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warp.py
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warp.py
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import numpy as np
import os,sys,time
import torch
import torch.nn.functional as torch_F
import util
from util import log,debug
import camera
import warnings
def get_normalized_pixel_grid(opt):
y_range = ((torch.arange(opt.H,dtype=torch.float32,device=opt.device)+0.5)/opt.H*2-1)*(opt.H/max(opt.H,opt.W))
x_range = ((torch.arange(opt.W,dtype=torch.float32,device=opt.device)+0.5)/opt.W*2-1)*(opt.W/max(opt.H,opt.W))
Y,X = torch.meshgrid(y_range,x_range) # [H,W]
xy_grid = torch.stack([X,Y],dim=-1).view(-1,2) # [HW,2]
xy_grid = xy_grid.repeat(opt.batch_size,1,1) # [B,HW,2]
return xy_grid
def get_normalized_pixel_grid_crop(opt):
y_crop = (opt.H//2-opt.H_crop//2,opt.H//2+opt.H_crop//2)
x_crop = (opt.W//2-opt.W_crop//2,opt.W//2+opt.W_crop//2)
y_range = ((torch.arange(*(y_crop),dtype=torch.float32,device=opt.device)+0.5)/opt.H*2-1)*(opt.H/max(opt.H,opt.W))
x_range = ((torch.arange(*(x_crop),dtype=torch.float32,device=opt.device)+0.5)/opt.W*2-1)*(opt.W/max(opt.H,opt.W))
Y,X = torch.meshgrid(y_range,x_range) # [H,W]
xy_grid = torch.stack([X,Y],dim=-1).view(-1,2) # [HW,2]
xy_grid = xy_grid.repeat(opt.batch_size,1,1) # [B,HW,2]
return xy_grid
def warp_grid(opt,xy_grid,warp):
if opt.warp.type=="translation":
assert(opt.warp.dof==2)
warped_grid = xy_grid+warp[...,None,:]
elif opt.warp.type=="rotation":
assert(opt.warp.dof==1)
warp_matrix = lie.so2_to_SO2(warp)
warped_grid = xy_grid@warp_matrix.transpose(-2,-1) # [B,HW,2]
elif opt.warp.type=="rigid":
assert(opt.warp.dof==3)
xy_grid_hom = camera.to_hom(xy_grid)
warp_matrix = lie.se2_to_SE2(warp)
warped_grid = xy_grid_hom@warp_matrix.transpose(-2,-1) # [B,HW,2]
elif opt.warp.type=="homography":
assert(opt.warp.dof==8)
xy_grid_hom = camera.to_hom(xy_grid)
warp_matrix = lie.sl3_to_SL3(warp)
warped_grid_hom = xy_grid_hom@warp_matrix.transpose(-2,-1)
warped_grid = warped_grid_hom[...,:2]/(warped_grid_hom[...,2:]+1e-8) # [B,HW,2]
else: assert(False)
return warped_grid
def warp_grid_use_matrix(opt,xy_grid,warp_matrix):
if opt.warp.type=="translation":
assert(opt.warp.dof==2)
warped_grid = xy_grid+warp_matrix[...,None,:]
elif opt.warp.type=="rotation":
assert(opt.warp.dof==1)
warped_grid = xy_grid@warp_matrix.transpose(-2,-1) # [B,HW,2]
elif opt.warp.type=="rigid":
assert(opt.warp.dof==3)
xy_grid_hom = camera.to_hom(xy_grid)
warped_grid = xy_grid_hom@warp_matrix.transpose(-2,-1) # [B,HW,2]
elif opt.warp.type=="homography":
assert(opt.warp.dof==8)
xy_grid_hom = camera.to_hom(xy_grid)
warped_grid_hom = xy_grid_hom@warp_matrix.transpose(-2,-1)
warped_grid = warped_grid_hom[...,:2]/(warped_grid_hom[...,2:]+1e-8) # [B,HW,2]
else: assert(False)
return warped_grid
def warp_corners(opt,warp_param):
