support parallel rendering
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fxia22
parent
8919a8378d
commit
24246dee15
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@ -3,4 +3,9 @@
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*.so
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*.egg-info/
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.DS_Store
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data/
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data/
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pw
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*.o
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*.ipynb
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*.out
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*.pth
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@ -0,0 +1,3 @@
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#!/bin/bash
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g++ -std=c++11 -fopenmp -Wall -c render.cpp -shared -fPIC -D_GLIBCXX_USE_CXX11_ABI=0
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g++ -shared -lgomp -lrt -o render.so render.o
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@ -0,0 +1,114 @@
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#include <cstdlib>
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#include <cstdio>
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#include <vector>
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#include <algorithm>
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#include <math.h>
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#include <omp.h>
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using namespace std;
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extern "C"{
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void render(int h,int w,unsigned char * img, float * depth,float * pose, unsigned char * render, float * depth_render){
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int ih, iw, i, ic;
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omp_set_num_threads(8);
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float * points3d = (float*) malloc(sizeof(float) * h * w * 4);
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float * points3d_after = (float*) malloc(sizeof(float) * h * w * 3);
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float * points3d_polar = (float*) malloc(sizeof(float) * h * w * 3);
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//for (i = 0; i < 5; i++) {
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// printf("%f ", pose[i]);
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//}
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//printf("\n");
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#pragma omp parallel for collapse(2)
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for (ih = 0; ih < h; ih ++ ) {
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for (iw = 0; iw < w; iw ++ ) {
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render[(ih * w + iw) * 3 +0] = 0;
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render[(ih * w + iw) * 3 +1] = 0;
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render[(ih * w + iw) * 3 +2] = 0;
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depth_render[ih * w + iw] = 1e10;
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}
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}
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#pragma omp parallel for collapse(2)
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for (ih = 0; ih < h; ih ++ ) {
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for (iw = 0; iw < w; iw ++ ) {
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float depth_point = depth[ih * w + iw] * 128.0;
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//printf("%f %f\n", depth[ih * w + iw], depth_point);
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float phi = ((float)(ih) + 0.5) / float(h) * M_PI;
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float theta = ((float)(iw) + 0.5) / float(w) * 2 * M_PI + M_PI;
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points3d[(ih * w + iw) * 4 + 0] = depth_point * sin(phi) * cos(theta);
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points3d[(ih * w + iw) * 4 + 1] = depth_point * sin(phi) * sin(theta);
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points3d[(ih * w + iw) * 4 + 2] = depth_point * cos(phi);
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points3d[(ih * w + iw) * 4 + 3] = 1;
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}
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}
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//float alpha, beta, gamma, x, y, z;
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//x = pose[0];
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//y = pose[1];
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//z = pose[2];
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//alpha = pose[4];
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//beta = pose[3];
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//gamma = pose[5];
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float transformation_matrix[16];
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for (i = 0; i < 16; i++) transformation_matrix[i] = pose[i];
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#pragma omp parallel for collapse(3)
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for (ih = 0; ih < h; ih ++ ) {
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for (iw = 0; iw < w; iw ++ ) {
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for (ic = 0; ic < 3; ic ++) {
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points3d_after[(ih * w + iw) * 3 + ic] = points3d[(ih * w + iw) * 4 + 0] * transformation_matrix[4 * ic + 0]
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+points3d[(ih * w + iw) * 4 + 1] * transformation_matrix[4 * ic + 1]
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+points3d[(ih * w + iw) * 4 + 2] * transformation_matrix[4 * ic + 2]
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+points3d[(ih * w + iw) * 4 + 3] * transformation_matrix[4 * ic + 3];
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}
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}
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}
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#pragma omp parallel for collapse(2)
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for (ih = 0; ih < h; ih ++ ) {
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for (iw = 0; iw < w; iw ++ ) {
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float x = points3d_after[(ih * w + iw) * 3 + 0];
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float y = points3d_after[(ih * w + iw) * 3 + 1];
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float z = points3d_after[(ih * w + iw) * 3 + 2];
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points3d_polar[(ih * w + iw) * 3 + 0] = sqrt(x * x + y * y + z * z);
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points3d_polar[(ih * w + iw) * 3 + 1] = atan2(y, x);
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points3d_polar[(ih * w + iw) * 3 + 2] = atan2(sqrt(x * x + y * y), z);
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}
