.w)); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ float4 operator-(const float4& a) +{ + return make_float4(-a.x, -a.y, -a.z, -a.w); +} + +/** min +* @{ +*/ +__forceinline__ __host__ __device__ float4 fminf(const float4& a, const float4& b) +{ + return make_float4(fminf(a.x,b.x), fminf(a.y,b.y), fminf(a.z,b.z), fminf(a.w,b.w)); +} +__forceinline__ __host__ __device__ float fminf(const float4& a) +{ + return fminf(fminf(a.x, a.y), fminf(a.z, a.w)); +} +/** @} */ + +/** max +* @{ +*/ +__forceinline__ __host__ __device__ float4 fmaxf(const float4& a, const float4& b) +{ + return make_float4(fmaxf(a.x,b.x), fmaxf(a.y,b.y), fmaxf(a.z,b.z), fmaxf(a.w,b.w)); +} +__forceinline__ __host__ __device__ float fmaxf(const float4& a) +{ + return fmaxf(fmaxf(a.x, a.y), fmaxf(a.z, a.w)); +} +/** @} */ + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ float4 operator+(const float4& a, const float4& b) +{ + return make_float4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); +} +__forceinline__ __host__ __device__ float4 operator+(const float4& a, const float b) +{ + return make_float4(a.x + b, a.y + b, a.z + b, a.w + b); +} +__forceinline__ __host__ __device__ float4 operator+(const float a, const float4& b) +{ + return make_float4(a + b.x, a + b.y, a + b.z, a + b.w); +} +__forceinline__ __host__ __device__ void operator+=(float4& a, const float4& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; a.w += b.w; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ float4 operator-(const float4& a, const float4& b) +{ + return make_float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); +} +__forceinline__ __host__ __device__ float4 operator-(const float4& a, const float b) +{ + return make_float4(a.x - b, a.y - b, a.z - b, a.w - b); +} +__forceinline__ __host__ __device__ float4 operator-(const float a, const float4& b) +{ + return make_float4(a - b.x, a - b.y, a - b.z, a - b.w); +} +__forceinline__ __host__ __device__ void operator-=(float4& a, const float4& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; a.w -= b.w; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ float4 operator*(const float4& a, const float4& s) +{ + return make_float4(a.x * s.x, a.y * s.y, a.z * s.z, a.w * s.w); +} +__forceinline__ __host__ __device__ float4 operator*(const float4& a, const float s) +{ + return make_float4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ float4 operator*(const float s, const float4& a) +{ + return make_float4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ void operator*=(float4& a, const float4& s) +{ + a.x *= s.x; a.y *= s.y; a.z *= s.z; a.w *= s.w; +} +__forceinline__ __host__ __device__ void operator*=(float4& a, const float s) +{ + a.x *= s; a.y *= s; a.z *= s; a.w *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ float4 operator/(const float4& a, const float4& b) +{ + return make_float4(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); +} +__forceinline__ __host__ __device__ float4 operator/(const float4& a, const float s) +{ + float inv = 1.0f / s; + return a * inv; +} +__forceinline__ __host__ __device__ float4 operator/(const float s, const float4& a) +{ + return make_float4( s/a.x, s/a.y, s/a.z, s/a.w ); +} +__forceinline__ __host__ __device__ void operator/=(float4& a, const float s) +{ + float inv = 1.0f / s; + a *= inv; +} +/** @} */ + +/** lerp */ +__forceinline__ __host__ __device__ float4 lerp(const float4& a, const float4& b, const float t) +{ + return a + t*(b-a); +} + +/** bilerp */ +__forceinline__ __host__ __device__ float4 bilerp(const float4& x00, const float4& x10, const float4& x01, const float4& x11, + const float u, const float v) +{ + return lerp( lerp( x00, x10, u ), lerp( x01, x11, u ), v ); +} + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ float4 clamp(const float4& v, const float a, const float b) +{ + return make_float4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); +} + +__forceinline__ __host__ __device__ float4 clamp(const float4& v, const float4& a, const float4& b) +{ + return make_float4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); +} +/** @} */ + +/** dot product */ +__forceinline__ __host__ __device__ float dot(const float4& a, const float4& b) +{ + return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w; +} + +/** length */ +__forceinline__ __host__ __device__ float length(const float4& r) +{ + return sqrtf(dot(r, r)); +} + +/** normalize */ +__forceinline__ __host__ __device__ float4 normalize(const float4& v) +{ + float invLen = 1.0f / sqrtf(dot(v, v)); + return v * invLen; +} + +/** floor */ +__forceinline__ __host__ __device__ float4 floor(const float4& v) +{ + return make_float4(::floorf(v.x), ::floorf(v.y), ::floorf(v.z), ::floorf(v.w)); +} + +/** reflect */ +__forceinline__ __host__ __device__ float4 reflect(const float4& i, const float4& n) +{ + return i - 2.0f * n * dot(n,i); +} + +/** +* Faceforward +* Returns N if dot(i, nref) > 0; else -N; +* Typical usage is N = faceforward(N, -ray.dir, N); +* Note that this is opposite of what faceforward does in Cg and GLSL +*/ +__forceinline__ __host__ __device__ float4 faceforward(const float4& n, const float4& i, const float4& nref) +{ + return n * copysignf( 1.0f, dot(i, nref) ); +} + +/** exp */ +__forceinline__ __host__ __device__ float4 expf(const float4& v) +{ + return make_float4(::expf(v.x), ::expf(v.y), ::expf(v.z), ::expf(v.w)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ float getByIndex(const float4& v, int i) +{ + return ((float*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(float4& v, int i, float x) +{ + ((float*)(&v))[i] = x; +} + + +/* int functions */ +/******************************************************************************/ + +/** clamp */ +__forceinline__ __host__ __device__ int clamp(const int f, const int a, const int b) +{ + return max(a, min(f, b)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ int getByIndex(const int1& v, int i) +{ + return ((int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(int1& v, int i, int x) +{ + ((int*)(&v))[i] = x; +} + + +/* int2 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ int2 make_int2(const int s) +{ + return make_int2(s, s); +} +__forceinline__ __host__ __device__ int2 make_int2(const float2& a) +{ + return make_int2(int(a.x), int(a.y)); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ int2 operator-(const int2& a) +{ + return make_int2(-a.x, -a.y); +} + +/** min */ +__forceinline__ __host__ __device__ int2 min(const int2& a, const int2& b) +{ + return make_int2(min(a.x,b.x), min(a.y,b.y)); +} + +/** max */ +__forceinline__ __host__ __device__ int2 max(const int2& a, const int2& b) +{ + return make_int2(max(a.x,b.x), max(a.y,b.y)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ int2 operator+(const int2& a, const int2& b) +{ + return make_int2(a.x + b.x, a.y + b.y); +} +__forceinline__ __host__ __device__ void operator+=(int2& a, const int2& b) +{ + a.x += b.x; a.y += b.y; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ int2 operator-(const int2& a, const int2& b) +{ + return make_int2(a.x - b.x, a.y - b.y); +} +__forceinline__ __host__ __device__ int2 operator-(const int2& a, const int b) +{ + return make_int2(a.x - b, a.y - b); +} +__forceinline__ __host__ __device__ void operator-=(int2& a, const int2& b) +{ + a.x -= b.x; a.y -= b.y; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ int2 operator*(const int2& a, const int2& b) +{ + return make_int2(a.x * b.x, a.y * b.y); +} +__forceinline__ __host__ __device__ int2 operator*(const int2& a, const int s) +{ + return make_int2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ int2 operator*(const int s, const int2& a) +{ + return make_int2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ void operator*=(int2& a, const int s) +{ + a.x *= s; a.y *= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ int2 clamp(const int2& v, const int a, const int b) +{ + return make_int2(clamp(v.x, a, b), clamp(v.y, a, b)); +} + +__forceinline__ __host__ __device__ int2 clamp(const int2& v, const int2& a, const int2& b) +{ + return make_int2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const int2& a, const int2& b) +{ + return a.x == b.x && a.y == b.y; +} + +__forceinline__ __host__ __device__ bool operator!=(const int2& a, const int2& b) +{ + return a.x != b.x || a.y != b.y; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ int getByIndex(const int2& v, int i) +{ + return ((int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(int2& v, int i, int x) +{ + ((int*)(&v))[i] = x; +} + + +/* int3 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ int3 make_int3(const int s) +{ + return make_int3(s, s, s); +} +__forceinline__ __host__ __device__ int3 make_int3(const float3& a) +{ + return make_int3(int(a.x), int(a.y), int(a.z)); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ int3 operator-(const int3& a) +{ + return make_int3(-a.x, -a.y, -a.z); +} + +/** min */ +__forceinline__ __host__ __device__ int3 min(const int3& a, const int3& b) +{ + return make_int3(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z)); +} + +/** max */ +__forceinline__ __host__ __device__ int3 max(const int3& a, const int3& b) +{ + return make_int3(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ int3 operator+(const int3& a, const int3& b) +{ + return make_int3(a.x + b.x, a.y + b.y, a.z + b.z); +} +__forceinline__ __host__ __device__ void operator+=(int3& a, const int3& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ int3 operator-(const int3& a, const int3& b) +{ + return make_int3(a.x - b.x, a.y - b.y, a.z - b.z); +} + +__forceinline__ __host__ __device__ void operator-=(int3& a, const int3& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ int3 operator*(const int3& a, const int3& b) +{ + return make_int3(a.x * b.x, a.y * b.y, a.z * b.z); +} +__forceinline__ __host__ __device__ int3 operator*(const int3& a, const int s) +{ + return make_int3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ int3 operator*(const int s, const int3& a) +{ + return make_int3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ void operator*=(int3& a, const int s) +{ + a.x *= s; a.y *= s; a.z *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ int3 operator/(const int3& a, const int3& b) +{ + return make_int3(a.x / b.x, a.y / b.y, a.z / b.z); +} +__forceinline__ __host__ __device__ int3 operator/(const int3& a, const int s) +{ + return make_int3(a.x / s, a.y / s, a.z / s); +} +__forceinline__ __host__ __device__ int3 operator/(const int s, const int3& a) +{ + return make_int3(s /a.x, s / a.y, s / a.z); +} +__forceinline__ __host__ __device__ void operator/=(int3& a, const int s) +{ + a.x /= s; a.y /= s; a.z /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ int3 clamp(const int3& v, const int a, const int b) +{ + return make_int3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); +} + +__forceinline__ __host__ __device__ int3 clamp(const int3& v, const int3& a, const int3& b) +{ + return make_int3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const int3& a, const int3& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z; +} + +__forceinline__ __host__ __device__ bool operator!=(const int3& a, const int3& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ int getByIndex(const int3& v, int i) +{ + return ((int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(int3& v, int i, int x) +{ + ((int*)(&v))[i] = x; +} + + +/* int4 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ int4 make_int4(const int s) +{ + return make_int4(s, s, s, s); +} +__forceinline__ __host__ __device__ int4 make_int4(const float4& a) +{ + return make_int4((int)a.x, (int)a.y, (int)a.z, (int)a.w); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ int4 operator-(const int4& a) +{ + return make_int4(-a.x, -a.y, -a.z, -a.w); +} + +/** min */ +__forceinline__ __host__ __device__ int4 min(const int4& a, const int4& b) +{ + return make_int4(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z), min(a.w,b.w)); +} + +/** max */ +__forceinline__ __host__ __device__ int4 max(const int4& a, const int4& b) +{ + return make_int4(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z), max(a.w,b.w)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ int4 operator+(const int4& a, const int4& b) +{ + return make_int4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); +} +__forceinline__ __host__ __device__ void operator+=(int4& a, const int4& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; a.w += b.w; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ int4 operator-(const int4& a, const int4& b) +{ + return make_int4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); +} + +__forceinline__ __host__ __device__ void operator-=(int4& a, const int4& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; a.w -= b.w; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ int4 operator*(const int4& a, const int4& b) +{ + return make_int4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); +} +__forceinline__ __host__ __device__ int4 operator*(const int4& a, const int s) +{ + return make_int4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ int4 operator*(const int s, const int4& a) +{ + return make_int4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ void operator*=(int4& a, const int s) +{ + a.x *= s; a.y *= s; a.z *= s; a.w *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ int4 operator/(const int4& a, const int4& b) +{ + return make_int4(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); +} +__forceinline__ __host__ __device__ int4 operator/(const int4& a, const int s) +{ + return make_int4(a.x / s, a.y / s, a.z / s, a.w / s); +} +__forceinline__ __host__ __device__ int4 operator/(const int s, const int4& a) +{ + return make_int4(s / a.x, s / a.y, s / a.z, s / a.w); +} +__forceinline__ __host__ __device__ void operator/=(int4& a, const int s) +{ + a.x /= s; a.y /= s; a.z /= s; a.w /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ int4 clamp(const int4& v, const int a, const int b) +{ + return make_int4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); +} + +__forceinline__ __host__ __device__ int4 clamp(const int4& v, const int4& a, const int4& b) +{ + return make_int4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const int4& a, const int4& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w; +} + +__forceinline__ __host__ __device__ bool operator!=(const int4& a, const int4& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z || a.w != b.w; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ int getByIndex(const int4& v, int i) +{ + return ((int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(int4& v, int i, int x) +{ + ((int*)(&v))[i] = x; +} + + +/* uint functions */ +/******************************************************************************/ + +/** clamp */ +__forceinline__ __host__ __device__ unsigned int clamp(const unsigned int f, const unsigned int a, const unsigned int b) +{ + return max(a, min(f, b)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ unsigned int getByIndex(const uint1& v, unsigned int i) +{ + return ((unsigned int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(uint1& v, int i, unsigned int x) +{ + ((unsigned int*)(&v))[i] = x; +} + + +/* uint2 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ uint2 make_uint2(const unsigned int s) +{ + return make_uint2(s, s); +} +__forceinline__ __host__ __device__ uint2 make_uint2(const float2& a) +{ + return make_uint2((unsigned int)a.x, (unsigned int)a.y); +} +/** @} */ + +/** min */ +__forceinline__ __host__ __device__ uint2 min(const uint2& a, const uint2& b) +{ + return make_uint2(min(a.x,b.x), min(a.y,b.y)); +} + +/** max */ +__forceinline__ __host__ __device__ uint2 max(const uint2& a, const uint2& b) +{ + return make_uint2(max(a.x,b.x), max(a.y,b.y)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ uint2 operator+(const uint2& a, const uint2& b) +{ + return make_uint2(a.x + b.x, a.y + b.y); +} +__forceinline__ __host__ __device__ void operator+=(uint2& a, const uint2& b) +{ + a.x += b.x; a.y += b.y; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ uint2 operator-(const uint2& a, const uint2& b) +{ + return make_uint2(a.x - b.x, a.y - b.y); +} +__forceinline__ __host__ __device__ uint2 operator-(const uint2& a, const unsigned int b) +{ + return make_uint2(a.x - b, a.y - b); +} +__forceinline__ __host__ __device__ void operator-=(uint2& a, const uint2& b) +{ + a.x -= b.x; a.y -= b.y; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ uint2 operator*(const uint2& a, const uint2& b) +{ + return make_uint2(a.x * b.x, a.y * b.y); +} +__forceinline__ __host__ __device__ uint2 operator*(const uint2& a, const unsigned int s) +{ + return make_uint2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ uint2 operator*(const unsigned int s, const uint2& a) +{ + return make_uint2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ void operator*=(uint2& a, const unsigned int s) +{ + a.x *= s; a.y *= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ uint2 clamp(const uint2& v, const unsigned int a, const unsigned int b) +{ + return make_uint2(clamp(v.x, a, b), clamp(v.y, a, b)); +} + +__forceinline__ __host__ __device__ uint2 clamp(const uint2& v, const uint2& a, const uint2& b) +{ + return make_uint2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const uint2& a, const uint2& b) +{ + return a.x == b.x && a.y == b.y; +} + +__forceinline__ __host__ __device__ bool operator!