y_crop = (opt.H//2-opt.H_crop//2,opt.H//2+opt.H_crop//2)
x_crop = (opt.W//2-opt.W_crop//2,opt.W//2+opt.W_crop//2)
Y = [((y+0.5)/opt.H*2-1)*(opt.H/max(opt.H,opt.W)) for y in y_crop]
X = [((x+0.5)/opt.W*2-1)*(opt.W/max(opt.H,opt.W)) for x in x_crop]
corners = [(X[0],Y[0]),(X[0],Y[1]),(X[1],Y[1]),(X[1],Y[0])]
corners = torch.tensor(corners,dtype=torch.float32,device=opt.device).repeat(opt.batch_size,1,1)
corners_warped = warp_grid(opt,corners,warp_param)
return corners_warped
def warp_corners_compose(opt, homo_pert, rot_pert, trans_pert):
y_crop = (opt.H//2-opt.H_crop//2,opt.H//2+opt.H_crop//2)
x_crop = (opt.W//2-opt.W_crop//2,opt.W//2+opt.W_crop//2)
Y = [((y+0.5)/opt.H*2-1)*(opt.H/max(opt.H,opt.W)) for y in y_crop]
X = [((x+0.5)/opt.W*2-1)*(opt.W/max(opt.H,opt.W)) for x in x_crop]
corners = [(X[0],Y[0]),(X[0],Y[1]),(X[1],Y[1]),(X[1],Y[0])]
corners = torch.tensor(corners,dtype=torch.float32,device=opt.device).repeat(opt.batch_size,1,1)
xy_grid_hom = camera.to_hom(corners)
warp_matrix = lie.sl3_to_SL3(homo_pert)
warped_grid_hom = xy_grid_hom@warp_matrix.transpose(-2,-1)
corners_warped = warped_grid_hom[...,:2]/(warped_grid_hom[...,2:]+1e-8) # [B,HW,2]
warp_matrix = lie.so2_to_SO2(rot_pert)
corners_warped = corners_warped@warp_matrix.transpose(-2,-1) # [B,HW,2]
corners_warped = corners_warped+trans_pert[...,None,:]
return corners_warped
def warp_corners_use_matrix(opt,warp_matrix):
y_crop = (opt.H//2-opt.H_crop//2,opt.H//2+opt.H_crop//2)
x_crop = (opt.W//2-opt.W_crop//2,opt.W//2+opt.W_crop//2)
Y = [((y+0.5)/opt.H*2-1)*(opt.H/max(opt.H,opt.W)) for y in y_crop]
X = [((x+0.5)/opt.W*2-1)*(opt.W/max(opt.H,opt.W)) for x in x_crop]
corners = [(X[0],Y[0]),(X[0],Y[1]),(X[1],Y[1]),(X[1],Y[0])]
corners = torch.tensor(corners,dtype=torch.float32,device=opt.device).repeat(opt.batch_size,1,1)
corners_warped = warp_grid_use_matrix(opt,corners,warp_matrix)
return corners_warped
def check_corners_in_range(opt,warp_param):
corners_all = warp_corners(opt,warp_param)
X = (corners_all[...,0]/opt.W*max(opt.H,opt.W)+1)/2*opt.W-0.5
Y = (corners_all[...,1]/opt.H*max(opt.H,opt.W)+1)/2*opt.H-0.5
return (0<=X).all() and (X<opt.W).all() and (0<=Y).all() and (Y<opt.H).all()
def check_corners_in_range_compose(opt, homo_pert, rot_pert, trans_pert):
corners_all = warp_corners_compose(opt,homo_pert, rot_pert, trans_pert)
X = (corners_all[...,0]/opt.W*max(opt.H,opt.W)+1)/2*opt.W-0.5
Y = (corners_all[...,1]/opt.H*max(opt.H,opt.W)+1)/2*opt.H-0.5
return (((0<=X) * (X<(opt.W//2-opt.W_crop//8)) + ((opt.W//2+opt.W_crop//8)<=X) * (X<opt.W)) \
* ((0<=Y) * (Y<(opt.H//2-opt.H_crop//8)) + ((opt.H//2+opt.H_crop//8)<=Y) * (Y<opt.H))).all()
class Lie():
def so2_to_SO2(self,theta): # [...,1]
thetax = torch.stack([torch.cat([theta.cos(),-theta.sin()],dim=-1),
torch.cat([theta.sin(),theta.cos()],dim=-1)],dim=-2)
R = thetax
return R
