lib/renderer/opengl_util.py

# -*- coding: utf-8 -*-

# Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. (MPG) is
# holder of all proprietary rights on this computer program.
# You can only use this computer program if you have closed
# a license agreement with MPG or you get the right to use the computer
# program from someone who is authorized to grant you that right.
# Any use of the computer program without a valid license is prohibited and
# liable to prosecution.
#
# Copyright©2019 Max-Planck-Gesellschaft zur Förderung
# der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute
# for Intelligent Systems. All rights reserved.
#
# Contact: ps-license@tuebingen.mpg.de

import os

from lib.renderer.mesh import load_scan, compute_tangent
from lib.renderer.camera import Camera
import cv2
import math
import random
import numpy as np


def render_result(rndr, shader_id, path, mask=False):

    cam_render = rndr.get_color(shader_id)
    cam_render = cv2.cvtColor(cam_render, cv2.COLOR_RGBA2BGRA)

    os.makedirs(os.path.dirname(path), exist_ok=True)
    if shader_id != 2:
        cv2.imwrite(path, np.uint8(255.0 * cam_render))
    else:
        cam_render[:, :, -1] -= 0.5
        cam_render[:, :, -1] *= 2.0
        if not mask:
            cv2.imwrite(path, np.uint8(255.0 / 2.0 * (cam_render + 1.0)))
        else:
            cv2.imwrite(path, np.uint8(-1.0 * cam_render[:, :, [3]]))


def make_rotate(rx, ry, rz):
    sinX = np.sin(rx)
    sinY = np.sin(ry)
    sinZ = np.sin(rz)

    cosX = np.cos(rx)
    cosY = np.cos(ry)
    cosZ = np.cos(rz)

    Rx = np.zeros((3, 3))
    Rx[0, 0] = 1.0
    Rx[1, 1] = cosX
    Rx[1, 2] = -sinX
    Rx[2, 1] = sinX
    Rx[2, 2] = cosX

    Ry = np.zeros((3, 3))
    Ry[0, 0] = cosY
    Ry[0, 2] = sinY
    Ry[1, 1] = 1.0
    Ry[2, 0] = -sinY
    Ry[2, 2] = cosY

    Rz = np.zeros((3, 3))
    Rz[0, 0] = cosZ
    Rz[0, 1] = -sinZ
    Rz[1, 0] = sinZ
    Rz[1, 1] = cosZ
    Rz[2, 2] = 1.0

    R = np.matmul(np.matmul(Rz, Ry), Rx)
    return R


def rotateSH(SH, R):
    SHn = SH

    # 1st order
    SHn[1] = R[1, 1] * SH[1] - R[1, 2] * SH[2] + R[1, 0] * SH[3]
    SHn[2] = -R[2, 1] * SH[1] + R[2, 2] * SH[2] - R[2, 0] * SH[3]
    SHn[3] = R[0, 1] * SH[1] - R[0, 2] * SH[2] + R[0, 0] * SH[3]

    # 2nd order
    SHn[4:, 0] = rotateBand2(SH[4:, 0], R)
    SHn[4:, 1] = rotateBand2(SH[4:, 1], R)
    SHn[4:, 2] = rotateBand2(SH[4:, 2], R)

    return SHn


def rotateBand2(x, R):
    s_c3 = 0.94617469575
    s_c4 = -0.31539156525
    s_c5 = 0.54627421529

    s_c_scale = 1.0 / 0.91529123286551084
    s_c_scale_inv = 0.91529123286551084

    s_rc2 = 1.5853309190550713 * s_c_scale
    s_c4_div_c3 = s_c4 / s_c3
    s_c4_div_c3_x2 = (s_c4 / s_c3) * 2.0

    s_scale_dst2 = s_c3 * s_c_scale_inv
    s_scale_dst4 = s_c5 * s_c_scale_inv

    sh0 = x[3] + x[4] + x[4] - x[1]
    sh1 = x[0] + s_rc2 * x[2] + x[3] + x[4]
    sh2 = x[0]
    sh3 = -x[3]
    sh4 = -x[1]

    r2x = R[0][0] + R[0][1]
    r2y = R[1][0] + R[1][1]
    r2z = R[2][0] + R[2][1]

    r3x = R[0][0] + R[0][2]
    r3y = R[1][0] + R[1][2]
    r3z = R[2][0] + R[2][2]

    r4x = R[0][1] + R[0][2]
    r4y = R[1][1] + R[1][2]
    r4z = R[2][1] + R[2][2]

    sh0_x = sh0 * R[0][0]
    sh0_y = sh0 * R[1][0]
    d0 = sh0_x * R[1][0]
    d1 = sh0_y * R[2][0]
    d2 = sh0 * (R[2][0] * R[2][0] + s_c4_div_c3)
    d3 = sh0_x * R[2][0]
    d4 = sh0_x * R[0][0] - sh0_y * R[1][0]