=(const uint2& a, const uint2& b) +{ + return a.x != b.x || a.y != b.y; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ unsigned int getByIndex(const uint2& v, unsigned int i) +{ + return ((unsigned int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(uint2& v, int i, unsigned int x) +{ + ((unsigned int*)(&v))[i] = x; +} + + +/* uint3 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ uint3 make_uint3(const unsigned int s) +{ + return make_uint3(s, s, s); +} +__forceinline__ __host__ __device__ uint3 make_uint3(const float3& a) +{ + return make_uint3((unsigned int)a.x, (unsigned int)a.y, (unsigned int)a.z); +} +/** @} */ + +/** min */ +__forceinline__ __host__ __device__ uint3 min(const uint3& a, const uint3& b) +{ + return make_uint3(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z)); +} + +/** max */ +__forceinline__ __host__ __device__ uint3 max(const uint3& a, const uint3& b) +{ + return make_uint3(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ uint3 operator+(const uint3& a, const uint3& b) +{ + return make_uint3(a.x + b.x, a.y + b.y, a.z + b.z); +} +__forceinline__ __host__ __device__ void operator+=(uint3& a, const uint3& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ uint3 operator-(const uint3& a, const uint3& b) +{ + return make_uint3(a.x - b.x, a.y - b.y, a.z - b.z); +} + +__forceinline__ __host__ __device__ void operator-=(uint3& a, const uint3& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ uint3 operator*(const uint3& a, const uint3& b) +{ + return make_uint3(a.x * b.x, a.y * b.y, a.z * b.z); +} +__forceinline__ __host__ __device__ uint3 operator*(const uint3& a, const unsigned int s) +{ + return make_uint3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ uint3 operator*(const unsigned int s, const uint3& a) +{ + return make_uint3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ void operator*=(uint3& a, const unsigned int s) +{ + a.x *= s; a.y *= s; a.z *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ uint3 operator/(const uint3& a, const uint3& b) +{ + return make_uint3(a.x / b.x, a.y / b.y, a.z / b.z); +} +__forceinline__ __host__ __device__ uint3 operator/(const uint3& a, const unsigned int s) +{ + return make_uint3(a.x / s, a.y / s, a.z / s); +} +__forceinline__ __host__ __device__ uint3 operator/(const unsigned int s, const uint3& a) +{ + return make_uint3(s / a.x, s / a.y, s / a.z); +} +__forceinline__ __host__ __device__ void operator/=(uint3& a, const unsigned int s) +{ + a.x /= s; a.y /= s; a.z /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ uint3 clamp(const uint3& v, const unsigned int a, const unsigned int b) +{ + return make_uint3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); +} + +__forceinline__ __host__ __device__ uint3 clamp(const uint3& v, const uint3& a, const uint3& b) +{ + return make_uint3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const uint3& a, const uint3& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z; +} + +__forceinline__ __host__ __device__ bool operator!=(const uint3& a, const uint3& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ unsigned int getByIndex(const uint3& v, unsigned int i) +{ + return ((unsigned int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ void setByIndex(uint3& v, int i, unsigned int x) +{ + ((unsigned int*)(&v))[i] = x; +} + + +/* uint4 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ uint4 make_uint4(const unsigned int s) +{ + return make_uint4(s, s, s, s); +} +__forceinline__ __host__ __device__ uint4 make_uint4(const float4& a) +{ + return make_uint4((unsigned int)a.x, (unsigned int)a.y, (unsigned int)a.z, (unsigned int)a.w); +} +/** @} */ + +/** min +* @{ +*/ +__forceinline__ __host__ __device__ uint4 min(const uint4& a, const uint4& b) +{ + return make_uint4(min(a.x,b.x), min(a.y,b.y), min(a.z,b.z), min(a.w,b.w)); +} +/** @} */ + +/** max +* @{ +*/ +__forceinline__ __host__ __device__ uint4 max(const uint4& a, const uint4& b) +{ + return make_uint4(max(a.x,b.x), max(a.y,b.y), max(a.z,b.z), max(a.w,b.w)); +} +/** @} */ + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ uint4 operator+(const uint4& a, const uint4& b) +{ + return make_uint4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); +} +__forceinline__ __host__ __device__ void operator+=(uint4& a, const uint4& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; a.w += b.w; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ uint4 operator-(const uint4& a, const uint4& b) +{ + return make_uint4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); +} + +__forceinline__ __host__ __device__ void operator-=(uint4& a, const uint4& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; a.w -= b.w; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ uint4 operator*(const uint4& a, const uint4& b) +{ + return make_uint4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); +} +__forceinline__ __host__ __device__ uint4 operator*(const uint4& a, const unsigned int s) +{ + return make_uint4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ uint4 operator*(const unsigned int s, const uint4& a) +{ + return make_uint4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ void operator*=(uint4& a, const unsigned int s) +{ + a.x *= s; a.y *= s; a.z *= s; a.w *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ uint4 operator/(const uint4& a, const uint4& b) +{ + return make_uint4(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); +} +__forceinline__ __host__ __device__ uint4 operator/(const uint4& a, const unsigned int s) +{ + return make_uint4(a.x / s, a.y / s, a.z / s, a.w / s); +} +__forceinline__ __host__ __device__ uint4 operator/(const unsigned int s, const uint4& a) +{ + return make_uint4(s / a.x, s / a.y, s / a.z, s / a.w); +} +__forceinline__ __host__ __device__ void operator/=(uint4& a, const unsigned int s) +{ + a.x /= s; a.y /= s; a.z /= s; a.w /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ uint4 clamp(const uint4& v, const unsigned int a, const unsigned int b) +{ + return make_uint4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); +} + +__forceinline__ __host__ __device__ uint4 clamp(const uint4& v, const uint4& a, const uint4& b) +{ + return make_uint4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const uint4& a, const uint4& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w; +} + +__forceinline__ __host__ __device__ bool operator!=(const uint4& a, const uint4& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z || a.w != b.w; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ unsigned int getByIndex(const uint4& v, unsigned int i) +{ + return ((unsigned int*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ void setByIndex(uint4& v, int i, unsigned int x) +{ + ((unsigned int*)(&v))[i] = x; +} + +/* long long functions */ +/******************************************************************************/ + +/** clamp */ +__forceinline__ __host__ __device__ long long clamp(const long long f, const long long a, const long long b) +{ + return max(a, min(f, b)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ long long getByIndex(const longlong1& v, int i) +{ + return ((long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(longlong1& v, int i, long long x) +{ + ((long long*)(&v))[i] = x; +} + + +/* longlong2 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ longlong2 make_longlong2(const long long s) +{ + return make_longlong2(s, s); +} +__forceinline__ __host__ __device__ longlong2 make_longlong2(const float2& a) +{ + return make_longlong2(int(a.x), int(a.y)); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ longlong2 operator-(const longlong2& a) +{ + return make_longlong2(-a.x, -a.y); +} + +/** min */ +__forceinline__ __host__ __device__ longlong2 min(const longlong2& a, const longlong2& b) +{ + return make_longlong2(min(a.x, b.x), min(a.y, b.y)); +} + +/** max */ +__forceinline__ __host__ __device__ longlong2 max(const longlong2& a, const longlong2& b) +{ + return make_longlong2(max(a.x, b.x), max(a.y, b.y)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ longlong2 operator+(const longlong2& a, const longlong2& b) +{ + return make_longlong2(a.x + b.x, a.y + b.y); +} +__forceinline__ __host__ __device__ void operator+=(longlong2& a, const longlong2& b) +{ + a.x += b.x; a.y += b.y; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ longlong2 operator-(const longlong2& a, const longlong2& b) +{ + return make_longlong2(a.x - b.x, a.y - b.y); +} +__forceinline__ __host__ __device__ longlong2 operator-(const longlong2& a, const long long b) +{ + return make_longlong2(a.x - b, a.y - b); +} +__forceinline__ __host__ __device__ void operator-=(longlong2& a, const longlong2& b) +{ + a.x -= b.x; a.y -= b.y; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ longlong2 operator*(const longlong2& a, const longlong2& b) +{ + return make_longlong2(a.x * b.x, a.y * b.y); +} +__forceinline__ __host__ __device__ longlong2 operator*(const longlong2& a, const long long s) +{ + return make_longlong2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ longlong2 operator*(const long long s, const longlong2& a) +{ + return make_longlong2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ void operator*=(longlong2& a, const long long s) +{ + a.x *= s; a.y *= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ longlong2 clamp(const longlong2& v, const long long a, const long long b) +{ + return make_longlong2(clamp(v.x, a, b), clamp(v.y, a, b)); +} + +__forceinline__ __host__ __device__ longlong2 clamp(const longlong2& v, const longlong2& a, const longlong2& b) +{ + return make_longlong2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const longlong2& a, const longlong2& b) +{ + return a.x == b.x && a.y == b.y; +} + +__forceinline__ __host__ __device__ bool operator!=(const longlong2& a, const longlong2& b) +{ + return a.x != b.x || a.y != b.y; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ long long getByIndex(const longlong2& v, int i) +{ + return ((long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(longlong2& v, int i, long long x) +{ + ((long long*)(&v))[i] = x; +} + + +/* longlong3 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ longlong3 make_longlong3(const long long s) +{ + return make_longlong3(s, s, s); +} +__forceinline__ __host__ __device__ longlong3 make_longlong3(const float3& a) +{ + return make_longlong3( (long long)a.x, (long long)a.y, (long long)a.z); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ longlong3 operator-(const longlong3& a) +{ + return make_longlong3(-a.x, -a.y, -a.z); +} + +/** min */ +__forceinline__ __host__ __device__ longlong3 min(const longlong3& a, const longlong3& b) +{ + return make_longlong3(min(a.x, b.x), min(a.y, b.y), min(a.z, b.z)); +} + +/** max */ +__forceinline__ __host__ __device__ longlong3 max(const longlong3& a, const longlong3& b) +{ + return make_longlong3(max(a.x, b.x), max(a.y, b.y), max(a.z, b.z)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ longlong3 operator+(const longlong3& a, const longlong3& b) +{ + return make_longlong3(a.x + b.x, a.y + b.y, a.z + b.z); +} +__forceinline__ __host__ __device__ void operator+=(longlong3& a, const longlong3& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ longlong3 operator-(const longlong3& a, const longlong3& b) +{ + return make_longlong3(a.x - b.x, a.y - b.y, a.z - b.z); +} + +__forceinline__ __host__ __device__ void operator-=(longlong3& a, const longlong3& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ longlong3 operator*(const longlong3& a, const longlong3& b) +{ + return make_longlong3(a.x * b.x, a.y * b.y, a.z * b.z); +} +__forceinline__ __host__ __device__ longlong3 operator*(const longlong3& a, const long long s) +{ + return make_longlong3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ longlong3 operator*(const long long s, const longlong3& a) +{ + return make_longlong3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ void operator*=(longlong3& a, const long long s) +{ + a.x *= s; a.y *= s; a.z *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ longlong3 operator/(const longlong3& a, const longlong3& b) +{ + return make_longlong3(a.x / b.x, a.y / b.y, a.z / b.z); +} +__forceinline__ __host__ __device__ longlong3 operator/(const longlong3& a, const long long s) +{ + return make_longlong3(a.x / s, a.y / s, a.z / s); +} +__forceinline__ __host__ __device__ longlong3 operator/(const long long s, const longlong3& a) +{ + return make_longlong3(s /a.x, s / a.y, s / a.z); +} +__forceinline__ __host__ __device__ void operator/=(longlong3& a, const long long s) +{ + a.x /= s; a.y /= s; a.z /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ longlong3 clamp(const longlong3& v, const long long a, const long long b) +{ + return make_longlong3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); +} + +__forceinline__ __host__ __device__ longlong3 clamp(const longlong3& v, const longlong3& a, const longlong3& b) +{ + return make_longlong3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const longlong3& a, const longlong3& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z; +} + +__forceinline__ __host__ __device__ bool operator!=(const longlong3& a, const longlong3& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ long long getByIndex(const longlong3& v, int i) +{ + return ((long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(longlong3& v, int i, int x) +{ + ((long long*)(&v))[i] = x; +} + + +/* longlong4 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ longlong4 make_longlong4(const long long s) +{ + return make_longlong4(s, s, s, s); +} +__forceinline__ __host__ __device__ longlong4 make_longlong4(const float4& a) +{ + return make_longlong4((long long)a.x, (long long)a.y, (long long)a.z, (long long)a.w); +} +/** @} */ + +/** negate */ +__forceinline__ __host__ __device__ longlong4 operator-(const longlong4& a) +{ + return make_longlong4(-a.x, -a.y, -a.z, -a.w); +} + +/** min */ +__forceinline__ __host__ __device__ longlong4 min(const longlong4& a, const longlong4& b) +{ + return make_longlong4(min(a.x, b.x), min(a.y, b.y), min(a.z, b.z), min(a.w, b.w)); +} + +/** max */ +__forceinline__ __host__ __device__ longlong4 max(const longlong4& a, const longlong4& b) +{ + return make_longlong4(max(a.x, b.x), max(a.y, b.y), max(a.z, b.z), max(a.w, b.w)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ longlong4 operator+(const longlong4& a, const longlong4& b) +{ + return make_longlong4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); +} +__forceinline__ __host__ __device__ void operator+=(longlong4& a, const longlong4& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; a.w += b.w; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ longlong4 operator-(const longlong4& a, const longlong4& b) +{ + return make_longlong4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); +} + +__forceinline__ __host__ __device__ void operator-=(longlong4& a, const longlong4& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; a.w -= b.w; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ longlong4 operator*(const longlong4& a, const longlong4& b) +{ + return make_longlong4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); +} +__forceinline__ __host__ __device__ longlong4 operator*(const longlong4& a, const long long s) +{ + return make_longlong4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ longlong4 operator*(const long long s, const longlong4& a) +{ + return make_longlong4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ void operator*=(longlong4& a, const long long s) +{ + a.x *= s; a.y *= s; a.z *= s; a.w *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ longlong4 operator/(const longlong4& a, const longlong4& b) +{ + return make_longlong4(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); +} +__forceinline__ __host__ __device__ longlong4 operator/(const longlong4& a, const long long s) +{ + return make_longlong4(a.x / s, a.y / s, a.z / s, a.w / s); +} +__forceinline__ __host__ __device__ longlong4 operator/(const long long s, const longlong4& a) +{ + return make_longlong4(s / a.x, s / a.y, s / a.z, s / a.w); +} +__forceinline__ __host__ __device__ void operator/=(longlong4& a, const long long s) +{ + a.x /= s; a.y /= s; a.z /= s; a.w /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ longlong4 clamp(const longlong4& v, const long long a, const long long b) +{ + return make_longlong4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); +} + +__forceinline__ __host__ __device__ longlong4 clamp(const longlong4& v, const longlong4& a, const longlong4& b) +{ + return make_longlong4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const longlong4& a, const longlong4& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w; +} + +__forceinline__ __host__ __device__ bool operator!=(const longlong4& a, const longlong4& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z || a.w != b.w; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ long long getByIndex(const longlong4& v, int i) +{ + return ((long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(longlong4& v, int i, long long x) +{ + ((long long*)(&v))[i] = x; +} + +/* ulonglong functions */ +/******************************************************************************/ + +/** clamp */ +__forceinline__ __host__ __device__ unsigned long long clamp(const unsigned long long f, const unsigned long long a, const unsigned long long b) +{ + return max(a, min(f, b)); +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ unsigned long long getByIndex(const ulonglong1& v, unsigned int i) +{ + return ((unsigned long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(ulonglong1& v, int i, unsigned long long x) +{ + ((unsigned long long*)(&v))[i] = x; +} + + +/* ulonglong2 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong2 make_ulonglong2(const unsigned long long s) +{ + return make_ulonglong2(s, s); +} +__forceinline__ __host__ __device__ ulonglong2 make_ulonglong2(const float2& a) +{ + return make_ulonglong2((unsigned long long)a.x, (unsigned long long)a.y); +} +/** @} */ + +/** min */ +__forceinline__ __host__ __device__ ulonglong2 min(const ulonglong2& a, const ulonglong2& b) +{ + return make_ulonglong2(min(a.x, b.x), min(a.y, b.y)); +} + +/** max */ +__forceinline__ __host__ __device__ ulonglong2 max(const ulonglong2& a, const ulonglong2& b) +{ + return make_ulonglong2(max(a.x, b.x), max(a.y, b.y)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong2 operator+(const ulonglong2& a, const ulonglong2& b) +{ + return make_ulonglong2(a.x + b.x, a.y + b.y); +} +__forceinline__ __host__ __device__ void operator+=(ulonglong2& a, const ulonglong2& b) +{ + a.x += b.x; a.y += b.y; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong2 operator-(const ulonglong2& a, const ulonglong2& b) +{ + return make_ulonglong2(a.x - b.x, a.y - b.y); +} +__forceinline__ __host__ __device__ ulonglong2 operator-(const ulonglong2& a, const unsigned long long b) +{ + return make_ulonglong2(a.x - b, a.y - b); +} +__forceinline__ __host__ __device__ void operator-=(ulonglong2& a, const ulonglong2& b) +{ + a.x -= b.x; a.y -= b.y; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong2 operator*(const ulonglong2& a, const ulonglong2& b) +{ + return make_ulonglong2(a.x * b.x, a.y * b.y); +} +__forceinline__ __host__ __device__ ulonglong2 operator*(const ulonglong2& a, const unsigned long long s) +{ + return make_ulonglong2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ ulonglong2 operator*(const unsigned long long s, const ulonglong2& a) +{ + return make_ulonglong2(a.x * s, a.y * s); +} +__forceinline__ __host__ __device__ void operator*=(ulonglong2& a, const unsigned long long s) +{ + a.x *= s; a.y *= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong2 clamp(const ulonglong2& v, const unsigned long long a, const unsigned long long b) +{ + return make_ulonglong2(clamp(v.x, a, b), clamp(v.y, a, b)); +} + +__forceinline__ __host__ __device__ ulonglong2 clamp(const ulonglong2& v, const ulonglong2& a, const ulonglong2& b) +{ + return make_ulonglong2(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const ulonglong2& a, const ulonglong2& b) +{ + return a.x == b.x && a.y == b.y; +} + +__forceinline__ __host__ __device__ bool operator!