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1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 | import os
import time
from typing import *
from contextlib import contextmanager
import threading
import weakref
import numpy as np
from numpy import ndarray
import moderngl
from .transforms import extrinsics_to_view, intrinsics_to_perspective
__all__ = [
'RastContext',
'rasterize_triangles',
'rasterize_triangles_peeling',
'rasterize_lines',
'rasterize_point_cloud',
'sample_texture',
'test_rasterization',
]
def map_np_dtype(dtype) -> str:
if dtype == int:
return 'i4'
elif dtype == np.uint8:
return 'u1'
elif dtype == np.uint32:
return 'u2'
elif dtype == np.float16:
return 'f2'
elif dtype == np.float32:
return 'f4'
def one_value(dtype):
if dtype == 'u1':
return 255
elif dtype == 'u2':
return 65535
else:
return 1
RASTERIZE_TRIANGLES_VS = """
#version 430
uniform mat4 uViewMat;
uniform mat4 uProjectionMat;
in vec3 inVert;
in vec4 inAttr;
{return_interpolation} in vec2 inUV;
{flat} out vec4 vAttr;
out vec3 vViewPos;
{return_interpolation} out vec2 vUV;
void main() {
vec4 viewPos = uViewMat * vec4(inVert, 1.0);
vAttr = inAttr;
vViewPos = viewPos.xyz;
gl_Position = uProjectionMat * viewPos;
{return_interpolation} vUV = inUV;
}
"""
RASTERIZE_TRIANGLES_FS = """
#version 430
{flat} in vec4 vAttr;
in vec2 vUV;
in vec3 vViewPos;
out vec4 outAttr;
out float outMask;
{return_interpolation} out int outID;
{return_interpolation} out vec2 outUV;
void main() {
float currDepth = log2(-vViewPos.z) / 64.f + 0.5f;
outAttr = vAttr;
outMask = 1.0;
{return_interpolation} outID = gl_PrimitiveID;
{return_interpolation} outUV = vUV;
gl_FragDepth = currDepth;
}
"""
RASTERIZE_TRIANGLES_PEELING_FS = """
#version 430
uniform sampler2D prevBufferDepthMap;
uniform vec2 uScreenSize;
{flat} in vec4 vAttr;
in vec2 vUV;
in vec3 vViewPos;
out vec4 outAttr;
out float outMask;
{return_interpolation} out int outID;
{return_interpolation} out vec2 outUV;
void main() {
float currDepth = log2(-vViewPos.z) / 64.f + 0.5f;
float prevDepth = texture(prevBufferDepthMap, gl_FragCoord.xy / uScreenSize).r;
if (currDepth <= prevDepth) {
discard;
}
outAttr = vAttr;
outMask = 1.0;
{return_interpolation} outID = gl_PrimitiveID;
{return_interpolation} outUV = vUV;
gl_FragDepth = currDepth;
}
"""
RASTERIZE_POINT_CLOUD_VS = """
#version 430
uniform mat4 uViewMat;
uniform mat4 uProjectionMat;
in vec3 inVert;
in vec4 inAttr;
in float inPointSize;
{return_point_id} out int vPointID;
out vec3 vViewPos;
out vec4 vAttr;
out float vPointSize;
void main() {
vec4 viewPos = uViewMat * vec4(inVert, 1.0);
vAttr = inAttr;
vViewPos = viewPos.xyz;
vPointSize = inPointSize;
{return_point_id} vPointID = gl_VertexID;
gl_Position = uProjectionMat * viewPos;
}
"""
RASTERIZE_POINT_CLOUD_GS = """
#version 430 core
layout(points) in;
layout(triangle_strip, max_vertices = {num_point_shape_vertices}) out;
in vec3 vViewPos[];
in vec4 vAttr[];
in float vPointSize[];
{return_point_id} in int vPointID[];
flat out vec4 gAttr;
out vec3 gViewPos;
flat out vec3 gPointViewPos;
flat out vec2 gPointCenter2D;
flat out float gPointSize;
{return_point_id} flat out int gPointID;
uniform mat4 uViewMat;
uniform mat4 uProjectionMat;
uniform vec2 uScreenSize;
uniform bool uIsPointSize3D;
const vec3 triangle[3] = {vec3(0., 0.5, 0.0), vec3(-0.433013, -0.25, 0.0), vec3(0.433013, -0.25, 0.0)};
const vec3 square[4] = {vec3(-0.5, -0.5, 0.0), vec3(0.5, -0.5, 0.0), vec3(-0.5, 0.5, 0.0), vec3( 0.5, 0.5, 0.0)};