    sh1_x = sh1 * R[0][2]
    sh1_y = sh1 * R[1][2]
    d0 += sh1_x * R[1][2]
    d1 += sh1_y * R[2][2]
    d2 += sh1 * (R[2][2] * R[2][2] + s_c4_div_c3)
    d3 += sh1_x * R[2][2]
    d4 += sh1_x * R[0][2] - sh1_y * R[1][2]

    sh2_x = sh2 * r2x
    sh2_y = sh2 * r2y
    d0 += sh2_x * r2y
    d1 += sh2_y * r2z
    d2 += sh2 * (r2z * r2z + s_c4_div_c3_x2)
    d3 += sh2_x * r2z
    d4 += sh2_x * r2x - sh2_y * r2y

    sh3_x = sh3 * r3x
    sh3_y = sh3 * r3y
    d0 += sh3_x * r3y
    d1 += sh3_y * r3z
    d2 += sh3 * (r3z * r3z + s_c4_div_c3_x2)
    d3 += sh3_x * r3z
    d4 += sh3_x * r3x - sh3_y * r3y

    sh4_x = sh4 * r4x
    sh4_y = sh4 * r4y
    d0 += sh4_x * r4y
    d1 += sh4_y * r4z
    d2 += sh4 * (r4z * r4z + s_c4_div_c3_x2)
    d3 += sh4_x * r4z
    d4 += sh4_x * r4x - sh4_y * r4y

    dst = x
    dst[0] = d0
    dst[1] = -d1
    dst[2] = d2 * s_scale_dst2
    dst[3] = -d3
    dst[4] = d4 * s_scale_dst4

    return dst


def load_calib(param, render_size=512):
    # pixel unit / world unit
    ortho_ratio = param['ortho_ratio']
    # world unit / model unit
    scale = param['scale']
    # camera center world coordinate
    center = param['center']
    # model rotation
    R = param['R']

    translate = -np.matmul(R, center).reshape(3, 1)
    extrinsic = np.concatenate([R, translate], axis=1)
    extrinsic = np.concatenate(
        [extrinsic, np.array([0, 0, 0, 1]).reshape(1, 4)], 0)
    # Match camera space to image pixel space
    scale_intrinsic = np.identity(4)
    scale_intrinsic[0, 0] = scale / ortho_ratio
    scale_intrinsic[1, 1] = -scale / ortho_ratio
    scale_intrinsic[2, 2] = scale / ortho_ratio
    # Match image pixel space to image uv space
    uv_intrinsic = np.identity(4)
    uv_intrinsic[0, 0] = 1.0 / float(render_size // 2)
    uv_intrinsic[1, 1] = 1.0 / float(render_size // 2)
    uv_intrinsic[2, 2] = 1.0 / float(render_size // 2)

    intrinsic = np.matmul(uv_intrinsic, scale_intrinsic)
    calib = np.concatenate([extrinsic, intrinsic], axis=0)
    return calib


def render_prt_ortho(out_path,
                     folder_name,
                     subject_name,
                     shs,
                     rndr,
                     rndr_uv,
                     im_size,
                     angl_step=4,
                     n_light=1,
                     pitch=[0]):
    cam = Camera(width=im_size, height=im_size)
    cam.ortho_ratio = 0.4 * (512 / im_size)
    cam.near = -100
    cam.far = 100
    cam.sanity_check()

    # set path for obj, prt
    mesh_file = os.path.join(folder_name, subject_name + '_100k.obj')
    if not os.path.exists(mesh_file):
        print('ERROR: obj file does not exist!!', mesh_file)
        return
    prt_file = os.path.join(folder_name, 'bounce', 'bounce0.txt')
    if not os.path.exists(prt_file):
        print('ERROR: prt file does not exist!!!', prt_file)
        return
    face_prt_file = os.path.join(folder_name, 'bounce', 'face.npy')
    if not os.path.exists(face_prt_file):
        print('ERROR: face prt file does not exist!!!', prt_file)
        return
    text_file = os.path.join(folder_name, 'tex', subject_name + '_dif_2k.jpg')
    if not os.path.exists(text_file):
        print('ERROR: dif file does not exist!!', text_file)
        return

    texture_image = cv2.imread(text_file)
    texture_image = cv2.cvtColor(texture_image, cv2.COLOR_BGR2RGB)

    vertices, faces, normals, faces_normals, textures, face_textures = load_scan(
        mesh_file, with_normal=True, with_texture=True)
    vmin = vertices.min(0)
    vmax = vertices.max(0)
    up_axis = 1 if (vmax - vmin).argmax() == 1 else 2

    vmed = np.median(vertices, 0)
    vmed[up_axis] = 0.5 * (vmax[up_axis] + vmin[up_axis])
    y_scale = 180 / (vmax[up_axis] - vmin[up_axis])

    rndr.set_norm_mat(y_scale, vmed)
    rndr_uv.set_norm_mat(y_scale, vmed)