=(const ulonglong2& a, const ulonglong2& b) +{ + return a.x != b.x || a.y != b.y; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ unsigned long long getByIndex(const ulonglong2& v, unsigned int i) +{ + return ((unsigned long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory */ +__forceinline__ __host__ __device__ void setByIndex(ulonglong2& v, int i, unsigned long long x) +{ + ((unsigned long long*)(&v))[i] = x; +} + + +/* ulonglong3 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong3 make_ulonglong3(const unsigned long long s) +{ + return make_ulonglong3(s, s, s); +} +__forceinline__ __host__ __device__ ulonglong3 make_ulonglong3(const float3& a) +{ + return make_ulonglong3((unsigned long long)a.x, (unsigned long long)a.y, (unsigned long long)a.z); +} +/** @} */ + +/** min */ +__forceinline__ __host__ __device__ ulonglong3 min(const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(min(a.x, b.x), min(a.y, b.y), min(a.z, b.z)); +} + +/** max */ +__forceinline__ __host__ __device__ ulonglong3 max(const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(max(a.x, b.x), max(a.y, b.y), max(a.z, b.z)); +} + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong3 operator+(const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(a.x + b.x, a.y + b.y, a.z + b.z); +} +__forceinline__ __host__ __device__ void operator+=(ulonglong3& a, const ulonglong3& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong3 operator-(const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(a.x - b.x, a.y - b.y, a.z - b.z); +} + +__forceinline__ __host__ __device__ void operator-=(ulonglong3& a, const ulonglong3& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong3 operator*(const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(a.x * b.x, a.y * b.y, a.z * b.z); +} +__forceinline__ __host__ __device__ ulonglong3 operator*(const ulonglong3& a, const unsigned long long s) +{ + return make_ulonglong3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ ulonglong3 operator*(const unsigned long long s, const ulonglong3& a) +{ + return make_ulonglong3(a.x * s, a.y * s, a.z * s); +} +__forceinline__ __host__ __device__ void operator*=(ulonglong3& a, const unsigned long long s) +{ + a.x *= s; a.y *= s; a.z *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong3 operator/(const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(a.x / b.x, a.y / b.y, a.z / b.z); +} +__forceinline__ __host__ __device__ ulonglong3 operator/(const ulonglong3& a, const unsigned long long s) +{ + return make_ulonglong3(a.x / s, a.y / s, a.z / s); +} +__forceinline__ __host__ __device__ ulonglong3 operator/(const unsigned long long s, const ulonglong3& a) +{ + return make_ulonglong3(s / a.x, s / a.y, s / a.z); +} +__forceinline__ __host__ __device__ void operator/=(ulonglong3& a, const unsigned long long s) +{ + a.x /= s; a.y /= s; a.z /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong3 clamp(const ulonglong3& v, const unsigned long long a, const unsigned long long b) +{ + return make_ulonglong3(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b)); +} + +__forceinline__ __host__ __device__ ulonglong3 clamp(const ulonglong3& v, const ulonglong3& a, const ulonglong3& b) +{ + return make_ulonglong3(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const ulonglong3& a, const ulonglong3& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z; +} + +__forceinline__ __host__ __device__ bool operator!=(const ulonglong3& a, const ulonglong3& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ unsigned long long getByIndex(const ulonglong3& v, unsigned int i) +{ + return ((unsigned long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ void setByIndex(ulonglong3& v, int i, unsigned long long x) +{ + ((unsigned long long*)(&v))[i] = x; +} + + +/* ulonglong4 functions */ +/******************************************************************************/ + +/** additional constructors +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const unsigned long long s) +{ + return make_ulonglong4(s, s, s, s); +} +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const float4& a) +{ + return make_ulonglong4((unsigned long long)a.x, (unsigned long long)a.y, (unsigned long long)a.z, (unsigned long long)a.w); +} +/** @} */ + +/** min +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 min(const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(min(a.x, b.x), min(a.y, b.y), min(a.z, b.z), min(a.w, b.w)); +} +/** @} */ + +/** max +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 max(const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(max(a.x, b.x), max(a.y, b.y), max(a.z, b.z), max(a.w, b.w)); +} +/** @} */ + +/** add +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 operator+(const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); +} +__forceinline__ __host__ __device__ void operator+=(ulonglong4& a, const ulonglong4& b) +{ + a.x += b.x; a.y += b.y; a.z += b.z; a.w += b.w; +} +/** @} */ + +/** subtract +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 operator-(const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); +} + +__forceinline__ __host__ __device__ void operator-=(ulonglong4& a, const ulonglong4& b) +{ + a.x -= b.x; a.y -= b.y; a.z -= b.z; a.w -= b.w; +} +/** @} */ + +/** multiply +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 operator*(const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); +} +__forceinline__ __host__ __device__ ulonglong4 operator*(const ulonglong4& a, const unsigned long long s) +{ + return make_ulonglong4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ ulonglong4 operator*(const unsigned long long s, const ulonglong4& a) +{ + return make_ulonglong4(a.x * s, a.y * s, a.z * s, a.w * s); +} +__forceinline__ __host__ __device__ void operator*=(ulonglong4& a, const unsigned long long s) +{ + a.x *= s; a.y *= s; a.z *= s; a.w *= s; +} +/** @} */ + +/** divide +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 operator/(const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w); +} +__forceinline__ __host__ __device__ ulonglong4 operator/(const ulonglong4& a, const unsigned long long s) +{ + return make_ulonglong4(a.x / s, a.y / s, a.z / s, a.w / s); +} +__forceinline__ __host__ __device__ ulonglong4 operator/(const unsigned long long s, const ulonglong4& a) +{ + return make_ulonglong4(s / a.x, s / a.y, s / a.z, s / a.w); +} +__forceinline__ __host__ __device__ void operator/=(ulonglong4& a, const unsigned long long s) +{ + a.x /= s; a.y /= s; a.z /= s; a.w /= s; +} +/** @} */ + +/** clamp +* @{ +*/ +__forceinline__ __host__ __device__ ulonglong4 clamp(const ulonglong4& v, const unsigned long long a, const unsigned long long b) +{ + return make_ulonglong4(clamp(v.x, a, b), clamp(v.y, a, b), clamp(v.z, a, b), clamp(v.w, a, b)); +} + +__forceinline__ __host__ __device__ ulonglong4 clamp(const ulonglong4& v, const ulonglong4& a, const ulonglong4& b) +{ + return make_ulonglong4(clamp(v.x, a.x, b.x), clamp(v.y, a.y, b.y), clamp(v.z, a.z, b.z), clamp(v.w, a.w, b.w)); +} +/** @} */ + +/** equality +* @{ +*/ +__forceinline__ __host__ __device__ bool operator==(const ulonglong4& a, const ulonglong4& b) +{ + return a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w; +} + +__forceinline__ __host__ __device__ bool operator!=(const ulonglong4& a, const ulonglong4& b) +{ + return a.x != b.x || a.y != b.y || a.z != b.z || a.w != b.w; +} +/** @} */ + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ unsigned long long getByIndex(const ulonglong4& v, unsigned int i) +{ + return ((unsigned long long*)(&v))[i]; +} + +/** If used on the device, this could place the the 'v' in local memory +*/ +__forceinline__ __host__ __device__ void setByIndex(ulonglong4& v, int i, unsigned long long x) +{ + ((unsigned long long*)(&v))[i] = x; +} + + +/******************************************************************************/ + +/** Narrowing functions +* @{ +*/ +__forceinline__ __host__ __device__ int2 make_int2(const int3& v0) { return make_int2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ int2 make_int2(const int4& v0) { return make_int2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ int3 make_int3(const int4& v0) { return make_int3( v0.x, v0.y, v0.z ); } +__forceinline__ __host__ __device__ uint2 make_uint2(const uint3& v0) { return make_uint2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ uint2 make_uint2(const uint4& v0) { return make_uint2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ uint3 make_uint3(const uint4& v0) { return make_uint3( v0.x, v0.y, v0.z ); } +__forceinline__ __host__ __device__ longlong2 make_longlong2(const longlong3& v0) { return make_longlong2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ longlong2 make_longlong2(const longlong4& v0) { return make_longlong2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ longlong3 make_longlong3(const longlong4& v0) { return make_longlong3( v0.x, v0.y, v0.z ); } +__forceinline__ __host__ __device__ ulonglong2 make_ulonglong2(const ulonglong3& v0) { return make_ulonglong2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ ulonglong2 make_ulonglong2(const ulonglong4& v0) { return make_ulonglong2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ ulonglong3 make_ulonglong3(const ulonglong4& v0) { return make_ulonglong3( v0.x, v0.y, v0.z ); } +__forceinline__ __host__ __device__ float2 make_float2(const float3& v0) { return make_float2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ float2 make_float2(const float4& v0) { return make_float2( v0.x, v0.y ); } +__forceinline__ __host__ __device__ float3 make_float3(const float4& v0) { return make_float3( v0.x, v0.y, v0.z ); } +/** @} */ + +/** Assemble functions from smaller vectors +* @{ +*/ +__forceinline__ __host__ __device__ int3 make_int3(const int v0, const int2& v1) { return make_int3( v0, v1.x, v1.y ); } +__forceinline__ __host__ __device__ int3 make_int3(const int2& v0, const int v1) { return make_int3( v0.x, v0.y, v1 ); } +__forceinline__ __host__ __device__ int4 make_int4(const int v0, const int v1, const int2& v2) { return make_int4( v0, v1, v2.x, v2.y ); } +__forceinline__ __host__ __device__ int4 make_int4(const int v0, const int2& v1, const int v2) { return make_int4( v0, v1.x, v1.y, v2 ); } +__forceinline__ __host__ __device__ int4 make_int4(const int2& v0, const int v1, const int v2) { return make_int4( v0.x, v0.y, v1, v2 ); } +__forceinline__ __host__ __device__ int4 make_int4(const int v0, const int3& v1) { return make_int4( v0, v1.x, v1.y, v1.z ); } +__forceinline__ __host__ __device__ int4 make_int4(const int3& v0, const int v1) { return make_int4( v0.x, v0.y, v0.z, v1 ); } +__forceinline__ __host__ __device__ int4 make_int4(const int2& v0, const int2& v1) { return make_int4( v0.x, v0.y, v1.x, v1.y ); } +__forceinline__ __host__ __device__ uint3 make_uint3(const unsigned int v0, const uint2& v1) { return make_uint3( v0, v1.x, v1.y ); } +__forceinline__ __host__ __device__ uint3 make_uint3(const uint2& v0, const unsigned int v1) { return make_uint3( v0.x, v0.y, v1 ); } +__forceinline__ __host__ __device__ uint4 make_uint4(const unsigned int v0, const unsigned int v1, const uint2& v2) { return make_uint4( v0, v1, v2.x, v2.y ); } +__forceinline__ __host__ __device__ uint4 make_uint4(const unsigned int v0, const uint2& v1, const unsigned int v2) { return make_uint4( v0, v1.x, v1.y, v2 ); } +__forceinline__ __host__ __device__ uint4 make_uint4(const uint2& v0, const unsigned int v1, const unsigned int v2) { return make_uint4( v0.x, v0.y, v1, v2 ); } +__forceinline__ __host__ __device__ uint4 make_uint4(const unsigned int v0, const uint3& v1) { return make_uint4( v0, v1.x, v1.y, v1.z ); } +__forceinline__ __host__ __device__ uint4 make_uint4(const uint3& v0, const unsigned int v1) { return make_uint4( v0.x, v0.y, v0.z, v1 ); } +__forceinline__ __host__ __device__ uint4 make_uint4(const uint2& v0, const uint2& v1) { return make_uint4( v0.x, v0.y, v1.x, v1.y ); } +__forceinline__ __host__ __device__ longlong3 make_longlong3(const long long v0, const longlong2& v1) { return make_longlong3(v0, v1.x, v1.y); } +__forceinline__ __host__ __device__ longlong3 make_longlong3(const longlong2& v0, const long long v1) { return make_longlong3(v0.x, v0.y, v1); } +__forceinline__ __host__ __device__ longlong4 make_longlong4(const long long v0, const long long v1, const longlong2& v2) { return make_longlong4(v0, v1, v2.x, v2.y); } +__forceinline__ __host__ __device__ longlong4 make_longlong4(const long long v0, const longlong2& v1, const long long v2) { return make_longlong4(v0, v1.x, v1.y, v2); } +__forceinline__ __host__ __device__ longlong4 make_longlong4(const longlong2& v0, const long long v1, const long long v2) { return make_longlong4(v0.x, v0.y, v1, v2); } +__forceinline__ __host__ __device__ longlong4 make_longlong4(const long long v0, const longlong3& v1) { return make_longlong4(v0, v1.x, v1.y, v1.z); } +__forceinline__ __host__ __device__ longlong4 make_longlong4(const longlong3& v0, const long long v1) { return make_longlong4(v0.x, v0.y, v0.z, v1); } +__forceinline__ __host__ __device__ longlong4 make_longlong4(const longlong2& v0, const longlong2& v1) { return make_longlong4(v0.x, v0.y, v1.x, v1.y); } +__forceinline__ __host__ __device__ ulonglong3 make_ulonglong3(const unsigned long long v0, const ulonglong2& v1) { return make_ulonglong3(v0, v1.x, v1.y); } +__forceinline__ __host__ __device__ ulonglong3 make_ulonglong3(const ulonglong2& v0, const unsigned long long v1) { return make_ulonglong3(v0.x, v0.y, v1); } +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const unsigned long long v0, const unsigned long long v1, const ulonglong2& v2) { return make_ulonglong4(v0, v1, v2.x, v2.y); } +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const unsigned long long v0, const ulonglong2& v1, const unsigned long long v2) { return make_ulonglong4(v0, v1.x, v1.y, v2); } +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const ulonglong2& v0, const unsigned long long v1, const unsigned long long v2) { return make_ulonglong4(v0.x, v0.y, v1, v2); } +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const unsigned long long v0, const ulonglong3& v1) { return make_ulonglong4(v0, v1.x, v1.y, v1.z); } +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const ulonglong3& v0, const unsigned long long v1) { return make_ulonglong4(v0.x, v0.y, v0.z, v1); } +__forceinline__ __host__ __device__ ulonglong4 make_ulonglong4(const ulonglong2& v0, const ulonglong2& v1) { return make_ulonglong4(v0.x, v0.y, v1.x, v1.y); } +__forceinline__ __host__ __device__ float3 make_float3(const float2& v0, const float v1) { return make_float3(v0.x, v0.y, v1); } +__forceinline__ __host__ __device__ float3 make_float3(const float v0, const float2& v1) { return make_float3( v0, v1.x, v1.y ); } +__forceinline__ __host__ __device__ float4 make_float4(const float v0, const float v1, const float2& v2) { return make_float4( v0, v1, v2.x, v2.y ); } +__forceinline__ __host__ __device__ float4 make_float4(const float v0, const float2& v1, const float v2) { return make_float4( v0, v1.x, v1.y, v2 ); } +__forceinline__ __host__ __device__ float4 make_float4(const float2& v0, const float v1, const float v2) { return make_float4( v0.x, v0.y, v1, v2 ); } +__forceinline__ __host__ __device__ float4 make_float4(const float v0, const float3& v1) { return make_float4( v0, v1.x, v1.y, v1.z ); } +__forceinline__ __host__ __device__ float4 make_float4(const float3& v0, const float v1) { return make_float4( v0.x, v0.y, v0.z, v1 ); } +__forceinline__ __host__ __device__ float4 make_float4(const float2& v0, const float2& v1) { return make_float4( v0.x, v0.y, v1.x, v1.y ); } +/** @} */ + + diff --git a/pyrefloid/utils/PatternGeneration.py b/pyrefloid/utils/PatternGeneration.py new file mode 100644 index 0000000..fdf5a00 --- /dev/null +++ b/pyrefloid/utils/PatternGeneration.py @@ -0,0 +1,56 @@ +from typing import Tuple + +from pyrefloid.utils.image_handling import generate_fringe_bmps, generate_solid_field_bmp +import cv2 +import numpy as np +from pyrefloid.utils.dataclasses import PatternType + + +def generatePattern(resolution: Tuple[int, int] = (3649, 2281), Sequence=None, frequency: Tuple[int, int] = None): + same_x_y_frequency = False + + if frequency is not None: + if same_x_y_frequency: + f = frequency[0] + patterns_x = patterns_y = (1, [0, 90]), (f, [0, 90]), (f ** 2, [0, 90, 180, 270]) + + else: + # x direction got more pixels, therefore it needs a higher frequency + fx = frequency[0] + fy = frequency[1] + patterns_x = (1, [0, 90]), (fx, [0, 90]), (fx ** 2, [0, 90, 180, 270]) + patterns_y = (1, [0, 90]), (fy, [0, 90]), (fy ** 2, [0, 90, 180, 270]) + elif Sequence is not None: + x_dict = dict() + y_dict = dict() + for pattern in Sequence.pattern_list: + if pattern.direction == 'x' and pattern.pattern_type == PatternType.SINUSOIDAL: + if pattern.frequency not in x_dict.keys(): + x_dict[pattern.frequency] = [pattern.phase, ] + else: + x_dict[pattern.frequency].append(pattern.phase) + if pattern.direction == 'y' and pattern.pattern_type == PatternType.SINUSOIDAL: + if pattern.frequency not in y_dict.keys(): + y_dict[pattern.frequency] = [pattern.phase, ] + else: + y_dict[pattern.frequency].append(pattern.phase) + + patterns_x = [] + for key, value in x_dict.items(): + patterns_x.append((key, value)) + + patterns_y = [] + for key, value in y_dict.items(): + patterns_y.append((key, value)) + + # todo: check if sequence is ordered correctly! + export_int = False + imgs_x = generate_fringe_bmps(patterns=patterns_x, direction='x', pro_distortion=None, resolution=resolution) + imgs_y = generate_fringe_bmps(patterns=patterns_y, direction='y', pro_distortion=None, resolution=resolution) + solid_field = np.array(cv2.cvtColor(generate_solid_field_bmp(resolution=resolution), cv2.COLOR_BGR2GRAY)/255, + dtype=np.float32) + all_imgs = imgs_x + imgs_y + [solid_field] + if export_int: + all_imgs = [img * 255 for img in all_imgs] + + return all_imgs diff --git a/pyrefloid/utils/__init__.py b/pyrefloid/utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/pyrefloid/utils/dataclasses.py