const vec3 pentagon[5] = {vec3(0.0, 0.5, 0.0), vec3(-0.475528, 0.154508, 0.0), vec3(0.475528, 0.154508, 0.0), vec3(-0.293893, -0.404508, 0.0), vec3(0.293893, -0.404508, 0.0)};
const vec3 hexagon[6] = {vec3(0.0, 0.5, 0.0), vec3(-0.433013, 0.25, 0.0), vec3(0.433013, 0.25, 0.0), vec3(-0.433013, -0.25, 0.0), vec3(0.433013, -0.25, 0.0), vec3(0.0, -0.5, 0.0)};
const vec3 circle[4] = {vec3(-0.5, -0.5, 0.0), vec3(0.5, -0.5, 0.0), vec3(-0.5, 0.5, 0.0), vec3( 0.5, 0.5, 0.0)};
void main() {
mat4 invProjection = inverse(uProjectionMat);
gAttr = vAttr[0];
{return_point_id} gPointID = vPointID[0];
gPointViewPos = vViewPos[0];
gPointCenter2D = (0.5 * gl_in[0].gl_Position.xy / gl_in[0].gl_Position.w + 0.5) * uScreenSize;
gPointSize = vPointSize[0];
for (int i = 0; i < {point_shape}.length(); ++i) {
vec3 viewPos = uIsPointSize3D ? gPointViewPos + gPointSize * {point_shape}[i] : gPointViewPos;
vec4 clipCoord = uProjectionMat * vec4(viewPos, 1.0);
if (!uIsPointSize3D) clipCoord.xy += 2 * gPointSize * clipCoord.w / uScreenSize * {point_shape}[i].xy;
gViewPos = (invProjection * clipCoord).xyz;
gl_Position = clipCoord;
EmitVertex();
}
EndPrimitive();
}
"""
RASTERIZE_POINT_CLOUD_FS = """
#version 430 core
flat in vec4 gAttr;
in vec3 gViewPos;
flat in vec3 gPointViewPos;
flat in vec2 gPointCenter2D;
flat in float gPointSize;
{return_point_id} flat in int gPointID;
out vec4 outAttr;
out float outMask;
{return_point_id} out int outPointID;
uniform bool uIsPointSize3D;
void main() {
outAttr = gAttr;
outMask = 1.0;
{return_point_id} outPointID = gPointID;
gl_FragDepth = log2(-gViewPos.z) / 64.f + 0.5f;
{circle_begin}
float distSquare;
if (uIsPointSize3D) {
vec3 x = gViewPos - gPointViewPos;
distSquare = dot(x, x);
}
else {
vec2 x = gl_FragCoord.xy - gPointCenter2D;
distSquare = dot(x, x);
}
if (distSquare > 0.25 * gPointSize * gPointSize)
discard;
{circle_end}
}
"""
FULL_SCREEN_VS = """
#version 430 core
out vec2 screenXY;
void main() {
screenXY = vec2((gl_VertexID << 1) & 2, gl_VertexID & 2);
gl_Position = vec4(screenXY * 2.0 - 1.0, 0.0, 1.0);
}
"""
CLEAR_TEXTURE_FS = """
#version 430
uniform {type} uCleanColor;
in vec2 screenXY;
out {type} outColor;
void main() {
outColor = uCleanColor;
}
"""
SAMPLE_TEXTURE_FS = """
#version 430
uniform sampler2D texMap;
uniform sampler2D uvMap;
in vec2 screenXY;
out vec4 outColor;
void main() {
outColor = vec4(texture(texMap, texture(uvMap, screenXY).xy));
}
"""
DEPTH_LINEAR_TO_BUFFER_FS = """
#version 430
uniform sampler2D linearDepthMap;
in vec2 screenXY;
void main() {
float d = texture(linearDepthMap, screenXY).r;
gl_FragDepth = min(1.f, log2(d) / 64.f + 0.5f);
}
"""
DEPTH_BUFFER_TO_LINEAR_FS = """
#version 430
uniform sampler2D bufferDepthMap;
in vec2 screenXY;
out float outLinearDepth;
void main() {
float d = texture(bufferDepthMap, screenXY).r;
outLinearDepth = d == 1.f ? 1.f / 0.f : exp2((d - 0.5f) * 64.f);
}
"""
class RastContext:
""" Context for numpy-side rasterization. Based on moderngl.
"""
_threading_local: threading.local = threading.local()
"Thread-local static variable to store default context."
programs: Dict[str, moderngl.Program]
"Cache of compiled moderngl programs."
def __init__(self, *args, **kwargs):
"""Create context for numpy-side rasterization. Based on moderngl.
## Parameters
Leave empty to create context with default settings. Or refer to moderngl.create_context() for other parameters.