    tan, bitan = compute_tangent(vertices, faces, normals, textures,
                                 face_textures)
    prt = np.loadtxt(prt_file)
    face_prt = np.load(face_prt_file)
    rndr.set_mesh(vertices, faces, normals, faces_normals, textures,
                  face_textures, prt, face_prt, tan, bitan)
    rndr.set_albedo(texture_image)

    rndr_uv.set_mesh(vertices, faces, normals, faces_normals, textures,
                     face_textures, prt, face_prt, tan, bitan)
    rndr_uv.set_albedo(texture_image)

    os.makedirs(os.path.join(out_path, 'GEO', 'OBJ', subject_name),
                exist_ok=True)
    os.makedirs(os.path.join(out_path, 'PARAM', subject_name), exist_ok=True)
    os.makedirs(os.path.join(out_path, 'RENDER', subject_name), exist_ok=True)
    os.makedirs(os.path.join(out_path, 'MASK', subject_name), exist_ok=True)
    os.makedirs(os.path.join(out_path, 'UV_RENDER', subject_name),
                exist_ok=True)
    os.makedirs(os.path.join(out_path, 'UV_MASK', subject_name), exist_ok=True)
    os.makedirs(os.path.join(out_path, 'UV_POS', subject_name), exist_ok=True)
    os.makedirs(os.path.join(out_path, 'UV_NORMAL', subject_name),
                exist_ok=True)

    if not os.path.exists(os.path.join(out_path, 'val.txt')):
        f = open(os.path.join(out_path, 'val.txt'), 'w')
        f.close()

    # copy obj file
    cmd = 'cp %s %s' % (mesh_file,
                        os.path.join(out_path, 'GEO', 'OBJ', subject_name))
    print(cmd)
    os.system(cmd)

    for p in pitch:
        for y in tqdm(range(0, 360, angl_step)):
            R = np.matmul(make_rotate(math.radians(p), 0, 0),
                          make_rotate(0, math.radians(y), 0))
            if up_axis == 2:
                R = np.matmul(R, make_rotate(math.radians(90), 0, 0))

            rndr.rot_matrix = R
            rndr_uv.rot_matrix = R
            rndr.set_camera(cam)
            rndr_uv.set_camera(cam)

            for j in range(n_light):
                sh_id = random.randint(0, shs.shape[0] - 1)
                sh = shs[sh_id]
                sh_angle = 0.2 * np.pi * (random.random() - 0.5)
                sh = rotateSH(sh, make_rotate(0, sh_angle, 0).T)

                dic = {
                    'sh': sh,
                    'ortho_ratio': cam.ortho_ratio,
                    'scale': y_scale,
                    'center': vmed,
                    'R': R
                }

                rndr.set_sh(sh)
                rndr.analytic = False
                rndr.use_inverse_depth = False
                rndr.display()

                out_all_f = rndr.get_color(0)
                out_mask = out_all_f[:, :, 3]
                out_all_f = cv2.cvtColor(out_all_f, cv2.COLOR_RGBA2BGR)

                np.save(
                    os.path.join(out_path, 'PARAM', subject_name,
                                 '%d_%d_%02d.npy' % (y, p, j)), dic)
                cv2.imwrite(
                    os.path.join(out_path, 'RENDER', subject_name,
                                 '%d_%d_%02d.jpg' % (y, p, j)),
                    255.0 * out_all_f)
                cv2.imwrite(
                    os.path.join(out_path, 'MASK', subject_name,
                                 '%d_%d_%02d.png' % (y, p, j)),
                    255.0 * out_mask)

                rndr_uv.set_sh(sh)
                rndr_uv.analytic = False
                rndr_uv.use_inverse_depth = False
                rndr_uv.display()

                uv_color = rndr_uv.get_color(0)
                uv_color = cv2.cvtColor(uv_color, cv2.COLOR_RGBA2BGR)
                cv2.imwrite(
                    os.path.join(out_path, 'UV_RENDER', subject_name,
                                 '%d_%d_%02d.jpg' % (y, p, j)),
                    255.0 * uv_color)

                if y == 0 and j == 0 and p == pitch[0]:
                    uv_pos = rndr_uv.get_color(1)
                    uv_mask = uv_pos[:, :, 3]
                    cv2.imwrite(
                        os.path.join(out_path, 'UV_MASK', subject_name,
                                     '00.png'), 255.0 * uv_mask)

                    data = {
                        'default': uv_pos[:, :, :3]
                    }  # default is a reserved name
                    pyexr.write(
                        os.path.join(out_path, 'UV_POS', subject_name,
                                     '00.exr'), data)

                    uv_nml = rndr_uv.get_color(2)
                    uv_nml = cv2.cvtColor(uv_nml, cv2.COLOR_RGBA2BGR)
                    cv2.imwrite(
                        os.path.join(out_path, 'UV_NORMAL', subject_name,
                                     '00.png'), 255.0 * uv_nml)