b/pyrefloid/utils/dataclasses.py new file mode 100644 index 0000000..266f85e --- /dev/null +++ b/pyrefloid/utils/dataclasses.py @@ -0,0 +1,291 @@ +from dataclasses import dataclass, field +from enum import Enum +import numpy as np +from typing import Dict, Tuple, List, Union + + +LOGGING_LEVEL = None # logging.INFO + + +@dataclass +class ImageData: + cam_name: str = 'camA' + exposure: Union[int, None] = None + x_fringe_images: List[np.ndarray] = field(default_factory=list) # fringe projection images + y_fringe_images: List[np.ndarray] = field(default_factory=list) # fringe projection images + x_pattern: List[Tuple[int, int]] = field(default_factory=list) + y_pattern: List[Tuple[int, int]] = field(default_factory=list) + solid_field_images: List[np.ndarray] = field(default_factory=list) # solid field image + x_mask: Union[np.ndarray, None] = None # Todo: Check this for python 3.11 np.ndarray | None = None + y_mask: Union[np.ndarray, None] = None + x_amplitude: Union[np.ndarray, None] = None # width height x 2 (1 = x, 2 = y) + y_amplitude: Union[np.ndarray, None] = None # width height x 2 (1 = x, 2 = y) + cam_reflection: Union[np.ndarray, None] = None + pro_reflection: Union[np.ndarray, None] = None + reflection_count: int = 0 + hit_buffer: Union[np.ndarray, None] = None + hit_indices: Union[np.ndarray, None] = None + additional_images: List[np.ndarray] = field(default_factory=list) + + def list_all(self) -> List[np.ndarray]: + buffer_list = [] + list_buffer = [self.x_fringe_images, self.y_fringe_images, self.solid_field_images, self.additional_images] + for _list in list_buffer: + if _list: + buffer_list.extend(_list) + return buffer_list + + def get_phase_image_list(self, direction: str, frequency: int) -> Tuple[List[int], List[np.ndarray]]: + phase_list = [] + img_list = [] + if direction == 'x': + fringe_list = self.x_fringe_images + pattern_list = self.x_pattern + else: + fringe_list = self.y_fringe_images + pattern_list = self.y_pattern + for fringe_image, pattern in zip(fringe_list, pattern_list): + if pattern[0] == frequency: + phase_list.append(pattern[1]) + img_list.append(fringe_image) + return phase_list, img_list + + def get_frequencies(self, direction) -> List[int]: + frequencies = [] + if direction == 'x': + pattern_list = self.x_pattern + else: + pattern_list = self.y_pattern + for pattern in pattern_list: + if pattern[0] not in frequencies: + frequencies.append(pattern[0]) + return frequencies + + +@dataclass +class ImageStack: + image_data_dict: Union[Dict[int, ImageData], None] = None + x_best_index: Union[np.ndarray, None] = None + y_best_index: Union[np.ndarray, None] = None + x_best_amplitude: Union[np.ndarray, None] = None + y_best_amplitude: Union[np.ndarray, None] = None + + +@dataclass +class LocalPhaseMaps: + direction: str + exposure: int + phase_maps: Dict[int, np.ndarray] = field(default_factory=dict) + frequencies: List[int] = field(default_factory=list) + + +@dataclass +class MeasurementData: + x_phase_map: List[np.ndarray] = field(default_factory=list) + y_phase_map: List[np.ndarray] = field(default_factory=list) + x_mask: List[np.ndarray] = field(default_factory=list) + y_mask: List[np.ndarray] = field(default_factory=list) + x_local_phase_map: List[LocalPhaseMaps] = field(default_factory=list) + y_local_phase_map: List[LocalPhaseMaps] = field(default_factory=list) + exposure_list: List[int] = field(default_factory=list) + mask: Union[np.ndarray, None] = None + + def __len__(self) -> int: + return len(self.exposure_list) + + def add_mask(self, mask: np.ndarray): + if self.mask: + self.mask = np.logical_and(self.mask, mask) + else: + self.mask = mask + + +@dataclass +class MeasurementResultData: + x_phase_map: Union[np.ndarray, None] = None + y_phase_map: Union[np.ndarray, None] = None + height_map: Union[np.ndarray, None] = None + mask: Union[np.ndarray, None] = None + mesh: Union[np.ndarray, None] = None + projector_map: Union[np.ndarray, None] = None + image: Union[np.ndarray, None] = None + + +@dataclass +class ExtendedResultData: + measure_count: int # number of measures of the same pose + position: List[float] # position of the measurement of the kinematics + measurement_data: MeasurementResultData + + +@dataclass +class CalibrationDataItem: + cam_name: str + image: Union[np.ndarray, None] = None # images used to calculate following data + projector_map: Union[np.ndarray, None] = None # width height x 3 (1 = x, 2 = y, 3 = mask) + object_points: Union[List[np.ndarray], None] = None # list of object points in camera coordinates + image_points: Union[List[np.ndarray], None] = None # list of image points in metric units + contours: Union[List[np.ndarray], None] = None # list of contours found by detectPatterns + position: Union[List[float], None] = None # position of the measurement of the kinematics + + +@dataclass +class AffineCalibrationData: + calibration_data: CalibrationDataItem + stereo_pose: str = '' # If stereo calibration is used, the corresponding pose is stored here + camera_pixel_matrix: Union[np.ndarray, None] = None + measure_count: int = 0 # number of measures of the same pose + + +@dataclass +class InspectionData: + cam_name: str + resolution: Tuple[int] + back_projection: List[np.ndarray] = field(default_factory=list) + plane_rms: List[np.ndarray] = field(default_factory=list) + error_xy: List[np.ndarray] = field(default_factory=list) + image_points: List[np.ndarray] = field(default_factory=list) + object_points: List[np.ndarray] = field(default_factory=list) + contours: List[List[np.ndarray]] = field(default_factory=list) + plane_mask: List[int] = field(default_factory=list) + images: List[np.ndarray] = field(default_factory=list) + + +@dataclass +class CalibrationParameter: + K = None + resolution: Tuple[int, int] = (3649, 2281) + Rt = None + distortion = None + undistortion = None + + +@dataclass +class BlobTarget: + # Specific for blob detection + origin: Union[bool, None] = None + color: Union[str, None] = None + threshold_step: Union[int, None] = None + min_threshold: Union[int, None] = None + max_threshold: Union[int, None] = None + min_repeatability: Union[int, None] = None + min_dist_between_blobs: int = None + filter_by_color: Union[bool, None] = None + origin_feature_proportion: Union[int, None] = None + filter_by_origin_proportion: Union[bool, None] = None + filter_by_area: Union[bool, None] = None + filter_by_image_area: Union[bool, None] = None + filter_by_circularity: Union[bool, None] = None + filter_by_inertia: Union[bool, None] = None + filter_by_convexity: Union[bool, None] = None + + +@dataclass +class MultiPlaneTarget: + subtype: Union[str, None] = None + aruco_size: Union[int, None] = None + origin_count: Union[int, None] = None + pattern_size: Union[List[int], None] = None # patternsize: metric size of the whole marker board in millimeters + + +@dataclass +class ChessBoardTarget: + subtype: Union[str, None] = None + aruco_size: Union[int, None] = None + origin_count: Union[int, None] = None + pattern_size: Union[List[int], None] = None # patternsize: metric size of the whole marker board in millimeters + + +class TargetType(Enum): + CIRCLE_GRID = 1 + DOT_GRID = 2 + CHECKER_BOARD = 3 + MULTI_PLANE = 4 + + +@dataclass +class CalibrationTarget: + target_type: TargetType = TargetType.DOT_GRID # Pattern type. Currently supported: Circlegrid, Dotgrid, Checkerboard, MultiPlanes + grid_size: List[float] = field(default_factory=list) # Distance between two features in x and y direction + dimension: List[int] = field(default_factory=list) # Size of the calibration pattern from the origin + blob_target: Union[BlobTarget, None] = None + multi_plane_target: MultiPlaneTarget = None + chess_board_target: Union[ChessBoardTarget, None] = None + + +class PatternType(Enum): + SINUSOIDAL_INV = 0 + SINUSOIDAL = 1 + GRAYCODE = 2 + HETRODYNE = 3 + SOLIDFIELD = 4 + CROSSHAIR = 5 + NOTHING = 6 + RANDOM_PATTERN = 7 + CUSTOM = 8 + + +@dataclass +class Pattern: + pattern_type: PatternType = PatternType.SINUSOIDAL + frequency: int = 1 + phase: int = 0 + direction: str = "x" + color: Union[str, None] = None + custom_address: Union[Tuple[int, int], None] = None + + +@dataclass +class Sequence: + pattern_list: List[Pattern] = field(default_factory=list) + do_invert_list: List[bool] = field(default_factory=list) + pattern_ids: Tuple[Tuple[int]] = None + inverse: bool = False + repeat: bool = False + brightness: float = 0.5 + exposure: Union[int, None] = None + interval: Union[int, None] = None + color_list: List[str] = field(default_factory=list) + bit_depth: int = 8 + trigger_mode: int = 0 + global_trigger: str = 'intExt' + + def add_solid_field(self, first_image: bool = False): + solid_field_pattern = Pattern(PatternType.SOLIDFIELD) + if first_image: + self.pattern_list.insert(0, solid_field_pattern) + else: + self.pattern_list.append(solid_field_pattern) + + def is_solid_field_in_sequence(self): + return PatternType.SOLIDFIELD in [pattern.pattern_type for pattern in self.pattern_list] + + def add_random_pattern(self): + random_pattern = Pattern(PatternType.RANDOM_PATTERN) + self.pattern_list.append(random_pattern) + + def add_custom_pattern(self, address): + custom_pattern = Pattern(PatternType.CUSTOM) + custom_pattern.custom_address = address + self.pattern_list.append(custom_pattern) + + def add_crosshair_pattern(self): + crosshair_pattern = Pattern(PatternType.CROSSHAIR) + self.pattern_list.append(crosshair_pattern) + + +class PixelFormat(Enum): + UINT_8 = 1 + UINT_10 = 2 + UINT_12 = 3 + UINT_14 = 4 + + +class TriggerMode(Enum): + OFF = 1 + IN = 2 + OUT = 3 + + +class ConfigKeyError(Exception): + pass diff --git a/pyrefloid/utils/geometry.py b/pyrefloid/utils/geometry.py new file mode 100644 index 0000000..0c094c2 --- /dev/null +++ b/pyrefloid/utils/geometry.py @@ -0,0 +1,193 @@ +import numpy as np + + +def meshHeightmap(mask, heightmap, useSpikeFilter=True): + """ + Creates a mesh from heightmap and mask. + + point indices: a b + c d + + combinations for triangles are (a, b, c) and (b, c, d) + these combinations are sufficient + + Parameters + ---------- + mask : numpy.array of bools + + heightmap : numpy.array of floats + w x h x 3 for regular 3d data or w x h x 6 for 3d data with color information + + useSpikeFilter : bool + Use spike filter after meshing heightmap + + Returns + ------- + tuple(vertices, triangles, [colors]) + vertices: 3d-points + triangles: indices of 3d points that form a trinangle + colors [optional]: color information per vertice + """ + if heightmap is None: + return None + + got_colors = False + if heightmap.shape[2] == 6: + got_colors = True + color = heightmap[:, :, 3:].astype(np.uint8) + heightmap = heightmap[:, :, :3] + + xRange = mask.shape[1] + X, Y = np.meshgrid(range(mask.shape[1] - 1), range(mask.shape[0] - 1)) + + if mask.dtype.char in np.typecodes['AllInteger']: + if np.sum(np.logical_or(mask > 1, mask < 0)) > 0: + raise TypeError("Expected mask containing '1' and '0' or 'True' and 'False'!") + mask = mask.astype(np.bool) + elif mask.dtype.char == '?': + # Everything is fine + pass + else: + raise TypeError("Expected mask of type bool or integer (will be casted to bool).") + # make an array of indices to fill + numMask = np.sum(mask) + vertexIDs = np.zeros((mask.shape[0] * mask.shape[1]), dtype=np.int32) + vertexIDs[mask.flatten()] = np.arange(numMask, dtype=np.int32) + vertexIDs = vertexIDs.reshape((-1, 1)) + + # check validity of points that correspond to a triangle in the top left corner of a quadruple of points + # triangle in (a, b, c) + topleftTrisValid = np.logical_and(mask[:-1, 1:], np.logical_and(mask[1:, :-1], mask[:-1, :-1])) + + topLeftTrisTopLeft = X[topleftTrisValid] + Y[topleftTrisValid] * xRange + topLeftTrisBottomLeft = X[topleftTrisValid] + (Y[topleftTrisValid] + 1) * xRange + topLeftTrisTopRight = X[topleftTrisValid] + 1 + Y[topleftTrisValid] * xRange + + topLeftTriIndices = np.hstack((vertexIDs[topLeftTrisTopLeft.flatten()], + vertexIDs[topLeftTrisBottomLeft.flatten()], + vertexIDs[topLeftTrisTopRight.flatten()])) + + del topLeftTrisTopLeft, topLeftTrisBottomLeft, topLeftTrisTopRight, topleftTrisValid + + # same with (b, c, d) + bottomRightTrisValid = np.logical_and(mask[1:, 1:], np.logical_and(mask[1:, :-1], mask[:-1, 1:])) + + bottomRightTrisBottomRight = X[bottomRightTrisValid] + 1 + (Y[bottomRightTrisValid] + 1) * xRange + bottomRightTrisBottomLeft = X[bottomRightTrisValid] + 0 + (Y[bottomRightTrisValid] + 1) * xRange + bottomRightTrisTopRight = X[bottomRightTrisValid] + 1 + (Y[bottomRightTrisValid] + 0) * xRange + + bottomRightTriIndices = np.hstack((vertexIDs[bottomRightTrisBottomRight.flatten()], + vertexIDs[bottomRightTrisTopRight.flatten()], + vertexIDs[bottomRightTrisBottomLeft.flatten()])) + + del bottomRightTrisValid, bottomRightTrisBottomRight, bottomRightTrisBottomLeft, bottomRightTrisTopRight + + if got_colors: + color = color.reshape((-1, 3)) + color = color[mask.flatten(), :] + + cloud = heightmap.reshape((-1, 3)) + cloud = cloud[mask.flatten(), :] + + tris = np.vstack((topLeftTriIndices, bottomRightTriIndices)) + + mesh = (cloud, tris) + if useSpikeFilter: + vertices, triangles, inliers = filterSpikes(mesh, return_inliers=True) + filteredMesh = (vertices, triangles) + if got_colors: + color = color[inliers, :] + else: + filteredMesh = mesh + + if got_colors: + # Extend tuple by using "+" + return filteredMesh + (color, ) + + return filteredMesh + + +def filterSpikes(mesh, triangleAspect=5.0, triangleLen=3.0, return_inliers=False): + """Filters spikes in a given mesh. + Uses function "removeUnreferencedVertices()" (see below) + + Parameters + ---------- + mesh : tuple(vertices, triangles) + vertices: 3d-points to make triangles + triangles: indices of vertices to make triangles + triangleAspect : float + maximum ratio between the length of the sides of a triangle + triangleLen : float + maximum length for the sum of length of sides + return_inliers : bool + return inliers if True + + Returns + ------- + tuple(vertices, triangles, [inliers]) + vertices and triangles that satisfy triangleAspect and triangleLen + optional return: inliers from filter operation + """ + vertices, triangles = mesh + triangleVertices = vertices[triangles, :] + + # sum of length of all sides by subtracting next point + lenVectors = triangleVertices[:, :, :] - triangleVertices[:, [1, 2, 0], :] + length = np.linalg.norm(lenVectors, axis=2) + maxLength = np.max(length, axis=1) + + lenAspect = length / length[:, [1, 2, 0]] + lenAspectMax = np.max(lenAspect, axis=1) + lenAspectMin = np.min(lenAspect, axis=1) + + selector = np.logical_and(lenAspectMax < triangleAspect, lenAspectMin > 1. / triangleAspect) + selector = np.logical_and(selector, maxLength < triangleLen) + + triangles = triangles[selector, :] + mesh = (vertices, triangles) + + if return_inliers: + return removeUnreferencedVertices(mesh, return_inliers) + + return removeUnreferencedVertices(mesh) + + +def removeUnreferencedVertices(mesh, return_inliers=False): + """Removes unreferenced vertices from mesh. + + Parameters + ---------- + mesh : tuple(vertices, triangles) + vertices: 3d-points to make triangles + triangles: indices of vertices to make triangles + return_inliers : bool + return inliers if true + + Returns + ------- + tuple(vertices, triangles, [validVIndices]) + vertices and triangles are referenced. + Optional return: validVIndices as inlier mask + + """ + vertices, triangles = mesh + numVertices = vertices.shape[0] + + vertexReferenced = np.zeros(numVertices, dtype=np.ubyte) + vertexReferenced[triangles[:]] = 1 + # for each vertex that is referenced in triangle, write a one + + validVIndices = np.arange(numVertices) + validVIndices = validVIndices[vertexReferenced > 0] + + newVertexPos = np.zeros((numVertices), dtype=np.int32) + newVertexPos[validVIndices] = np.arange(len(validVIndices)) + + triangles = newVertexPos[triangles[:]].reshape((-1, 3)) + vertices = vertices[validVIndices, :] + + if return_inliers: + return vertices, triangles, validVIndices + + return vertices, triangles diff --git a/pyrefloid/utils/image_handling.py b/pyrefloid/utils/image_handling.py new file mode 100644 index 0000000..47c2757 --- /dev/null +++ b/pyrefloid/utils/image_handling.py @@ -0,0 +1,461 @@ + +import numpy as np +from scipy.optimize import least_squares +import warnings + + +class Optimizer(object): + def __init__(self, fun, optimizables=None, **vars): + self.fun = fun + self.vars = vars + + self.debugLevel = 0 + self.optimizables = optimizables + self.maxI = 100000 + self.current_i = 0 + self.bounds = (-np.inf, np.inf) + self.method = "lm" + self.kwarg_params = {} + + self.bounds = (-np.inf, np.inf) + if self.optimizables is None: + self.optimizables = list(vars.values()) + + def optimize(self): + if self.debugLevel > 0: + print(f"optimizing {len(self.optimizables)} vars with {len(list(self.vars.keys()))} arguments") + print(f"resulting in {len(self.argArrayFromvars())} elements, using a max of {self.maxI} iter") + + if self.method == "lm": + # if self.bounds is not (-np.inf, np.inf): + # print("Levenberg marquardt does not support bound. Use self.method = 'trf' instead for Trust Region Reflective algorithm") + least_squares(self.__optifun, self.argArrayFromvars(), max_nfev=self.maxI, method=self.method) + + elif self.method == "trf" or self.method == "dogbox": + least_squares(fun=self.