"""
if len(args) == 0 and len(kwargs) == 0:
try:
# Default
self.mgl_ctx = moderngl.create_context()
except:
pass
if not hasattr(self, 'mgl_ctx'):
try:
# EGL
self.mgl_ctx = moderngl.create_context(standalone=True, backend='egl',)
except:
pass
if not hasattr(self, 'mgl_ctx'):
try:
# Default standalone
self.mgl_ctx = moderngl.create_context(standalone=True)
except:
pass
if not hasattr(self, 'mgl_ctx'):
try:
# EGL with more specifications
self.mgl_ctx = moderngl.create_context(standalone=True, backend='egl', libgl='libGL.so.1', libegl='libEGL.so.1')
except:
pass
if not hasattr(self, 'mgl_ctx'):
raise RuntimeError(
"Failed to create moderngl context with default settings. "
"Please specify context creation settings following https://moderngl.readthedocs.io/en/latest/topics/context.html. "
"If running on headless ubuntu server, please refer to https://moderngl.readthedocs.io/en/latest/techniques/headless_ubuntu_18_server.html"
)
elif len(args) == 1 and isinstance(args[0], moderngl.Context):
self.mgl_ctx = args[0]
else:
self.mgl_ctx = moderngl.create_context(*args, **kwargs)
self.programs = {}
def __enter__(self):
self.mgl_ctx.__enter__()
return self
def __exit__(self, exc_type, exc_value, traceback):
self.mgl_ctx.__exit__(exc_type, exc_value, traceback)
def __del__(self):
try:
self.mgl_ctx.release()
for prog_name, prog in self.programs.items():
prog.release()
except:
pass
@staticmethod
def get_default_context():
""" Get the default RastContext in current thread. Create one if not exists.
"""
if not hasattr(RastContext._threading_local, 'default_context'):
RastContext._threading_local.default_context = RastContext()
return RastContext._threading_local.default_context
def run_full_screen_program(
ctx: RastContext,
prog: moderngl.Program,
in_tex: Union[moderngl.Texture, List[moderngl.Texture]],
out_tex_or_rbo: Union[Union[moderngl.Texture, moderngl.Renderbuffer], Sequence[Union[moderngl.Texture, moderngl.Renderbuffer]]] = None,
out_depth: Optional[moderngl.Texture] = None,
**uniforms
) -> moderngl.Texture:
vao = ctx.mgl_ctx.vertex_array(prog, [])
if isinstance(in_tex, list):
for i, tex in enumerate(in_tex):
tex.use(location=i)
else:
in_tex.use(location=0)
for k, v in uniforms.items():
prog[k] = v
if not isinstance(out_tex_or_rbo, list):
out_tex_or_rbo = [out_tex_or_rbo] if out_tex_or_rbo is not None else []
fbo = ctx.mgl_ctx.framebuffer(color_attachments=out_tex_or_rbo, depth_attachment=out_depth)
fbo.use()
ctx.mgl_ctx.disable(ctx.mgl_ctx.DEPTH_TEST)
ctx.mgl_ctx.disable(ctx.mgl_ctx.CULL_FACE)
ctx.mgl_ctx.disable(ctx.mgl_ctx.BLEND)
vao.render(moderngl.TRIANGLES, vertices=3)
vao.release()
fbo.release()
def clear_texture(ctx: RastContext, tex: moderngl.Texture, value: Union[Tuple[float], Tuple[int], float, int]):
if tex.depth:
fbo = ctx.mgl_ctx.framebuffer(color_attachments=[], depth_attachment=tex)
fbo.clear(depth=value)
fbo.release()
elif tex.dtype.startswith('f'):
fbo = ctx.mgl_ctx.framebuffer(color_attachments=[tex])
fbo.clear(color=value if isinstance(value, tuple) else (value,) * tex.components)
fbo.release()
elif tex.dtype.startswith('i') or tex.dtype.startswith('u'):
fbo = ctx.mgl_ctx.framebuffer(color_attachments=[tex])
vec_type = tex.dtype[0] + 'vec4'
program_name = f'clear_texture_{tex.dtype}'
if prog := ctx.programs.get(program_name, None) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=FULL_SCREEN_VS,
fragment_shader=CLEAR_TEXTURE_FS.replace('{type}', vec_type)
)
ctx.programs[program_name] = prog
vao = ctx.mgl_ctx.vertex_array(prog, [])
prog['uCleanColor'].value = value + (0,) * (4 - len(value))
fbo.use()
vao.render(moderngl.TRIANGLES, vertices=3)
fbo.release()
vao.release()
def depth_texture_buffer_to_linear(ctx: RastContext, buffer_depth_tex: moderngl.Texture, linear_depth_tex: moderngl.Texture):
program_name = f'depth_buffer_to_linear'
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=FULL_SCREEN_VS,
fragment_shader=DEPTH_BUFFER_TO_LINEAR_FS
)
prog['bufferDepthMap'] = 0
ctx.programs[program_name] = prog
run_full_screen_program(ctx, prog, buffer_depth_tex, out_tex_or_rbo=linear_depth_tex)
def depth_texture_linear_to_buffer(ctx: RastContext, linear_depth_tex: moderngl.Texture, buffer_depth_tex: moderngl.Texture):
program_name = f'depth_linear_to_buffer'
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=FULL_SCREEN_VS,
fragment_shader=DEPTH_LINEAR_TO_BUFFER_FS
)
prog['linearDepthMap'] = 0
ctx.programs[program_name] = prog
run_full_screen_program(ctx, prog, linear_depth_tex, out_depth=buffer_depth_tex)
def rasterize_triangles(
size: Tuple[int, int],
*,
vertices: ndarray,
attributes: Optional[ndarray] = None,
attributes_domain: Optional[Literal['vertex', 'face']] = 'vertex',
faces: Optional[ndarray] = None,
view: ndarray = None,
projection: ndarray = None,
extrinsics: ndarray = None,
intrinsics: ndarray = None,
near: float = 0.01,
far: float = float('inf'),
cull_backface: bool = False,
return_depth: bool = False,
return_interpolation: bool = False,
background: Optional[Dict[str, ndarray]] = None,
ctx: Optional[RastContext] = None,
) -> Dict[str, ndarray]:
"""
Rasterize triangles.
