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| """This script is the differentiable renderer for Deep3DFaceRecon_pytorch | |
| Attention, antialiasing step is missing in current version. | |
| """ | |
| import pytorch3d.ops | |
| import torch | |
| import torch.nn.functional as F | |
| import kornia | |
| from kornia.geometry.camera import pixel2cam | |
| import numpy as np | |
| from typing import List | |
| from scipy.io import loadmat | |
| from torch import nn | |
| from pytorch3d.structures import Meshes | |
| from pytorch3d.renderer import ( | |
| look_at_view_transform, | |
| FoVPerspectiveCameras, | |
| DirectionalLights, | |
| RasterizationSettings, | |
| MeshRenderer, | |
| MeshRasterizer, | |
| SoftPhongShader, | |
| TexturesUV, | |
| ) | |
| # def ndc_projection(x=0.1, n=1.0, f=50.0): | |
| # return np.array([[n/x, 0, 0, 0], | |
| # [ 0, n/-x, 0, 0], | |
| # [ 0, 0, -(f+n)/(f-n), -(2*f*n)/(f-n)], | |
| # [ 0, 0, -1, 0]]).astype(np.float32) | |
| class MeshRenderer(nn.Module): | |
| def __init__(self, | |
| rasterize_fov, | |
| znear=0.1, | |
| zfar=10, | |
| rasterize_size=224): | |
| super(MeshRenderer, self).__init__() | |
| # x = np.tan(np.deg2rad(rasterize_fov * 0.5)) * znear | |
| # self.ndc_proj = torch.tensor(ndc_projection(x=x, n=znear, f=zfar)).matmul( | |
| # torch.diag(torch.tensor([1., -1, -1, 1]))) | |
| self.rasterize_size = rasterize_size | |
| self.fov = rasterize_fov | |
| self.znear = znear | |
| self.zfar = zfar | |
| self.rasterizer = None | |
| def forward(self, vertex, tri, feat=None): | |
| """ | |
| Return: | |
| mask -- torch.tensor, size (B, 1, H, W) | |
| depth -- torch.tensor, size (B, 1, H, W) | |
| features(optional) -- torch.tensor, size (B, C, H, W) if feat is not None | |
| Parameters: | |
| vertex -- torch.tensor, size (B, N, 3) | |
| tri -- torch.tensor, size (B, M, 3) or (M, 3), triangles | |
| feat(optional) -- torch.tensor, size (B, N ,C), features | |
| """ | |
| device = vertex.device | |
| rsize = int(self.rasterize_size) | |
| # ndc_proj = self.ndc_proj.to(device) | |
| # trans to homogeneous coordinates of 3d vertices, the direction of y is the same as v | |
| if vertex.shape[-1] == 3: | |
| vertex = torch.cat([vertex, torch.ones([*vertex.shape[:2], 1]).to(device)], dim=-1) | |
| vertex[..., 0] = -vertex[..., 0] | |
| # vertex_ndc = vertex @ ndc_proj.t() | |
| if self.rasterizer is None: | |
| self.rasterizer = MeshRasterizer() | |
| print("create rasterizer on device cuda:%d"%device.index) | |
| # ranges = None | |
| # if isinstance(tri, List) or len(tri.shape) == 3: | |
| # vum = vertex_ndc.shape[1] | |
| # fnum = torch.tensor([f.shape[0] for f in tri]).unsqueeze(1).to(device) | |
| # fstartidx = torch.cumsum(fnum, dim=0) - fnum | |
| # ranges = torch.cat([fstartidx, fnum], axis=1).type(torch.int32).cpu() | |
| # for i in range(tri.shape[0]): | |
| # tri[i] = tri[i] + i*vum | |
| # vertex_ndc = torch.cat(vertex_ndc, dim=0) | |
| # tri = torch.cat(tri, dim=0) | |
| # for range_mode vetex: [B*N, 4], tri: [B*M, 3], for instance_mode vetex: [B, N, 4], tri: [M, 3] | |
| tri = tri.type(torch.int32).contiguous() | |
| # rasterize | |
| cameras = FoVPerspectiveCameras( | |
| device=device, | |
| fov=self.fov, | |
| znear=self.znear, | |
| zfar=self.zfar, | |
| ) | |
| raster_settings = RasterizationSettings( | |
| image_size=rsize | |
| ) | |
| # print(vertex.shape, tri.shape) | |
| mesh = Meshes(vertex.contiguous()[...,:3], tri.unsqueeze(0).repeat((vertex.shape[0],1,1))) | |
| fragments = self.rasterizer(mesh, cameras = cameras, raster_settings = raster_settings) | |
| rast_out = fragments.pix_to_face.squeeze(-1) | |
| depth = fragments.zbuf | |
| # render depth | |
| depth = depth.permute(0, 3, 1, 2) | |
| mask = (rast_out > 0).float().unsqueeze(1) | |
| depth = mask * depth | |
| image = None | |
| if feat is not None: | |
| attributes = feat.reshape(-1,3)[mesh.faces_packed()] | |
| image = pytorch3d.ops.interpolate_face_attributes(fragments.pix_to_face, | |
| fragments.bary_coords, | |
| attributes) | |
| # print(image.shape) | |
| image = image.squeeze(-2).permute(0, 3, 1, 2) | |
| image = mask * image | |
| return mask, depth, image | |