__optifun, x0=self.argArrayFromvars(), bounds=self.bounds, + max_nfev=self.maxI, method=self.method, **self.kwarg_params) + + def __optifun(self, argArray): + self.updateVars(argArray) + if self.debugLevel > 0: + self.current_i += 1 + err = self.fun(**self.vars) + m = np.mean(err), np.median(err), np.min(err), np.max(err) + print("iteration #{} resulted in mean: {}, median: {}, min: {}, max: {}".format(self.current_i, + m[0], m[1], m[2], m[3])) + + return self.fun(**self.vars) + + def argArrayFromvars(self): + elements = 0 + for var in self.optimizables: + elements += len(var.flatten()) + resultArray = np.zeros((elements)) + + i = 0 + for var in self.optimizables: + flatvar = var.flatten() + varLen = len(flatvar) + resultArray[i:i + varLen] = flatvar + i += varLen + + return resultArray + + def updateVars(self, argArray): + i = 0 + for var in self.optimizables: + varLen = len(var.flatten()) + var[...] = argArray[i:i + varLen].reshape(var.shape) + i += varLen + + def __call__(self): + self.optimize() + + +def calcSupportPoints(res, pointNum): + """ + Calculates support points for a given resolution and number of points. + Distributes the points equal over the given area (resolution). + + Parameters + ---------- + res : list/tuple + List or tuple which represents the given resolution. + + pointNum : list/tuple + List or tuple which defines the number of points put along the dimensions. + + Returns + ------- + supportPoints : numpy array + Support points calculated + + """ + xSamples = pointNum[0] + ySamples = pointNum[0] + + # In python 3 "//" does a integer division i.e. floors the result + xSampleWidth = res[0] // (xSamples - 1) + ySampleWidth = res[1] // (ySamples - 1) + + x, y = np.meshgrid(np.arange(0, res[0] + 1, xSampleWidth), np.arange(0, res[1] + 1, ySampleWidth)) + + supportPoints = np.dstack((x, y, np.ones_like(x))).reshape((-1, 3)) + + return supportPoints + + +# Base class +class Distortion(object): + """ + Base distortion class. + """ + + def __init__(self, resolution): + self.resolution = resolution + + def distort(self, points): + raise NotImplementedError("not implemented in superclass") + + def undistort(self, points): + raise NotImplementedError("not implemented in superclass") + + def genDistortionMap(self): + X, Y = np.meshgrid(np.arange(self.resolution[0]), np.arange(self.resolution[1])) + + grid = np.dstack((X, Y)) + + distortedGrid = self.distort(grid.reshape((-1, 2))) + return distortedGrid.reshape((self.resolution[1], self.resolution[0], 2)) + + def genUndistortionMap(self): + X, Y = np.meshgrid(np.arange(self.resolution[0]), np.arange(self.resolution[1])) + + grid = np.dstack((X, Y)) + undistortedGrid = self.undistort(grid.reshape((-1, 2)))[:, 0:2] + return undistortedGrid.reshape((self.resolution[1], self.resolution[0], 2)) + + +class DistortionCV(Distortion): + """ + Distortion class which can handle distortion parameters as given by opencv function. + Has some basic functions to calculate distortion/undistortion or distort given set of points. + Needs K as np.eye(3) for 3d-points, K as K for 2d-features + Needs to have distortion/undistortion set with .flatten() + """ + + def __init__(self, K=None, resolution=(1920, 1080), samples=(19, 10)): + """ + Parent class will set resolution. + """ + super(DistortionCV, self).__init__(resolution=resolution) + if K is None: + K = np.eye(3) + K[0, 2] = 1 + K[1, 2] = 1 + self.K = K + self._distortion = None + self._undistortion = None + + self.samples = samples + + @property + def distortion(self): + if self._distortion is None: + self.calcDistortionFromUndistortion() + + return self._distortion + + @distortion.setter + def distortion(self, val): + self.setDistortion(val) + + def setDistortion(self, distortion): + self._distortion = distortion + + @property + def undistortion(self): + if self._undistortion is None: + self.calcUndistortionFromDistortion() + + return self._undistortion + + @undistortion.setter + def undistortion(self, val): + self.setUndistortion(val) + + def setUndistortion(self, undistortion): + self._undistortion = undistortion + + @staticmethod + def __distort__(points, distortion, K): + + if K is not None: + iK = np.linalg.inv(K) + if points.shape[1] == 2: + points = np.hstack((points, np.ones((points.shape[0], 1)))) + if points.shape[1] != 3: + raise Exception("points have wrong shape: %s. Needs to be n times [2|3]." % (str(points.shape))) + points = points.dot(iK.T) + + result = np.array(points) + k1, k2, k3, k4, k5, k6, p1, p2 = DistortionCV.__getDistortionParams__(distortion) + + points2 = points ** 2 + r2 = np.sum(points2[:, 0:2], axis=1).reshape((-1, 1)) + # save some memory + z = k1 * r2 + n = k4 * r2 + r4 = r2 ** 2 + z += k2 * r4 + n += k5 * r4 + r6 = r2 * r4 + del r4 + z += k3 * r6 + n += k6 * r6 + del r6 + + result[:, 0:2] *= ((1 + z) + / (1 + n)) + + pointsXtimesY = points[:, 0:1] * points[:, 1:2] + result[:, 0:1] += 2.0 * p1 * (pointsXtimesY) + p2 * (r2 + 2.0 * points2[:, 0:1]) + result[:, 1:2] += 2.0 * p2 * (pointsXtimesY) + p1 * (r2 + 2.0 * points2[:, 1:2]) + + if K is not None: + result = result.dot(K.T) + + return result + + def distort(self, points): + return self.__distort__(points, self.distortion.flatten(), self.K) + + def undistort(self, points): + return self.__distort__(points, self.undistortion.flatten(), self.K) + + def calcUndistortionFromDistortion(self): + warnings.filterwarnings("error") + try: + self.undistortion = self.__invertDistortion__(self.distortion) + except RuntimeWarning: + # print("Got runtime warning in distortion from overflow in error function. Using negative parameters instead") + self.undistortion = - self.distortion + warnings.filterwarnings("default") + + def calcDistortionFromUndistortion(self): + warnings.filterwarnings("error") + try: + self.distortion = self.__invertDistortion__(self.undistortion) + except RuntimeWarning: + # print("Got runtime warning in distortion from overflow in error function. Using negative parameters instead") + self.distortion = - self.undistortion + warnings.filterwarnings("default") + + def __invertDistortion__(self, distortionParams): + + supportPoints = calcSupportPoints(self.resolution, self.samples) + + inverseDistortion = np.array(-distortionParams) + + def errorfun(points, distortion, inverseDistortion): + error = points - DistortionCV.__distort__(DistortionCV.__distort__(points, distortion, self.K), + inverseDistortion, self.K) + + return np.sum(error ** 2, axis=1) + + opti = Optimizer(errorfun, [inverseDistortion], points=supportPoints, distortion=distortionParams, + inverseDistortion=inverseDistortion) + + opti() + + return inverseDistortion + + @staticmethod + def __getDistortionParams__(distortParams): + + p1, p2, k3, k4, k5, k6 = 0, 0, 0, 0, 0, 0 + + k1 = distortParams[0] + k2 = distortParams[1] + if len(distortParams) > 2: + p1 = distortParams[2] + p2 = distortParams[3] + if len(distortParams) > 4: + k3 = distortParams[4] + if len(distortParams) > 5: + k4 = distortParams[5] + k5 = distortParams[6] + k6 = distortParams[7] + + return k1, k2, k3, k4, k5, k6, p1, p2 + + +def compress_for_lcr(images, order=(2, 1, 0)): + """ + Compresses a 3 greyscale images into 1 rgb image. + Uses the order of images to create images. + + Parameters + ---------- + images : list + list of images (numpy array) + + order : tuple + order of the channels. E.g.: + (2, 1, 0) First image goes to channel 2, + second image goes to channel 1, + third image goes to channel 0 + + Returns + ------- + result_array : list + list of compressed images + """ + w, h = (912, 1140) + if images[0].ndim > 2: + raise ValueError("This function only supports 2d greyscale images!") + result_array = list() + compressed_img = np.zeros((h, w, 3)) + # Order of channels to compress it like lcr4500 + channels = order + for img_no, image in enumerate(images): + channel_no = img_no % 3 + channel = channels[channel_no] + compressed_img[:, :, channel] = image + if channel_no == 2: + result_array.append(compressed_img) + compressed_img = np.zeros((h, w, 3)) + + return result_array + + +def convert_img_to_lcr4500(in_img: np.ndarray): + """ + Converts an image to LCR4500 image, which has to be 912x1140 (w=912 columns by h=1140 rows, see documentation). + Performs downsampling to maintain the correct shapes in the image since + projector pixels are diamonds instead of squares. + + Can handle greyscale and rgb images. Greyscale may further be compressed with 'compress_for_lcr' function. + + Parameters + ---------- + in_img : img to be converted + img has a size of 3649x2281 + + Returns + ------- + out_img : Output image + downsampled image with correct resolution for LCR4500 + + """ + + expected_shape = (2281, 3649) + w, h = (912, 1140) + if not in_img.shape[0:2] == expected_shape: + raise ValueError("Dimensions of in_img are not as expected. " + "Expected {exp}, got {got}." + "".format(exp=expected_shape, + got=in_img.shape)) + if in_img.shape[-1] == 3: + num_channels = 3 + else: + num_channels = 1 + + out_img = np.zeros((h, w, num_channels), dtype=np.float32) + in_img = np.atleast_3d(in_img) + + # Mean of 5 neighbouring pixels + out_img[0::2, :, :] += in_img[0:2280:4, 1:3648:4, ...] + out_img[0::2, :, :] += in_img[1::4, 1::4, ...] + out_img[0::2, :, :] += in_img[2::4, 1::4, ...] + out_img[0::2, :, :] += in_img[1:2280:4, 0:3648:4, ...] + out_img[0::2, :, :] += in_img[1::4, 2::4, ...] + + out_img[1::2, :, :] += in_img[2::4, 3::4, ...] + out_img[1::2, :, :] += in_img[3::4, 3::4, ...] + out_img[1::2, :, :] += in_img[4::4, 3::4, ...] + out_img[1::2, :, :] += in_img[3::4, 2::4, ...] + out_img[1::2, :, :] += in_img[3::4, 4::4, ...] + out_img /= 5. + + return out_img.squeeze() + + +def generate_fringe_bmps(pro_distortion=None, direction="x", mask=None, resolution=(2281, 3649), + patterns=((1, [0, 90, 180, 270]), (6, [0, 90, 180, 270]), (36, [0, 90, 180, 270]))): + """ + Generates projector bitmaps to calibrate a phaseshift fringe projection system. + With known distortion this function may also be used to generate distorted images (undistorted when projected). + + Parameters + ---------- + pro_distortion : cvDistortion class + distortion class which contains the distortion parameters of the projector + (Class definition in distortionClass.py). If passed 'None' will use default values without any distortion. + + direction : str + defines the direction of the pattern + + patterns : tuple + dict key defines frequency, value is a list of phases + + mask : Not used (May be added in future release?) + + Returns + ------- + result_array : list of images + returns a list of images with given resolution, direction and pattern + + """ + # Set default distortion + if pro_distortion is None: + pro_distortion = DistortionCV(resolution=resolution) + pro_distortion.setUndistortion(np.array([0, 0])) + pro_distortion.calcDistortionFromUndistortion() + + w, h = pro_distortion.resolution + + x, y = np.meshgrid(np.arange(0, w), np.arange(0, h)) + pixel_coords = np.dstack((x, y)) + undistorted_pixel_coords = pro_distortion.undistort(pixel_coords.reshape((-1, 2))).reshape((h, w, 3))[:, :, 0:2] + undistorted_coords = undistorted_pixel_coords / np.array([[[w, h]]]) * 2.0 * np.pi + + result_array = list() + + for frequency, phases in patterns: + for phase in phases: + img = np.sin(undistorted_coords[:, :, 0 if direction == "x" else 1] * frequency + phase * np.pi / 180.) + img += 1.0 + img /= 2.0 + result_array.append(img) + + return result_array + + +def generate_solid_field_bmp(resolution=(2281, 3649), color=(255, 128, 0)): + """ + Generates a simple solid field image with given color and resolution. + The three color channels may be abused by the pattern projection of the LCR4500. + This way it is possible to have one image which consists of three 8-bit images with different strength. + + Parameters + ---------- + resolution : tuple + Contains x- and y-resolution + + color : tuple + contains the RGB color of the solid fiel image. + + Returns + ------- + + """ + # Change color to (128, 255, 0)? Since projector ist GRB not RGB + w, h = resolution + outImg = np.zeros((h, w, 3), dtype=np.uint8) + + outImg[:, :, 0] = color[1] + outImg[:, :, 1] = color[0] + outImg[:, :, 2] = color[2] + + return outImg diff --git a/pyrefloid/utils/loader.py b/pyrefloid/utils/loader.py new file mode 100644 index 0000000..9404ce2 --- /dev/null +++ b/pyrefloid/utils/loader.py @@ -0,0 +1,145 @@ +import json +import logging +import pathlib +import warnings +from typing import Dict, Optional, Union + +import numpy as np + +logger = logging.getLogger(__name__) + + +def dynamic_import_class(name): + # split import path into package and desired class, import package, and + # return class from package + mod, cls = name.rsplit('.', 1) + mod = __import__(mod, fromlist=[cls]) + return getattr(mod, cls) + + +def initMeasurementClass(config_dict: dict): + """ + Creates an instance of a measurement class. The type is defined within the config_dict. + Additionally will set any settings which are given in "settings" entry. + + Note: Keys have to be registered in the wanted measurement class. + Function "loadProjectConfig" has to be called before, this way the resourceManager is filled. + + Parameters + ---------- + config_dict : dict + Part of the resourceManager dict (default: resourceManager['config']) + + Returns + ------- + instance : Measurement class instance + Instance of the defined Measurement class. + + """ + measurement_dict = config_dict['measurement'] + cam_params = None + pro_params = None + try: + calibration = loadCalibration(config_dict['calibrationFile']) + if calibration is not None: + cam_params = calibration['cams'] + pro_params = calibration['projectors'] + except KeyError as e: + # May catch KeyError from "calibration['cams']" and "calibration['projectors']" + logger.info(f"Config misses 'calibrationFile' key. No calibration file specified. Original exception: {e}") + + if cam_params is None or pro_params is None: + raise Exception("No calibration files provided") + + if 'class' not in measurement_dict.keys(): + raise KeyError('Config must have "class" key when using this function!') + measurement_class = dynamic_import_class(measurement_dict['class']) + instance = measurement_class(cam_params, pro_params) + logger.debug(f"Created class instance: {instance}") + + required_keys = ('direction',) + if not all(key in measurement_dict['settings'] for key in required_keys): + raise KeyError(f"Config must have key: {required_keys} in entry 'settings'!") + # Iterate over settings, ignore not supported settings - warn user by logging an info + for feature, value in measurement_dict['settings'].items(): + try: + instance.setFeature(feature, value) + except NotImplementedError as e: + logger.info(f"Skipping setting: {e}") + + return instance + + +def initCalibrationClass(calibrationDict: dict, config_dict: dict, + nameResolutionPro: Optional[Dict[str, Union[tuple, list]]] = None): + """ + Creates an instance of a calibration class. The type is defined within the config_dict. + Additionally will set any settings which are given in "settings" entry. + + Note: Keys have to be registered in the wanted calibration class. + + Parameters + ---------- + config_dict : dict + Part of the resourceManager dict (default: resourceManager['config']) + + Returns + ------- + instance : Measurement class instance + Instance of the defined Measurement class. + + """ + calibration_config = config_dict['calibration'] + if 'class' not in calibration_config.keys(): + raise KeyError('Config must have "class" key when using this function!') + calibration_class = dynamic_import_class(calibration_config['class']) + + instance = calibration_class(calibrationDict, nameResolutionPro) + + try: + instance.setFeature(calibration_config['settings']) + except KeyError: + warnings.warn("No calibration settings given, if not intentional: Check spelling and structure of config file!") + + return instance + + +def loadCalibration(file: Union[str, None]) -> Optional[Dict[str, Union[list, tuple, np.ndarray]]]: + """ + Loads a given calibration file and returns the calibration data (camera and projector parameters). + + Parameters + ---------- + file : str + String that specifies the calibration file. + + Returns + ------- + cam_params : dict + Camera parameters. Contains: 'K', 'distortion', 'R', 't', 'undistortion', 'RT' and 'resolution' + + pro_params : dict + Projector parameters. Contains: 'K', 'distortion', 'R', 't', 'undistortion', 'RT' and 'resolution' + """ + if file not in (None, ''): + # Check if file is a json file + if not file.endswith('.json'): + raise ValueError(f"Calibration file must be a json file! Given file: {file}") + # Check if file exists + try: + with open(file, 'r') as f: + calibration = json.load(f) + except FileNotFoundError: + try: + # get file name from string + filename = file.split("/")[-1] + filepath = pathlib.Path().absolute() / "res/config" / filename + with open(filepath, 'r') as f: + calibration = json.load(f) + + except FileNotFoundError: + raise FileNotFoundError(f"Calibration file not found: {file}") + + return calibration + else: + return None diff --git a/pyrefloid/utils/logger.py b/pyrefloid/utils/logger.py new file mode 100644 index 0000000..f6ada4f --- /dev/null +++ b/pyrefloid/utils/logger.py @@ -0,0 +1,22 @@ +import logging + + +def get_logger(name): + file_formatter = logging.Formatter('%(asctime)s~%(levelname)s~%(message)s~module:%(module)s~function:%(module)s') + console_formatter = logging.Formatter('%(levelname)s -- %(message)s') + + file_handler = logging.FileHandler("logfile.log") + file_handler.setLevel(logging.DEBUG) + file_handler.setFormatter(file_formatter) + + console_handler = logging.StreamHandler() + console_handler.setLevel(logging.DEBUG) + console_handler.setFormatter(console_formatter) + + logger = logging.getLogger(name) + logger.propagate = False # Disable default logger + logger.addHandler(file_handler) + logger.addHandler(console_handler) + logger.setLevel(logging.DEBUG) + + return logger diff --git a/pyrefloid/utils/phaseshift.py b/pyrefloid/utils/phaseshift.py new file mode 100644 index 0000000..a591960 --- /dev/null +++ b/pyrefloid/utils/phaseshift.py @@ -0,0 +1,1285 @@ + +import os +import pickle as pkl +from typing import Optional, Union, Dict, List, Any +import logging +import warnings +import cv2 +import numpy as np +import scipy.ndimage as nd +from copy import copy +from dataclasses import is_dataclass, field +from itertools import zip_longest + +from pyrefloid.utils.geometry import meshHeightmap +from pyrefloid.utils.dataclasses import ImageData, ImageStack, MeasurementData, CalibrationDataItem, Sequence, Pattern, LocalPhaseMaps, MeasurementResultData + +LOGGING_LEVEL = None + + +def grouper(iterable, n, fillvalue=None): + """ + Collect data into fixed-length chunks or blocks + + example: grouper('ABCDEFG', 3, 'x') --> ABC DEF Gxx" + + :param iterable: some iterable from which the groups should be returned + :param n: number of elements in the groups + :param fillvalue: object that should be inserted if the iterable can't be + split up into a full number of groups + :return: iterable of iterable groups with length n + """ + args = [iter(iterable)] * n + return zip_longest(*args, fillvalue=fillvalue) + + +def img_to_grayscale(img: np.ndarray) -> np.ndarray: + """ + Converts input image to grayscale (if necessary) + + Parameters + ---------- + img : np.ndarray + Supported dimensions: (w x h x 1), (w x h x 3) + + Returns + ------- + img : np.ndarray + Output dimension: (w x h) + """ + # Make sure that images are grayscale + if img.ndim == 3: + # RGB case (w x h x 3) -> (w x h) + if img.shape[2] == 3: + img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + # Grayscale with extra dimension (w x h x 1) -> (w x h) + elif img.shape[2] == 1: + img = img.squeeze() + + return img + + +def filterImage(img, filters): + """ + Filters one image given filter parameters defined in filters. + + Notes: Currently supports keywords "gauss" and "median". + Uses