def SO2_to_so2(self,R): # [...,2,2]
theta = torch.atan2(R[...,1,0],R[...,0,0])
return theta[...,None]
def so2_jacobian(self,X,theta): # [...,N,2],[...,1]
dR_dtheta = torch.stack([torch.cat([-theta.sin(),-theta.cos()],dim=-1),
torch.cat([theta.cos(),-theta.sin()],dim=-1)],dim=-2) # [...,2,2]
J = X@dR_dtheta.transpose(-2,-1)
return J[...,None] # [...,N,2,1]
def se2_to_SE2(self,delta): # [...,3]
u,theta = delta.split([2,1],dim=-1)
A = self.taylor_A(theta)
B = self.taylor_B(theta)
V = torch.stack([torch.cat([A,-B],dim=-1),
torch.cat([B,A],dim=-1)],dim=-2)
R = self.so2_to_SO2(theta)
Rt = torch.cat([R,V@u[...,None]],dim=-1)
return Rt
def SE2_to_se2(self,Rt,eps=1e-7): # [...,2,3]
R,t = Rt.split([2,1],dim=-1)
theta = self.SO2_to_so2(R)
A = self.taylor_A(theta)
B = self.taylor_B(theta)
denom = (A**2+B**2+eps)[...,None]
invV = torch.stack([torch.cat([A,B],dim=-1),
torch.cat([-B,A],dim=-1)],dim=-2)/denom
u = (invV@t)[...,0]
delta = torch.cat([u,theta],dim=-1)
return delta
def se2_jacobian(self,X,delta): # [...,N,2],[...,3]
u,theta = delta.split([2,1],dim=-1)
A = self.taylor_A(theta)
B = self.taylor_B(theta)
C = self.taylor_C(theta)
D = self.taylor_D(theta)
V = torch.stack([torch.cat([A,-B],dim=-1),
torch.cat([B,A],dim=-1)],dim=-2)
R = self.so2_to_SO2(theta)
dV_dtheta = torch.stack([torch.cat([C,-D],dim=-1),
torch.cat([D,C],dim=-1)],dim=-2) # [...,2,2]
dt_dtheta = dV_dtheta@u[...,None] # [...,2,1]
J_so2 = self.so2_jacobian(X,theta) # [...,N,2,1]
dX_dtheta = J_so2+dt_dtheta[...,None,:,:] # [...,N,2,1]
dX_du = V[...,None,:,:].repeat(*[1]*(len(dX_dtheta.shape)-3),dX_dtheta.shape[-3],1,1)
J = torch.cat([dX_du,dX_dtheta],dim=-1)
return J # [...,N,2,3]
def sl3_to_SL3(self,h):
# homography: directly expand matrix exponential
# https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.61.6151&rep=rep1&type=pdf
h1,h2,h3,h4,h5,h6,h7,h8 = h.chunk(8,dim=-1)
A = torch.stack([torch.cat([h5,h3,h1],dim=-1),
torch.cat([h4,-h5-h6,h2],dim=-1),
torch.cat([h7,h8,h6],dim=-1)],dim=-2)
H = A.matrix_exp()
return H
def taylor_A(self,x,nth=10):
# Taylor expansion of sin(x)/x
ans = torch.zeros_like(x)
denom = 1.
for i in range(nth+1):
if i>0: denom *= (2*i)*(2*i+1)
ans = ans+(-1)**i*x**(2*i)/denom
return ans
def taylor_B(self,x,nth=10):
# Taylor expansion of (1-cos(x))/x
ans = torch.zeros_like(x)
denom = 1.
for i in range(nth+1):
denom *= (2*i+1)*(2*i+2)
ans = ans+(-1)**i*x**(2*i+1)/denom
return ans
def taylor_C(self,x,nth=10):
# Taylor expansion of (x*cos(x)-sin(x))/x**2
ans = torch.zeros_like(x)
denom = 1.
for i in range(nth+1):
denom *= (2*i+2)*(2*i+3)
ans = ans+(-1)**(i+1)*x**(2*i+1)*(2*i+2)/denom
return ans
def taylor_D(self,x,nth=10):
# Taylor expansion of (x*sin(x)+cos(x)-1)/x**2
ans = torch.zeros_like(x)
denom = 1.
for i in range(nth+1):
denom *= (2*i+1)*(2*i+2)
ans = ans+(-1)**i*x**(2*i)*(2*i+1)/denom
return ans
lie = Lie()