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}
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#pragma omp parallel for collapse(2)
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for (ih = 0; ih < h; ih ++ ) {
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for (iw = 0; iw < w; iw ++ ) {
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int x = round((points3d_polar[(ih * w + iw) * 3 + 1] + M_PI)/(2*M_PI) * w - 0.5);
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int y = round((points3d_polar[(ih * w + iw) * 3 + 2])/M_PI * h - 0.5);
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//printf("%d %d\n", x, y);
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if (points3d_polar[(ih * w + iw) * 3 + 0] < depth_render[(y * w + x)]) {
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render[(y * w + x) * 3 + 0] = img[(ih * w + iw) * 3 +0];
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render[(y * w + x) * 3 + 1] = img[(ih * w + iw) * 3 +1];
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render[(y * w + x) * 3 + 2] = img[(ih * w + iw) * 3 +2];
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depth_render[(y * w + x)] = points3d_polar[(ih * w + iw) * 3 + 0];
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}
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}
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}
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#pragma omp parallel for collapse(2)
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for (ih = 0; ih < h; ih ++ ) {
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for (iw = 0; iw < w; iw ++ ) {
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if (depth_render[ih * w + iw] > 1e5) depth_render[ih * w + iw] = 0;
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}
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}
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free(points3d);
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free(points3d_after);
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free(points3d_polar);
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}
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}//extern "C"
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@ -13,7 +13,7 @@ from numpy import cos, sin
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import utils
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showsz = 256
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mousex,mousey=0.5,0.5
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changed=True
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pitch,yaw,x,y,z = 0,0,0,0,0
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@ -24,7 +24,7 @@ mousedown = False
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clickstart = (0,0)
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fps = 0
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dll=np.ctypeslib.load_library('../realenv/envs/render','.')
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dll=np.ctypeslib.load_library('render','.')
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def onmouse(*args):
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@ -54,8 +54,8 @@ def onmouse(*args):
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my=args[1]
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mx=args[2]
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mousex=mx/float(showsz)
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mousey=my/float(showsz * 2)
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mousex=mx/float(256)
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mousey=my/float(256 * 2)
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@ -63,6 +63,9 @@ def showpoints(img, depth, pose, model, target):
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global mousex,mousey,changed
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global pitch,yaw,x,y,z,roll
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global fps
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showsz = target.shape[0]
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show=np.zeros((showsz,showsz * 2,3),dtype='uint8')
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target_depth = np.zeros((showsz,showsz * 2)).astype(np.float32)
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overlay = False
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@ -71,11 +74,11 @@ def showpoints(img, depth, pose, model, target):
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cv2.moveWindow('show3d',0,0)
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cv2.setMouseCallback('show3d',onmouse)
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imgv = Variable(torch.zeros(1,3, 256, 512)).cuda()
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maskv = Variable(torch.zeros(1,1, 256, 512)).cuda()
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imgv = Variable(torch.zeros(1,3, showsz, showsz*2)).cuda()
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maskv = Variable(torch.zeros(1,1, showsz, showsz*2)).cuda()
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cpose = np.eye(4)
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def render(img, depth, pose, model):
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global fps
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t0 = time.time()
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@ -114,34 +117,34 @@ def showpoints(img, depth, pose, model, target):
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beta = pitch
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gamma = roll
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cpose = cpose.flatten()
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cpose[0] = cos(alpha) * cos(beta);
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cpose[1] = cos(alpha) * sin(beta) * sin(gamma) - sin(alpha) * cos(gamma);
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cpose[2] = cos(alpha) * sin(beta) * cos(gamma) + sin(alpha) * sin(gamma);
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cpose[3] = 0
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cpose[4] = sin(alpha) * cos(beta);
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cpose[5] = sin(alpha) * sin(beta) * sin(gamma) + cos(alpha) * cos(gamma);
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cpose[6] = sin(alpha) * sin(beta) * cos(gamma) - cos(alpha) * sin(gamma);
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cpose[7] = 0
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cpose[8] = -sin(beta);
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cpose[9] = cos(beta) * sin(gamma);
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cpose[10] = cos(beta) * cos(gamma);
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cpose[11] = 0
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cpose[12:16] = 0
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cpose[15] = 1
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cpose = cpose.reshape((4,4))
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cpose2 = np.eye(4)
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cpose2[0,3] = x
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cpose2[1,3] = y
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cpose2[2,3] = z
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cpose = np.dot(cpose, cpose2)