scipy ndimage functions. + + Parameters + ---------- + img : np.ndarray + Numpy array which represents the image + + filters : :obj:`list` of :obj:`dict` + List of dictionaries, each dict contains filter type and parameters. + These dicts may contain further dicts (see implementation) + + Returns + ------- + img : np.ndarray + Filtered image + + """ + if not isinstance(filters, list): + filters = [filters, ] + if not isinstance(filters[0], dict): + raise TypeError("Each entry of 'filters' is expected to be a dict!") + for f in filters: + filter_keys = f.keys() + # Convert to lower-case to make it more userfriendly + filter_keys = [s.lower() for s in filter_keys] + if 'median' in filter_keys: + size = int(f['median']) + img = nd.median_filter(input=img, size=size) + if 'gauss' in filter_keys: + sigma = f['gauss'] + img = nd.gaussian_filter(input=img, sigma=sigma) + + return img + + +def filterImages(imgs, filters): + """ + Wraps filterImage function inside a list comprehension. + This way multiple images may be filtered at once. + + Parameters + ---------- + imgs : list or tuple + List or tuple of np.ndarrays containing the images + + filters : dict + Dictionary of filter parameters + + Returns + ------- + list of filtered images + """ + return [filterImage(img, filters) for img in imgs] + + +def getTestSequenceDataClass(old_config_style: bool = True): + pattern_list = [] + directions = 'xy' + color = 'w' + if old_config_style: + old_sequence = [[[1, [0, 90]], [6, [0, 90]], [36, [0, 90, 180, 270]]], + [[1, [0, 90]], [6, [0, 90]], [36, [0, 90, 180, 270]]]] + for i, direction in enumerate(directions): + direction_list = old_sequence[i] + frequencies = [direction_list[j][0] for j in range(len(direction_list))] + phases_list_list = [direction_list[j][1] for j in range(len(direction_list))] + for frequency, phase_list in zip(frequencies, phases_list_list): + for phase in phase_list: + pattern_list.append(Pattern(frequency=frequency, phase=phase, direction=direction, color=color)) + + +class Phaseshift: + """ + Implements fringe projection using phase shift + """ + + def __init__(self, cam_params: Optional[dict], projector_params: Optional[dict], + instance_id: Optional[str] = None) -> None: + + self.features = {} + self.logger = logging.getLogger(__name__) + + if LOGGING_LEVEL is not None: + self.logger.setLevel(LOGGING_LEVEL) + + self.loggerLevel = None # self.logger.getEffectiveLevel() + + self.registerFeatures() + + self.camera_parameters = cam_params + self.projector_parameters = projector_params + self.patterns = None + + self.check_for_calibration() + + self.image_stack: ImageStack = ImageStack() + self.filtered_image_stack: Optional[ImageStack] = None + self.calibration_data: Optional[List[CalibrationDataItem]] = None + self.result_data: Optional[MeasurementResultData] = None + + self.direction: Optional[str] = None + self.pattern_sequence: Sequence = field(default_factory=dict) + self.measurement_data: MeasurementData = MeasurementData() + + # Filter values have to be set or passed to class + self.phasemap_filter = None + self.heightmap_filter = None + + # Phasemap refinement options + self.applyLaplacian = False + self.laplacian_kernel_size = None + self.laclacian_threshold = 10 + self.num_laplacian_erosions = 0 + self.erodeMask = 0 + self.default_sequence = {'x': {'frequencies': [1, 6, 36], + 'phases': [[0, 90], [0, 90], [0, 90, 180, 270]]}, + 'y': {'frequencies': [1, 6, 36], + 'phases': [[0, 90], [0, 90], [0, 90, 180, 270]]}} + + # Optional coloring of 3d data + self.add_color = False + + self.z_max = None + self.z_min = None + + # Thresholds and max values + self._MAX_PX_INTENSITY = 0.95 + self._AMPLITUDE_THRESHOLD = 0.15 + + def check_for_calibration(self): + if len(self.camera_parameters.keys()) == 1: + key = list(self.camera_parameters.keys())[0] + if "cam" in key.lower(): + self.camera_parameters = self.camera_parameters[key] + else: + self.logger.debug("cam calibration is faulty") + else: + cam_keys = [key for key in self.camera_parameters.keys() if "cam" in key.lower()] + if len(cam_keys) > 1: + self.logger.debug(f"Only one camera is allowed!\n\ + Found multiple calibrations entrys: {cam_keys}\n") + + if len(self.projector_parameters.keys()) == 1: + key = list(self.projector_parameters.keys())[0] + if "pro" in key.lower(): + self.projector_parameters = self.projector_parameters[key] + else: + self.logger.debug("projector calibration is faulty") + else: + pro_keys = [key for key in self.projector_parameters.keys() if "pro" in key.lower()] + if len(pro_keys) > 1: + self.logger.debug(f"Only one projector is allowed!\n\ + Found multiple calibration entrys: {pro_keys}\n") + try: + for key in self.camera_parameters.keys(): + self.camera_parameters[key] = np.array(self.camera_parameters[key]) + for key in self.projector_parameters.keys(): + self.projector_parameters[key] = np.array(self.projector_parameters[key]) + except: + self.logger.debug("Couldn't cast calibration file content into numpy arrays") + + def registerFeature(self, key, callback): + self.features[key.lower()] = callback + + def setFeature(self, *args, **kwargs): + if len(args) == 1: + if isinstance(args[0], dict): + settings = args[0] + for key in settings.keys(): + self.setFeature(key=key, value=settings[key]) + elif isinstance(args[0], (list, tuple)): + # assume the settings are ordered as ['key', value] + for (key, value) in grouper(args[0], 2): + self.setFeature(key=key, value=value) + elif isinstance(args[0], str): + # This might still be a single key with the value given as a + # kwarg. So check if a single kwarg with key 'value' exists + if len(kwargs) >= 1 and 'value' in kwargs.keys(): + self.setFeature(key=args[0], value=kwargs['value']) + else: + # assume this is the path to a settings file we should + # parse + # TODO: implement file parsing + pass + elif len(args) >= 2: + # assume the arguments were passed in order ['key', 'value'] + # there may be multiple key value pairs so try to parse all of them + for (key, value) in grouper(args, 2): + self.setFeature(key=key, value=value) + + if all(k in kwargs.keys() for k in ('key', 'value')): + try: + self.logger.debug("Setting key: {key} with value: {value}" + "".format(key=kwargs['key'], + value=kwargs['value'])) + self.features[kwargs['key'].lower()](kwargs['value']) + except KeyError: + raise NotImplementedError('The desired key \'{key}\' has no ' + 'registered implementation. Desired ' + 'value: \'{value}\'' + ''.format(key=kwargs['key'], + value=kwargs['value'])) + except Exception as e: + self.logger.exception('Failed to set \'{key}\' to ' + '\'{value}\', {e}' + ''.format(key=kwargs['key'], + value=kwargs['value'], + e=e)) + + def registerFeatures(self) -> None: + """ + Registers class specific functions to keys to allow using + 'initMeasurementClass' and setting features with 'self.setFeature'. + """ + self.registerFeature('direction', self.setDirection) + + self.registerFeature('sequence', self.set_patterns) + self.registerFeature('patterns', self.set_patterns) + self.registerFeature('pattern', self.set_patterns) + + self.registerFeature('useLaplacian', self.setLaplacianSettings) + self.registerFeature('applyLaplacian', self.setLaplacianSettings) + self.registerFeature('laplacianSettings', self.setLaplacianSettings) + + self.registerFeature('amplitudeThreshold', self.set_amplitude_threshold) + + # Leaving this in to have legacy support + # TODO: Remove this one since its naming is not fitting + self.registerFeature('erodePhasemap', self.setNumMaskErosions) + # New-style version + self.registerFeature('erodeMask', self.setNumMaskErosions) + + self.registerFeature('phasemapFilter', self.set_phase_map_filter) + self.registerFeature('phasemap_filter', self.set_phase_map_filter) + self.registerFeature('filterPhasemap', self.set_phase_map_filter) + self.registerFeature('heightmapFilter', self.set_height_map_filter) + self.registerFeature('heightmap_filter', self.set_height_map_filter) + self.registerFeature('filterHeightmap', self.set_height_map_filter) + + self.registerFeature('addColor', self.set_add_color) + self.registerFeature('add_color', self.set_add_color) + self.registerFeature('addColorInformation', self.set_add_color) + self.registerFeature('addRGB', self.set_add_color) + + self.registerFeature('z_min', self.set_z_min) + self.registerFeature('min_z', self.set_z_min) + + self.registerFeature('z_max', self.set_z_max) + self.registerFeature('max_z', self.set_z_max) + + def set_amplitude_threshold(self, thresh: float) -> None: + self._AMPLITUDE_THRESHOLD = thresh + + def set_add_color(self, setting) -> None: + """ + Sets self.addColor. + + Parameters + ---------- + setting : bool + True to add 1 more image to the pattern list (solid field) + """ + self.add_color = setting + if self.add_color and not self.pattern_sequence.is_solid_field_in_sequence(): + self.pattern_sequence.add_solid_field() + if self.patterns: + self.set_patterns(self.pattern_sequence) + + def set_z_min(self, z_min): + """ + Sets the z Minimum, points outside z_min and z_max are masked. + + Parameters + ---------- + z_min : float + Z Minimum + """ + self.z_min = z_min + + def set_z_max(self, z_max): + """ + Sets the z Maximum, points outside z_min and z_max are masked. + + Parameters + ---------- + z_max : float + Z Maximum + """ + self.z_max = z_max + + def setLaplacianSettings(self, setting: Union[dict, bool]) -> None: + """ + Sets self.useLaplacian. + + Parameters + ---------- + setting : bool or dict + True or False for boolean, + dict containing more information like kernel size and threshold, e.g.: + { 'kernelsize': 5, 'threshold': 10, 'erode': 1 } + """ + if isinstance(setting, bool): + self.applyLaplacian = setting + elif isinstance(setting, dict): + # Check enable setting + enable_strings = ("enable", "activate") + occurence_check = [s in setting.keys() for s in enable_strings] + if any(occurence_check): + occured_string = enable_strings[occurence_check.index(True)] + self.applyLaplacian = setting[occured_string] + # If no key can be found, enable by default + else: + self.applyLaplacian = True + + # Check for given kernel size options + kernel_strings = ("kernel_size", "kernelsize", "k_size", "ksize") + occurence_check = [s in setting.keys() for s in kernel_strings] + if any(occurence_check): + occured_string = kernel_strings[occurence_check.index(True)] + self.laplacian_kernel_size = setting[occured_string] + + # Check for given threshold options + threshold_strings = ("edge_threshold", "threshold") + occurence_check = [s in setting.keys() for s in threshold_strings] + if any(occurence_check): + occured_string = threshold_strings[occurence_check.index(True)] + self.laclacian_threshold = setting[occured_string] + + # Check for given erosion options + erode_strings = ("erode", "erosion", "erode_laplacian") + occurence_check = [s in setting.keys() for s in erode_strings] + if any(occurence_check): + occured_string = erode_strings[occurence_check.index(True)] + self.num_laplacian_erosions = setting[occured_string] + + def setNumMaskErosions(self, num: int) -> None: + """ + Sets self.erodePhasemap. + + Parameters + ---------- + num : int + True or False + """ + self.erodeMask = num + + def setDirection(self, direction: str) -> None: + """ + Sets the direction value, does a basic check if input is valid. + + """ + # To handle less possibilities: Cast yx to xy (since this should be the same) + if direction == "yx": + direction = "xy" + + if direction in ('x', 'y', 'xy'): + self.direction = direction + # Checks if dict is empty + if self.patterns: + self.logger.debug('Setting sequence with new direction.') + self.set_patterns(self.pattern_sequence) + + self.logger.debug("Set direction to: {direction}".format(direction=direction)) + else: + raise ValueError('Direction value not valid. Must be "x" or "y" is {direction}' + ''.format(direction=direction)) + + def set_patterns(self, sequence: Optional[Union[Sequence, list, tuple]] = None) -> None: + """ + From a given sequence the corresponding pattern description will be generated. + For phaseshift we use the keys "type", "frequency", "phase" and "direction" + + Parameters + ---------- + sequence : sequence of tuples + each element contains frequency and a list of phases + + Returns + ------- + self.patterns : dict + this dictionary contains the coded pattern sequence list, + it has 3 entries: + 'patterns': sequence standard measurement patterns + 'solidField': code for solid field pattern + 'calibrationPatterns': sequence for calibration patterns (here: normal patterns + solid field) + """ + # Self-variable needed to add images with addImage + if sequence is None: + sequence = getTestSequenceDataClass(old_config_style=False) + + if isinstance(sequence, dict): + self.pattern_sequence = Sequence() + for direction in sequence: + for i, frequency in enumerate(sequence[direction]['frequencies']): + for phase in sequence[direction]['phases'][i]: + self.pattern_sequence.pattern_list.append(Pattern(frequency=frequency, phase=phase, + direction=direction)) + else: + self.pattern_sequence = sequence + + if self.add_color: + self.pattern_sequence.add_solid_field() + + self.logger.debug("Set patterns to sequence: {sequence}".format(sequence=sequence)) + + def get_patterns(self) -> Sequence: + """ Return pattern list set by setPatterns + + Returns + ------- + self.patterns : dict + this dictionary contains all patterns used by this fringe projection method + """ + if is_dataclass(self.pattern_sequence): + return self.pattern_sequence + else: + pattern_sequence: Sequence = Sequence() + for direction in self.sequence: + for i, frequency in enumerate(self.sequence[direction]['frequencies']): + for phase in self.sequence[direction]['phases'][i]: + pattern_sequence.append(Pattern(frequency=frequency, phase=phase, direction=direction, + color=self.sequence[direction].color)) + + if self.add_color and not self.pattern_sequence.is_solid_field_in_sequence(): + pattern_sequence.add_solid_field() + self.pattern_sequence = pattern_sequence + self.set_patterns(self.pattern_sequence) + return self.pattern_sequence + + def delete_calibration_data(self) -> None: + """ + Resets gathered calibrationData + """ + self.calibration_data: List[CalibrationDataItem] = list() + + def generate_calibration_data_item(self) -> CalibrationDataItem: + """ + Generates a calibration data item and appends it to the calibration list. + + One item is a dict with the keys: + "img", "phaseMap", "projectorMap" + + Parameters + ---------- + + Returns + ------- + item : CalibrationDataItem + Calibration item referring to its own instance id, containing the solid field image and the projector map + """ + # images are passed as dictionary as generated by AcquireData + projector_map = self.get_phase_map() + img = img_to_grayscale(self.calculate_color_img()) + calib_data = CalibrationDataItem(cam_name='camA', image=img, projector_map=projector_map) + return calib_data + + def add_item_to_calibration_list(self, item: CalibrationDataItem) -> None: + self.calibration_data.append(item) + + def get_calibration_data(self) -> List[CalibrationDataItem]: + """ + Return calibration data added with addItemToCalibrationList + + Returns + ------- + self.calibrationData : list + list containing any number of calibration items + """ + + if not self.calibration_data: + print("No exisiting calibration data found. Returning empty list!") + + return self.calibration_data + + def get_projector_map(self) -> np.ndarray: + """ + Calculate the projector map used for calibrating the system. + + Parameters + ---------- + + Returns + ------- + projectorMap : np.ndarray + stacked images: phasemapX, phasemapY, mask + """ + return self.get_phase_map() + + def add_images(self, images: ImageData, pattern_sequence: Sequence = None) -> None: + """ + Adds all images acquired during a full pattern sequence + + Parameters + ---------- + pattern_sequence: Sequence + images : ImageData + List of images + + """ + if isinstance(images, dict): + self.image_stack.image_data_dict = images + else: + self.image_stack.image_data_dict = {images.exposure: images} + + if pattern_sequence is None: + self.pattern_sequence = copy(self.get_patterns()) + + def reset_measurement(self) -> None: + """ + Resets a measurement and starts the invalidation functions + """ + self.logger.debug("Resetting measurement") + self.delete_image_stack() + self.measurement_data: MeasurementData = MeasurementData() + self.result_data: Optional[MeasurementResultData] = None + + def delete_image_stack(self) -> None: + """ + Deletes image stack to prepare a new measurement. + + """ + self.logger.debug('Deleted image stack') + self.image_stack: ImageStack = ImageStack() + self.filtered_image_stack: Optional[ImageStack] = None + + def get_filtered_image_stack(self) -> ImageStack: + """ + Creates the mask. + + Does not affect the image stack: + Last two lines: + self.filteredImageStack = self.imageStack + return self.filteredImageStack + + Returns + ------- + filteredImageStack : dict + Filtered imageStack + + """ + self.filtered_image_stack: ImageStack = ImageStack() + image_data_dict = self.image_stack.image_data_dict + for i, (exp, img_data) in enumerate(image_data_dict.items()): + for direction in self.direction: + contrast_stack = dict() + highest_freq = self.image_stack.image_data_dict[exp].get_frequencies(direction=direction)[-1] + phase_list, image_list = self.image_stack.image_data_dict[exp].get_phase_image_list(direction=direction, + frequency=highest_freq) + # Get max intensity for each pixel over multiple images for detection of overexposed pixels + maxIntensity = np.max(np.dstack(image_list), axis=2) + + # Make sure the correct phase shifts are available in the data to compute amplitude + if all(p in phase_list for p in (0, 90, 180, 270)): + amplitude = (image_list[phase_list.index(0)].astype(float) - image_list[phase_list.index(180)]. + astype(float)) ** 2. + amplitude += (image_list[phase_list.index(90)].astype(float) - image_list[phase_list.index(270)]. + astype(float)) ** 2. + amplitude = 0.5 * np.sqrt(amplitude) + # Mask amplitude values by inserting zeros if pixel was overexposed + amplitude[maxIntensity >= self._MAX_PX_INTENSITY] = 0 + else: + # Calculate contrast + contrast = np.std(np.dstack(list(contrast_stack.values())), axis=2) + contrast[np.isnan(self.contrast)] = 0 + # Mask contrast values by inserting zeros if pixel was overexposed + contrast[maxIntensity >= self._MAX_PX_INTENSITY] = 0 + # Calculate amplitude from contrast + amplitude = contrast * np.sqrt(2) + + if direction == 'x': + img_data.x_amplitude = amplitude + if img_data.x_mask is None: + img_data.x_mask = amplitude >= self._AMPLITUDE_THRESHOLD + else: + img_data.x_mask = np.logical_and(img_data.x_mask, amplitude >= self._AMPLITUDE_THRESHOLD) + else: + img_data.y_amplitude = amplitude + if img_data.y_mask is None: + img_data.y_mask = amplitude >= self._AMPLITUDE_THRESHOLD + else: + img_data.y_mask = np.logical_and(img_data.y_mask, amplitude >= self._AMPLITUDE_THRESHOLD) + + image_data_dict[exp] = img_data + for direction in self.direction: + if direction == 'x': + all_amplitudes = np.dstack([image_data_dict[exp].x_amplitude for exp in image_data_dict]) + else: + all_amplitudes = np.dstack([image_data_dict[exp].y_amplitude for exp in image_data_dict]) + + # Get "amplitude channel" with highest contrast value + best_index = np.array(np.argmax(all_amplitudes, axis=2), dtype=np.int32) + yMesh, xMesh = np.meshgrid(np.arange(best_index.shape[1]), np.arange(best_index.shape[0])) + + # Create best amplitude matrix + amplitude = all_amplitudes[xMesh, yMesh, best_index] + if direction == 'x': + self.filtered_image_stack.x_best_index = best_index + self.filtered_image_stack.x_best_amplitude = amplitude + + else: + self.filtered_image_stack.y_best_index = best_index + self.filtered_image_stack.y_best_amplitude = amplitude + self.filtered_image_stack.image_data_dict = image_data_dict + return self.filtered_image_stack + + def getAmplitude(self) -> Union[np.ndarray, None]: + """ + This function will return self.amplitude which contains the amplitude calculated with the image stack. + When projecting the full pattern (x- and y-direction) the amplitude will have 2 stacked amplitude images - + one per direction. Resulting in a shape of (x_res, y_res, 2) otherwise (x_res, y_res). + + Returns + ------- + self.amplitude + """ + if self.amplitude is None: + print("Amplitude is not calculated!") + print("Run getProjectormap or getFilteredImageStack first!") + return self.amplitude + + def decode_single_shift(self, image_list: List, phase_list: List, frequency: int) -> np.ndarray: + """ + Calculates a single local phasemap for a given frequency. + + Parameters + ---------- + phase_list + image_list + frequency : int + frequency to be evaluated. + + Returns + ------- + phi : np.ndarray + local phase map for frequency + + """ + smallest_divisor = phase_list[1] # sorted values should start with 0 and 2nd is increment + if len(image_list) != int(360 / smallest_divisor): + raise Exception(f"Length of image list {len(image_list)} does not match phase increment {smallest_divisor}") + + a = np.zeros(image_list[0].shape, dtype=np.float64) + b = np.zeros(a.shape, dtype=np.float64) + for phase, img in zip(image_list, phase_list): + a += img * np.cos(float(phase) * np.pi / 180.) + b += img * np.sin(float(phase) * np.pi / 180.) + a = np.arctan2(a, b) + a[a < 0] += 2.0 * np.pi + phi = a / (2.0 * np.pi) + + return phi + + def get_local_phase_map(self, direction: str, img_data: ImageData) -> LocalPhaseMaps: + """ + Calculates the local phase maps or wrapped phasemaps. + + Returns + ------- + self.localPhaseMaps : dict + calculated local phasemaps. Each frequency contains a numpy array + """ + local_phase_maps = LocalPhaseMaps(direction=direction, exposure=img_data.exposure) + frequencies = img_data.get_frequencies(direction=direction) + for frequency in frequencies: + phase_list, image_list = img_data.get_phase_image_list(direction=direction, frequency=frequency) + local_phase_maps.phase_maps[frequency] = self.decode_single_shift(image_list=image_list, + phase_list=phase_list, + frequency=frequency) + return local_phase_maps + + def get_phase_map(self) -> np.ndarray: + """ + Unwraps the measurement using frequencies 1, ..., n + Frequency here refers to the number of full waves for the width of the image + + Returns + ------- + self.phaseMap : np.array + Unwrapped phasemap + + """ + if self.result_data: + return self.result_data.projector_map + + if self.filtered_image_stack is None: + self.filtered_image_stack = self.get_filtered_image_stack() + for i, (exp, img_data) in enumerate(self.filtered_image_stack.image_data_dict.items()): + self.measurement_data.exposure_list.append(exp) + self.measurement_data.x_mask.append(self.filtered_image_stack.image_data_dict[exp].x_mask) + self.measurement_data.y_mask.append(self.filtered_image_stack.image_data_dict[exp].y_mask) + if 'x' in self.direction: + x_local_phase_maps = self.get_local_phase_map(direction='x', img_data=img_data) + self.measurement_data.x_local_phase_map.append(x_local_phase_maps) + if 'y' in self.direction: + y_local_phase_maps = self.get_local_phase_map(direction='y', img_data=img_data) + self.measurement_data.y_local_phase_map.append(y_local_phase_maps) + + # use all but highest frequency for unwrapping + for direction in self.direction: + # create result array + phase_map = np.zeros((self.camera_parameters['resolution'][1], self.camera_parameters['resolution'][0]), + dtype=np.float64) + self.logger.debug(f'Phasemap shape: {phase_map.shape}') + + self.logger.debug(f'Calculating phase map {direction}') + if direction == 'x': + local_phase_maps = x_local_phase_maps + elif direction == 'y': + local_phase_maps = y_local_phase_maps + else: + print('nono, wrong direction') + for i, f in enumerate(local_phase_maps.frequencies[:-1]): + # Current phasemap frequency is f + # Next phasemap frequency from list + fNext = local_phase_maps.frequencies[i + 1] + # relative frequency of this phasemap and the next phasemap + fRel = float(fNext) / float(f) + + # add this phasemap + phase_map += local_phase_maps.phase_maps[f] + # adjust to match next phasemaps sensitivity + phase_map *= fRel + # substract next phasemap to allow use of round + phase_map -= local_phase_maps.phase_maps[fNext] + # round the current result. Low frequencies are not used for resulting measurement but only for unwrapping. + phase_map = np.round(phase_map) + + f = local_phase_maps.frequencies[-1] + self.logger.debug(f"Frequency {f}, Datatype: {phase_map.dtype}") + # add the highest frequency phasemap to obtain the final result + phase_map += local_phase_maps.phase_maps[f] + + # normalize the result to 0..1 + fMax = float(np.max(local_phase_maps.frequencies)) + phase_map /= (fMax) + + # normalize the result to the projector resolution + if direction == "x": + phase_map *= self.projector_parameters['resolution'][0] + self.measurement_data.x_phase_map.append(phase_map) + elif direction == "y": + phase_map *= self.projector_parameters['resolution'][1] + self.measurement_data.y_phase_map.append(phase_map) + else: + raise Exception(f'Direction {direction} not understood') + + self.apply_phase_map_filters_and_mask() + + # Combine best parts of each phasemap into new phasemap + x_all_phase_maps = np.dstack([phase_map for phase_map in self.measurement_data.x_phase_map]) + x_all_mask = np.dstack([mask for mask in self.measurement_data.x_mask]) + y_all_phase_maps = np.dstack([phase_map for phase_map in self.measurement_data.y_phase_map]) + y_all_mask = np.dstack([mask for mask in self.measurement_data.y_mask]) + + yMesh, xMesh = np.meshgrid(np.arange(self.filtered_image_stack.x_best_index.shape[1]), + np.arange(self.filtered_image_stack.x_best_index.shape[0])) + self.result_data = MeasurementResultData() + self.result_data.x_phase_map = x_all_phase_maps[xMesh, yMesh, self.filtered_image_stack.x_best_index] + self.result_data.y_phase_map = y_all_phase_maps[xMesh, yMesh, self.filtered_image_stack.y_best_index] + self.result_data.mask = np.logical_and(x_all_mask[xMesh, yMesh, self.filtered_image_stack.x_best_index], + y_all_mask[xMesh, yMesh, self.filtered_image_stack.x_best_index]) + self.result_data.projector_map = np.dstack((self.result_data.x_phase_map, self.result_data.y_phase_map, + self.result_data.mask)) + return self.result_data.projector_map + + def apply_phase_map_filters_and_mask(self): + for i in range(len(self.measurement_data)): + if self.phasemap_filter is not None or self.applyLaplacian: + self.filter_phase_map() + + # Add mask for phasemap values <= 0 + self.measurement_data.x_mask[i] = np.logical_and(self.measurement_data.x_mask[i], + self.measurement_data.x_phase_map[i] > 0) + self.measurement_data.y_mask[i] = np.logical_and(self.measurement_data.x_mask[i], + self.measurement_data.y_phase_map[i] > 0) + if self.measurement_data.mask is not None: + self.measurement_data.x_mask[i] = np.logical_and(self.measurement_data.mask, + self.measurement_data.x_mask[i]) + self.measurement_data.y_mask[i] = np.logical_and(self.measurement_data.mask, + self.measurement_data.x_mask[i]) + + for direction in self.direction: + if self.erodeMask > 0: + # dilating mask to get more robust result + self.logger.debug("Eroding Mask twice to reduce unwanted spikes") + if direction == 'x': + dilate_src = np.array(self.measurement_data.x_mask[i], dtype=np.uint8) + else: + dilate_src = np.array(self.measurement_data.y_mask[i], dtype=np.uint8) + kernel = np.ones((3, 3)) + dilated_mask = cv2.erode(dilate_src, kernel) + for i in range(self.erodeMask - 1): + dilated_mask = cv2.erode(dilated_mask, kernel) + if direction == 'x': + self.measurement_data.x_mask[i] = dilated_mask + else: + self.measurement_data.y_mask[i] = dilated_mask + + # Apply mask to phasemap + self.measurement_data.x_phase_map[i] *= self.measurement_data.x_mask[i] + self.measurement_data.y_phase_map[i] *= self.measurement_data.y_mask[i] + + def set_phase_map_filter(self, filter_options: Dict[str, Union[float, int]]) -> None: + """ + Sets the phasemap filter by passing a dict of filter types + where the values correspond to the input parameters of the filter. + + Notes: Setting the filter to anything but "None" + will result in using the filter on every phasemap. + To deactivate filtering set the filter to "None" again. + + Parameters + ---------- + filter_options : dict + Dictionary of filters e.g.: + filter_options = {'median': 5, 'gauss': 1.3} + to perform a median with kernel size of 5 and + a gaussian filter with sigma of 1.3 + """ + self.phasemap_filter = filter_options + + def filter_phase_map(self) -> None: + for i in range(len(self.measurement_data)): + for direction in self.direction: + if direction == 'x': + phase_map = self.measurement_data.x_phase_map[i] + else: + phase_map = self.measurement_data.y_phase_map[i] + if self.phasemap_filter is not None: + phase_map = filterImage(phase_map, self.phasemap_filter) + + if self.applyLaplacian: + # Filtering phasemap afterwards + self.logger.debug("Using Laplacian to eliminate false values in phasemap") + laplace = cv2.Laplacian(phase_map, cv2.CV_64F, ksize=self.laplacian_kernel_size) + + laplace_mask = (np.abs(laplace) < self.laclacian_threshold) + if self.num_laplacian_erosions > 0: + self.logger.debug("Eroding laplacian mask to reduce unwanted spikes") + dilate_src = np.array(laplace_mask, dtype=np.uint8) + kernel = np.ones((3, 3)) + # Erode at least once + dilated_mask = cv2.erode(dilate_src, kernel) + for i in range(self.num_laplacian_erosions - 1): + dilated_mask = cv2.erode(dilated_mask, kernel) + + laplace_mask = dilated_mask + if direction == 'x': + self.measurement_data.x_mask[i] = np.logical_and(self.measurement_data.x_mask[i], laplace_mask) + self.measurement_data.x_phase_map[i] = phase_map + else: + self.measurement_data.y_mask[i] = np.logical_and(self.measurement_data.y_mask[i], laplace_mask) + self.measurement_data.y_phase_map[i] = phase_map + + def calculate_color_img(self) -> np.ndarray: + rgb_imgs = list() + # Gray vs. RGB + buffer_list = [] + for exp, img_data in self.image_stack.image_data_dict.items(): + buffer_list.extend(img_data.solid_field_images) + + if buffer_list[0].ndim == 2 or buffer_list[0].shape[2] == 1: + for img in buffer_list: + rgb_imgs.append(np.dstack((img, img, img))) + elif buffer_list[0].shape[2] == 3: + rgb_imgs = buffer_list + else: + raise ValueError("Expected image with 1 or 3 channels") + + rgb_imgs = [(img * 255).astype(np.uint8) for img in rgb_imgs] + + if len(rgb_imgs) == 1: + # Standard case + img = rgb_imgs[0].astype(np.uint8) + elif len(rgb_imgs) > 1: + # HDR case + merge_mertens = cv2.createMergeMertens() + ldr = merge_mertens.process(rgb_imgs) + img = np.clip(ldr * 255, 0, 255).astype(np.uint8) + else: + warnings.warn("Error! Check add color flags and variable. Colors are set to 0.") + img = np.zeros_like(buffer_list[0]) + return img + + def _add_color_data(self): + """ + adds color data to heightmap + """ + img = self.calculate_color_img() + self.result_data.height_map = np.dstack((self.result_data.height_map, img)) + + def __height_map_from_line_intersections(self) -> np.ndarray: + """Calculate heightmap from line intersections + + Alternative to plane-line intersection of regular heightmap calculation + + Returns : numpy.array + heightmap + ------- + + """ + # prevent infinite loop by setting attribute + if not self.result_data: + self.plane_line_reconstruction = True + return self.get_height_map() + + projector_map = self.result_data.projector_map + mask = self.result_data.projector_map[:, :, 2] + camPixelsU, camPixelsV = np.meshgrid(np.arange(self.camera_parameters["resolution"][0]), + np.arange(self.camera_parameters["resolution"][1])) + camPixelsU, camPixelsV = camPixelsU.astype(np.float64), camPixelsV.astype(np.float64) + boolMask = mask.astype(bool) + + # Catch case where all pixels are masked, otherwise undistort function will raise an exception. + if np.sum(boolMask) == 0: + warnings.warn("No valid data. Returning heightmap with zeros. Overexposed?") + height_map = np.zeros_like(projector_map) + return height_map + + uvVecCam = np.vstack([camPixelsU[boolMask], camPixelsV[boolMask]]) + uvVecPro = np.vstack([projector_map[boolMask, 0], projector_map[boolMask, 1]]) + + if len(self.camera_parameters["distortion"]) < 4: + addZeros = np.zeros(4 - len(self.camera_parameters["distortion"])) + self.camera_parameters["distortion"] = np.hstack((self.camera_parameters["distortion"], addZeros)) + + # Reshape for undistortPoints function + uvVecCam_undist = uvVecCam.T.reshape(-1, 1, 2) + uvVecPro_undist = uvVecPro.T.reshape(-1, 1, 2) + + # Correct distortion + uvVecCam_undist = cv2.undistortPoints(src=uvVecCam_undist, cameraMatrix=self.camera_parameters["K"], + distCoeffs=self.camera_parameters["distortion"], + P=self.camera_parameters["K"]) + uvVecPro_undist = cv2.undistortPoints(src=uvVecPro_undist, cameraMatrix=self.projector_parameters["K"], + distCoeffs=self.projector_parameters["distortion"], + P=self.projector_parameters["K"]) + + p_mat_cam = np.dot(self.camera_parameters["K"], self.camera_parameters["Rt"]) + p_mat_pro = np.dot(self.projector_parameters["K"], self.projector_parameters["Rt"]) + + pts_3d = cv2.triangulatePoints(projMatr1=p_mat_cam, projMatr2=p_mat_pro, + projPoints1=uvVecCam_undist, projPoints2=uvVecPro_undist) + pts_3d /= pts_3d[3, :].reshape(1, -1) + + height_map = np.zeros_like(projector_map) + height_map[uvVecCam[1, :].astype(int), uvVecCam[0, :].astype(int), :] = pts_3d[:3, :].T + + if self.z_max is not None and self.z_min is not None: + mask[height_map[..., 2] > self.z_max] = 0 + mask[height_map[..., 2] < self.z_min] = 0 + + height_map[mask == 0, 2] = 0 + + self.result_data.height_map = height_map + + if self.heightmap_filter is not None: + self.filter_height_map() + + if self.add_color: + self._add_color_data() + + return self.result_data.height_map + + def get_result_data(self): + if self.result_data: + return self.result_data + else: + warnings.warn("no results calculated by now") + + def get_height_map(self) -> np.ndarray: + """ + Calculate heightmap with set camera and projector parameters + + Returns + ------- + self.heightmap : np.array + heightmap of measured scene + + """ + if self.result_data: + if isinstance(self.result_data.height_map, np.ndarray): + return self.result_data.height_map + + # Setting flags like this to keep compatibility with block below + if self.direction == "xy" or self.direction == "yx": + self.get_phase_map() + self.plane_line_reconstruction = False + + # recursion should only happen once. + if not self.plane_line_reconstruction: + return self.