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print('cpose',cpose)
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render(img, depth, cpose.astype(np.float32), model)
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changed = False
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@ -175,14 +178,14 @@ def showpoints(img, depth, pose, model, target):
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elif cmd == ord('d'):
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y -= 0.05
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changed = True
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elif cmd == ord('z'):
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z += 0.01
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changed = True
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elif cmd == ord('x'):
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z -= 0.01
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changed = True
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elif cmd == ord('r'):
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pitch,yaw,x,y,z = 0,0,0,0,0
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roll = 0
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@ -190,16 +193,16 @@ def showpoints(img, depth, pose, model, target):
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elif cmd == ord('t'):
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print('pose', pose)
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RT = pose.reshape((4,4))
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R = RT[:3,:3]
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T = RT[:3,-1]
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x,y,z = np.dot(np.linalg.inv(R),T)
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roll, pitch, yaw = (utils.rotationMatrixToEulerAngles(R))
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changed = True
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changed = True
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elif cmd == ord('o'):
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overlay = not overlay
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@ -211,7 +214,6 @@ def show_target(target_img):
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cv2.namedWindow('target')
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cv2.moveWindow('target',0,256 + 50)
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show_rgb = cv2.cvtColor(target_img, cv2.COLOR_BGR2RGB)
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cv2.imshow('target', show_rgb)
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if __name__=='__main__':
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@ -221,12 +223,13 @@ if __name__=='__main__':
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parser.add_argument('--dataroot' , required = True, help='dataset path')
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parser.add_argument('--idx' , type = int, default = 0, help='index of data')
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parser.add_argument('--model' , type = str, default = '', help='path of model')
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opt = parser.parse_args()
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d = ViewDataSet3D(root=opt.dataroot, transform = np.array, mist_transform = np.array, seqlen = 2, off_3d = False)
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idx = opt.idx
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data = d[idx]
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source = data[0][0]
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target = data[1]
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source_depth = data[2][0]
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@ -243,4 +246,4 @@ if __name__=='__main__':
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#print(source_depth)
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print(source.shape, source_depth.shape)
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show_target(target)
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showpoints(source, source_depth, pose, model, target)
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showpoints(source, source_depth, pose, model, target)
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@ -159,23 +159,23 @@ def showpoints_full(img, depth, model, rts):
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render(img, depth, relative.astype(np.float32), model, current_rt)
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changed = False
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if overlay:
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min_idx = np.argsort(dist)[0]
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target = sources[min_idx]
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show_out = (show/2 + target/2).astype(np.uint8)
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elif show_depth:
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show_out = (target_depth * 10).astype(np.uint8)
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else:
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show_out = show
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if overlay:
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min_idx = np.argsort(dist)[0]
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target = sources[min_idx]
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show_out = (show/2 + target/2).astype(np.uint8)
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elif show_depth:
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show_out = (target_depth * 10).astype(np.uint8)
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else:
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show_out = show
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cv2.putText(show,'pitch %.3f yaw %.2f roll %.3f x %.2f y %.2f z %.2f'%(pitch, yaw, roll, x, y, z),(15,showsz-15),0,0.5,cv2.cv.CV_RGB(255,255,255))
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cv2.putText(show,'fps %.1f'%(fps),(15,15),0,0.5,cv2.cv.CV_RGB(255,255,255))
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cv2.putText(show,'pitch %.3f yaw %.2f roll %.3f x %.2f y %.2f z %.2f'%(pitch, yaw, roll, x, y, z),(15,showsz-15),0,0.5,cv2.cv.CV_RGB(255,255,255))
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cv2.putText(show,'fps %.1f'%(fps),(15,15),0,0.5,cv2.cv.CV_RGB(255,255,255))
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show_rgb = cv2.cvtColor(show_out, cv2.COLOR_BGR2RGB)
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cv2.imshow('show3d',show_rgb)
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#cv2.imshow('minimap',minimap)
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show_rgb = cv2.cvtColor(show_out, cv2.COLOR_BGR2RGB)
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cv2.imshow('show3d',show_rgb)
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#cv2.imshow('minimap',minimap)
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cmd=cv2.waitKey(10)%256
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cmd=cv2.waitKey(30)%256
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if cmd==ord('q'):
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break
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