__height_map_from_line_intersections() + + if self.result_data.projector_map is None: + self.get_phase_map() + + # TODO: Change if needed: Using dictionary or class for parameters + Kp = self.projector_parameters['K'] # Projector Camera parameters + + iKp = np.linalg.inv(Kp) # inverse of Projector camera parameters + + Kc = self.camera_parameters['K'] # Camera Camera parameters + + iKc = np.linalg.inv(Kc) # inverse of Camera camera parameters + + # calculate a plane for every slice of the projector fringes + + # create array for normal vectors + for direction in self.direction: + if direction == 'x': + phase_map = self.result_data.x_phase_map + dim = 0 + else: + phase_map = self.result_data.y_phase_map + dim = 1 + + normalsForHeightmap = np.zeros((phase_map.shape[0], phase_map.shape[1], 3), dtype=np.float64) + + # calculate the normal vectors of the fringe slices. + # there is one normal vector for each possible projector pixel value found in phase_map + + normalsForHeightmap[..., 2] = -((phase_map * (iKp[dim, dim])) + iKp[dim, 2]) + normalsForHeightmap[..., dim] = 1 + # normalsForHeightmap[...,dim] = (1-normalsForHeightmap[...,2]**2)**.5 + + # rotate normal into camera coordinates + normalsForHeightmap = normalsForHeightmap.reshape((-1, 3)).dot( + self.projector_parameters['Rt'][0:3, 0:3]).reshape((phase_map.shape[0], phase_map.shape[1], 3)) + + # compute the directional vectors for each camera pixel + cameraDirectionPixel = np.ones( + (self.camera_parameters['resolution'][1], self.camera_parameters['resolution'][0], 3)) + + if len(self.camera_parameters["distortion"]) < 4: + addZeros = np.zeros(4 - len(self.camera_parameters["distortion"])) + self.camera_parameters["distortion"] = np.hstack((self.camera_parameters["distortion"], addZeros)) + + # Undistort camera directional vectors + x = np.arange(self.camera_parameters['resolution'][0], dtype=np.float64) + y = np.arange(self.camera_parameters['resolution'][1], dtype=np.float64) + xx, yy = np.meshgrid(x, y) + cam_grid = np.dstack((xx.flatten(), yy.flatten())).reshape(-1, 1, 2) + + undistorted_cam_grid = cv2.undistortPoints(cam_grid, self.camera_parameters["K"], + self.camera_parameters["distortion"], + P=self.camera_parameters["K"]) + undistorted_cam_grid = undistorted_cam_grid.reshape(-1, 2) + + # cameraDirectionPixel[..., 0] *= undistorted_cam_grid[0:self.cameraParameters['resolution'][0], 0] + # cameraDirectionPixel[..., 1] *= undistorted_cam_grid[0::self.cameraParameters['resolution'][1], 1].reshape( + # (-1, 1)) + cameraDirectionPixel[..., 0] *= undistorted_cam_grid[:, 0].reshape(xx.shape) + cameraDirectionPixel[..., 1] *= undistorted_cam_grid[:, 1].reshape(xx.shape) + + # Old code + # cameraDirectionPixel[..., 0] *= np.arange(self.cameraParameters['resolution'][0]) + # cameraDirectionPixel[..., 1] *= np.arange(self.cameraParameters['resolution'][1]).reshape((-1, 1)) + cameraDirection = np.require(cameraDirectionPixel.reshape((-1, 3)).dot(iKc.T).reshape( + (phase_map.shape[0], phase_map.shape[1], 3)), np.float64, "C") + + projectorLocation = self.projector_parameters['Rt'][0:3, 0:3].T.dot(-self.projector_parameters['Rt'][0:3, 3:4]) + + cameraDirection = cameraDirection.reshape((-1, 3)).dot(self.camera_parameters["Rt"][0:3, 0:3]).reshape( + (phase_map.shape[0], phase_map.shape[1], 3)) + + cameraLocation = self.camera_parameters["Rt"][0:3, 0:3].T.dot(-self.camera_parameters["Rt"][0:3, 3:4]) + p0MinusC0 = projectorLocation - cameraLocation + p0MinusC0TimesN = np.sum(normalsForHeightmap * p0MinusC0.reshape((1, 1, 3)), axis=2) + + nTimesR = np.sum(normalsForHeightmap * cameraDirection, axis=2) + # lambdas for line equation in pixel direction (x = lambda * r + r0) + # lambdas = d.reshape((phase_map.shape[0], phase_map.shape[1])) / nTimesR + lambdas = p0MinusC0TimesN / nTimesR + + cameraLocation = self.camera_parameters["Rt"][0:3, 0:3].T.dot(-self.camera_parameters["Rt"][0:3, 3:4]) + + height_map = lambdas.reshape( + (phase_map.shape[0], phase_map.shape[1], 1)) * cameraDirection + cameraLocation.reshape(1, 1, 3) + + # Calculate median of Z-Values + # Values that are too far apart from median are outliers + # medianDepth = np.median(self.heightmap[self.mask, 2]) + # minZ = medianDepth - Z_MIN + # maxZ = medianDepth + Z_MAX + + # todo: check this case !! + + if self.z_min is not None and self.z_max is not None: + mask = self.measurement_data.mask + mask[height_map[..., 2] < self.z_min] = 0 + mask[height_map[..., 2] > self.z_max] = 0 + + # filter spikes + # medHeightMap = nd.median_filter(self.heightmap[...,2], footprint = np.array([[0,1,0],[1,1,1],[0,1,0]])) + # self.mask[medHeightMap - self.heightmap[...,2] < -MAX_MEDIAN_DISTANCE] = 0 + # self.mask[medHeightMap - self.heightmap[...,2] > MAX_MEDIAN_DISTANCE] = 0 + + self.logger.debug("Heightmap Z-Values min: {min}, max: {max}" + "".format(min=np.min(height_map[..., 2]), + max=np.max(height_map[..., 2]))) + + height_map[mask == 0, 2] = 0 + + self.result_data.height_map = height_map + + if self.heightmap_filter is not None: + self.filter_height_map() + + if self.add_color: + self._add_color_data() + return self.result_data.height_map + + def set_height_map_filter(self, filter_options: dict) -> None: + """ + Sets the heightmap filter by passing a dict of filter types + where the values correspond to the input parameters of the filter. + + Notes: Setting the filter to anything but "None" + will result in using the filter on every heightmap. + To deactivate filtering set the filter to "None" again. + + Parameters + ---------- + filter_options : dict + Dictionary of filters e.g.: + filter_options = {'median': 5, 'gauss': 1.3} + to perform a median with kernel size of 5 and + a gaussian filter with sigma of 1.3 + """ + self.heightmap_filter = filter_options + + def filter_height_map(self) -> None: + self.logger.info("Applying filters {filters} to heightmap".format(filters=self.heightmap_filter)) + self.result_data.height_map[..., 2] = filterImage( + self.result_data.height_map[..., 2], self.heightmap_filter) + + def get_mesh(self): + if self.result_data is None: + self.get_height_map() + self.result_data.mesh = meshHeightmap(self.result_data.mask, self.result_data.height_map) + return self.result_data.mesh + + def save_results(self, path: str, combination_name: str = "any_camera-any_projector") -> None: + new_path_name = self.create_folders(path, combination_name) + + # Save mesh + self.save_mesh(path, os.path.join(path, new_path_name, combination_name, "result.ply")) + + calibration_info = {"camera": self.camera_parameters, "projector": self.projector_parameters} + + # Save calibration information + with open(os.path.join(path, new_path_name, combination_name, "calibration.pkl"), "wb") as f: + pkl.dump(calibration_info, f) + + # Save images + for exp, image_data in self.filtered_image_stack.image_data_dict.items(): + for (phase, freq), image in zip(image_data.x_pattern, image_data.x_fringes): + img_name = "{}_{}.npy".format(int(freq), int(phase)) + float_image = np.array(image, dtype=np.float32) / np.max(image) + fileName = os.path.join(path, new_path_name, combination_name, "images", img_name) + cv2.imwrite(fileName + ".png", np.dstack((float_image, float_image, float_image))) + for (phase, freq), image in zip(image_data.y_pattern, image_data.y_fringes): + img_name = "{}_{}.npy".format(int(freq), int(phase)) + float_image = np.array(image, dtype=np.float32) / np.max(image) + fileName = os.path.join(path, new_path_name, combination_name, "images", img_name) + cv2.imwrite(fileName + ".png", np.dstack((float_image, float_image, float_image))) + for img in image_data.solid_field_images: + img_name = "{}_{}.npy".format(int(0), int(0)) + float_image = np.array(image, dtype=np.float32) / np.max(image) + fileName = os.path.join(path, new_path_name, combination_name, "images", img_name) + cv2.imwrite(fileName + ".png", np.dstack((float_image, float_image, float_image))) + + +class MinImagesPhaseshift(Phaseshift): + + def __init__(self, cam_params: Optional[dict] = None, projector_params: Optional[dict] = None, + instance_id: Optional[str] = None) -> None: + super(MinImagesPhaseshift, self).__init__(cam_params, projector_params, instance_id) + if LOGGING_LEVEL is not None: + self.logger.setLevel(LOGGING_LEVEL) + + self.default_sequence = {'x': {'frequencies': [1, 6, 36], + 'phases': [[0, 90], [0, 90], [0, 90, 180, 270]]}, + 'y': {'frequencies': [1, 6, 36], + 'phases': [[0, 90], [0, 90], [0, 90, 180, 270]]}} + + def get_local_phase_map(self, direction: str, img_data: ImageData) -> LocalPhaseMaps: + local_phase_maps = LocalPhaseMaps(direction=direction, exposure=img_data.exposure) + frequencies = img_data.get_frequencies(direction=direction) + highest_frequency = np.max(frequencies) + # assume the highest frequency pattern is that with the most phases and especially phases 0 and 180 + self.logger.debug(f'Mid illumination frequency type is: {type(highest_frequency)}\nValue is: ' + f'{highest_frequency}') + phase_list, image_list = img_data.get_phase_image_list(direction=direction, frequency=highest_frequency) + midIllumination = np.mean(np.dstack([img.astype(np.float64) for img in image_list]), axis=2) + + for frequency in frequencies: + phase_list, image_list = img_data.get_phase_image_list(direction=direction, frequency=frequency) + # if calculating the Mid Illumination frequency, use classic approach + # else compute phase with mid illumination. + if frequency == highest_frequency: + if len(image_list) != 4: + raise Exception(f"MinImagesPhaseshift requires 4 img in highest frequency, got {len(image_list)}") + a = np.zeros(image_list[0].shape) + b = np.zeros(a.shape) + for phase, img in zip(phase_list, image_list): + a += img * np.cos(float(phase) * np.pi / 180.) + b += img * np.sin(float(phase) * np.pi / 180.) + local_map = np.arctan2(a, b) + + else: + local_map = np.arctan2(np.array(image_list[0], dtype=np.float64) - midIllumination, + np.array(image_list[1], dtype=np.float64) - midIllumination) + local_map /= 2.0 * np.pi + local_map[local_map < 0.0] += 1 + local_phase_maps.phase_maps[frequency] = local_map + local_phase_maps.frequencies.append(frequency) + + return local_phase_maps diff --git a/pyrefloid/utils/show_coordinate_systems.py b/pyrefloid/utils/show_coordinate_systems.py new file mode 100644 index 0000000..a264782 --- /dev/null +++ b/pyrefloid/utils/show_coordinate_systems.py @@ -0,0 +1,27 @@ +import numpy as np +import open3d as o3d +import copy +from pathlib import Path + +script_dir = Path(__file__).parent.parent.absolute() + + +def visualize_coordinates(T_cam, Rt_pro, T_obj=None, Path=None): + FOR_c = o3d.geometry.TriangleMesh.create_coordinate_frame(size=130, origin=[0, 0, 0]) + FOR_c = FOR_c.transform(T_cam) + + FOR_p1 = o3d.geometry.TriangleMesh.create_coordinate_frame(size=40, origin=[0, 0, 0]) + # Rt_pro = np.linalg.inv(Rt_pro) + T_pro = np.matmul(T_cam, Rt_pro) + # T_pro = np.matmul( Rt_pro, T_cam) + FOR_p1 = FOR_p1.transform(T_pro) + + if T_obj is not None: + ply = o3d.io.read_triangle_mesh(Path) + obj_pose = np.eye(4) + mesh_t = copy.deepcopy(ply).transform(obj_pose) + mesh_t.paint_uniform_color([0.0, 0.0, 0.9]) + + o3d.visualization.draw_geometries([FOR_c, FOR_p1, mesh_t], width=800, height=600) + else: + o3d.visualization.draw_geometries([FOR_c, FOR_p1], width=800, height=600) diff --git a/pyrefloid/utils/struct_helper.py b/pyrefloid/utils/struct_helper.py new file mode 100644 index 0000000..6953643 --- /dev/null +++ b/pyrefloid/utils/struct_helper.py @@ -0,0 +1,325 @@ +# distutils: language = c++ + +import numpy as np +import ctypes +import cupy as cp + +from collections.abc import Mapping + + +def round_up(val, mult_of): + """ + Rounds up the value to the given multiple + """ + return val if val % mult_of == 0 else val + mult_of - val % mult_of + + +def ensure_iterable(obj): + """ + Ensures that the object provided is a list or tuple and wraps it if not. + """ + + if not isinstance(obj, (list, tuple)): + obj = (obj,) + return obj + + +def _aligned_itemsize(formats, alignment): + names = [] + for i in range(len(formats)): + names.append('x' + str(i)) + + temp_dtype = np.dtype({ + 'names': names, + 'formats': formats, + }, align=True) + return round_up(temp_dtype.itemsize, alignment) + + +def array_to_device_memory(numpy_array, stream=None): + """ + Transfer a numpy array to cuda device memory. This does not generate a full cupy.ndarray, but an + opaque cupy.cuda.MemoryPointer to support structured arrays which cupy currently does not + (see https://github.com/cupy/cupy/issues/2031). + + Parameters + ---------- + numpy_array: numpy.ndarray + The array to transfer to the GPU + stream: cupy.cuda.Stream, optional + The stream to use. If None, the default stream is used. + + Returns + ------- + d_mem: cupy.cuda.MemoryPointer + Pointer to the memory on the GPU + + """ + byte_size = numpy_array.size * numpy_array.dtype.itemsize + + h_ptr = ctypes.c_void_p(numpy_array.ctypes.data) + d_mem = cp.cuda.memory.alloc(byte_size) + d_mem.copy_from_async(h_ptr, byte_size, stream) + + return d_mem + + +class StructHelper: + """ + Helper class to create and manage a struct on the GPU. This class will construct a + numpy structured array using the names and formats provided and transfer it to the GPU on demand. + In order to access and modify the data the standard mapping syntax is used. + + This class is meant for internal use und should not be instanced directly. + Parameters + ---------- + names: tuple[str] + The names of the struct's fields + formats: tuple[str or numpy.dtype] + The data types of the struct's fields + values: tuple[scalar or array], optional + Optional values for the fields. If not provided, they will be initialized to zero. + size: int, optional + The number of Records to generate. By default a single Record is created. + alignment: int + Byte alignment to use. + """ + + def __init__(self, names=(), formats=(), values=None, size=1, alignment=1): + names = ensure_iterable(names) + formats = ensure_iterable(formats) + + self.array_values = {} # init dict + self._dtype = self._convert_to_aligneddtype(names, formats, alignment) + self._array = self._create(size) + + if values is not None: + for name, value in zip(names, values): + if value is not None: + self.__setitem__(name, value) + + @property + def dtype(self): + return self._dtype + + @property + def array(self): + return self._array + + @classmethod + def fromdtype(cls, dtype, values=None, size=1, alignment=1): + """ + Create the struct from a numpy structured dtype. + + Parameters + ---------- + dtype: numpy.dtype + The structured dtype to use + values: tuple[scalar or array], optional + The values to use for initialization. + size: int + The number of records to generate. + alignment: int + Byte alignment to use. + + Returns + ------- + obj: _StructHelper + The created struct. + """ + try: + descr = dtype.descr + except AttributeError: + raise ValueError("Not a structured dtype") + names, formats = zip(*descr) + return cls(names=names, formats=formats, values=values, size=size, alignment=alignment) + + @classmethod + def from_dict(cls, dict_data: Mapping, size=1, alignment=1): + """ + Create a struct from a dictionary. The following format is expected: + { + field_name: (format, (optional values)) + } + + Parameters + ---------- + dict_data: dict or Mapping + The dict data to build the struct in the format specified above + size: int + The number of records to generate + alignment: int + Byte alignment to use. + + Returns + ------- + obj: _StructHelper + The created struct. + """ + names = [] + formats = [] + values = [] + for k, v in dict_data.items(): + names.append(k) + v = ensure_iterable(v) + formats.append(v[0]) + if len(v) > 1: + values.append(v[1]) + return cls(names=names, formats=formats, values=values, size=size, alignment=alignment) + + def _convert_to_aligneddtype(self, names, formats, alignment): + """ + Construct an aligned dtype from the names and formats + + Parameters + ---------- + names + formats + + Returns + ------- + + """ + itemsize = _aligned_itemsize(formats, alignment) + dtype = np.dtype({ + 'names': names, + 'formats': formats, + 'itemsize': itemsize, + }, align=True) + assert dtype.isalignedstruct + return dtype + + def _create(self, size): + array = np.zeros(size, dtype=self._dtype) + return array + + def __setitem__(self, key, value): + value = (value,) if not isinstance(value, (list, tuple)) else value + # special hook for cupy arrays if a pointer is to be stored + if np.issubdtype(self._dtype.fields[key][0], 'u8') and all(isinstance(v, cp.ndarray) for v in value): + self.array_values[key] = value + value = [v.data.ptr for v in value] + self.array[key] = value + + def __getitem__(self, key): + return self.array[key] + + def __len__(self): + return len(self._dtype.fields) + + def __iter__(self): + yield from self.keys() + + def __contains__(self, item): + return item in self._dtype.fields + + def get(self, item, value=None): + try: + return self.array[item] + except KeyError: + return value + + def keys(self): + yield from self._dtype.fields + + def values(self): + for k in self.keys(): + yield self.array[k] + + def items(self): + for k in self.keys(): + yield k, self.array[k] + + def to_gpu(self, stream=None): + """ + Transfer the struct to the gpu and return a cupy.cuda.MemoryPointer. + + Parameters + ---------- + stream: cupy.cuda.Stream, optional + The stream to use for the transfer. If None the default stream is used. + Returns + ------- + pointer: cupy.cuda.MemoryPointer + Pointer to the transferred data. + """ + size = self.array.shape[0] + mem = array_to_device_memory(self.array, stream=stream) + array = cp.ndarray(size, dtype=self._dtype, memptr=mem) + return array + + @property + def itemsize(self): + return self._dtype.itemsize + + @property + def size(self): + return self._array.shape[0] + + def _repr_details(self): + return f"size {self.size}, dtype {self._dtype}" + + +def combine_multiple_structs(structs, struct_type): + size = len(structs) + if struct_type == "light": + combined_struct = StructHelper( + names=("light_type", "intensity", "position", "color", "corner", "v1", "v2", "normal", + "up", "distortion", "K", "K_inv", "Rt", "resolution", "projector_images"), + formats=("i4", "f4", "3f4", "3f4", "3f4", "3f4", "3f4", "3f4", "3f4", "5f4", "9f4", "9f4", "16f4", + "2i4", "u8"), + size=size, + alignment=8) + elif struct_type == "camera": + combined_struct = StructHelper( + names=('camera_type', 'distortion', 'K', 'K_inv', 'Rt', 'depth_of_field', 'aperture_diameter', + 'aperture_samples', 'view_width', 'view_height', 'resolution'), + formats=("i4", "5f4", "9f4", "9f4", "16f4", "f4", "f4", "u4", "f4", "f4", "2i4"), + size=size, + alignment=8) + + elif struct_type == "geometry_instance_data": + combined_struct = StructHelper( + names=("objectToWorld", "worldToObject", "attributes", "indices", "light_id"), + formats=("12f4", "12f4", "u8", "u8", "i4"), + size=size, + alignment=8) + + elif struct_type == "triangle_attributes": + combined_struct = StructHelper( + names=("vertex", "normal", "tangent", "texcoord"), + formats=("3f4", "3f4", "3f4", "3f4",), + size=size, + alignment=4) + + elif struct_type == "indices": + combined_struct = StructHelper( + names=("indices",), + formats=("3u4",), + size=size, + alignment=4) + else: + raise ValueError("Unknown struct type") + + for i in range(size): + combined_struct.array[i] = structs[i].array[0] + + return combined_struct + + +if __name__ == '__main__': + light = StructHelper( + names=("LightType", "intensity", "position", "color", "falloff", "corner", "v1", "v2", "normal", "up"), + formats=("i4", "f4", "3f4", "3f4", "i4", "3f4", "3f4", "3f4", "3f4", "3f4"), + values=(0, + 5.0, + np.array([2.0, 2.0, 2.0], dtype=np.float32), + np.array([1.0, 1.0, 1.0], dtype=np.float32), + 1, + np.array([0.0, 0.0, 0.0], dtype=np.float32), + np.array([0.0, 0.0, 0.0], dtype=np.float32), + np.array([0.0, 0.0, 0.0], dtype=np.float32), + np.array([0.0, 0.0, 0.0], dtype=np.float32), + np.array([0.0, 0.0, 0.0], dtype=np.float32)) + ) + print("hello") diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..a06b6c9 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,27 @@ +opencv-python +numpy +pyopengl +glfw +imgui +imageio +path +Pillow +packaging +numpy-stl +matplotlib +PyYAML +meshio +wheel +cupy +python-optix==1.0.0 +pygltflib +scipy +natsort +pyvista +pyvistaqt +vtk +pyqt6 +open3d +scikit-image +pandas +svgwrite diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..2262ae1 --- /dev/null +++ b/setup.py @@ -0,0 +1,22 @@ +import re +from distutils.core import setup +from setuptools import find_packages + + +def get_property(prop, project): + with open(project + '/__init__.py', 'r') as f: + result = re.search(r'{}\s*=\s*[\'"]([^\'"]*)[\'"]'.format(prop), f.read()) + return result.group(1) + +project_name = 'pyrefloid' + +setup( + name=project_name, + version=get_property('__version__', project_name), + packages=find_packages(), + url='https://gitlab.imr.uni-hannover.de/GROUP/PACKAGE_NAME', + license='', + author='AUTHOR', + author_email='EMAIL', + description='DESCRIPTION' +) diff --git a/start_docker.sh b/start_docker.sh new file mode 100644 index 0000000..f7fa63f --- /dev/null +++ b/start_docker.sh @@ -0,0 +1 @@ + docker exec -it refloid /bin/bash -c /pyrefloid/init_env.sh

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