Parameters
----
- `size` (Tuple[int, int]): (height, width) of the output image
- `vertices` (ndarray): (N, 3) or (T, 3, 3)
- `faces` (Optional[ndarray]): (T, 3) or None. If `None`, the vertices must be an array with shape (T, 3, 3)
- `attributes` (ndarray): (N, C), (T, 3, C) for vertex domain or (T, C) for face domain
- `attributes_domain` (Literal['vertex', 'face']): domain of the attributes
- `view` | `extrinsics` (ndarray): (4, 4) View matrix or extrinsics matrix. Provide either one of them.
- `projection` | `intrinsics` (ndarray): (4, 4) Projection matrix or (3, 3) Intrinsics matrix. Provide either one of them.
- `cull_backface` (bool): whether to cull backface
- `background` (Optional[Dict[str, ndarray]]): background to composite with. Contains the same keys as the return dictionary, each with shape matching the output.
- `ctx` (RastContext): rasterization context. Created by `RastContext()`. Default to the thread-local default context.
Returns
----
A dictionary containing
- `mask` (ndarray): (H, W) bool mask of valid pixels
if attributes is not None
- `image` (ndarray): (H, W, C) float32 rendered image corresponding to the input attributes
if return_depth is True
- `depth` (ndarray): (H, W) float32 camera space linear depth. Empty pixels are filled with inf.
if return_interpolation is True
- `interpolation_id` (ndarray): (H, W) int32 triangle ID map
- `interpolation_uv` (ndarray): (H, W, 2) float32 triangle UV (first two channels of barycentric coordinates)
"""
if ctx is None:
ctx = RastContext.get_default_context()
height, width = size
if faces is None:
assert vertices.ndim == 3 and vertices.shape[1] == vertices.shape[2] == 3, "If faces is None, vertices must be an array with shape (T, 3, 3)"
else:
assert faces.ndim == 2 and faces.shape[1] == 3, f"Faces should be a 2D array with shape (T, 3), but got {faces.shape}"
assert vertices.ndim == 2 and vertices.shape[1] == 3
assert vertices.dtype == np.float32
if attributes is not None:
assert attributes.dtype == np.float32
if attributes_domain == 'vertex':
assert (attributes.shape[:-1] == vertices.shape[:-1]), f"Attribute shape {attributes.shape} does not match vertex shape {vertices.shape}"
elif attributes_domain == 'face':
if faces is None:
assert attributes.shape[0] == vertices.shape[0], f"Attribute shape {attributes.shape} does not match vertex shape {vertices.shape}"
else:
assert attributes.shape[0] == faces.shape[0], f"Attribute shape {attributes.shape} does not match face shape {faces.shape}"
else:
raise ValueError(f"Unknown attributes domain: {attributes_domain}")
assert attributes.shape[-1] in [1, 2, 3, 4], f'Vertex attribute only supports channels 1, 2, 3, 4, but got {attributes.shape[-1]}'
assert intrinsics is None or (intrinsics.shape == (3, 3) and intrinsics.dtype == np.float32), f"Intrinsics should be a 3x3 float32 matrix, but got {intrinsics.shape} {intrinsics.dtype}"
assert extrinsics is None or (extrinsics.shape == (4, 4) and extrinsics.dtype == np.float32), f"Extrinsics should be a 4x4 float32 matrix, but got {extrinsics.shape} {extrinsics.dtype}"
assert view is None or (view.shape == (4, 4) and view.dtype == np.float32), f"View should be a 4x4 float32 matrix, but got {view.shape} {view.dtype}"
assert projection is None or (projection.shape == (4, 4) and projection.dtype == np.float32), f"Projection should be a 4x4 float32 matrix, but got {projection.shape} {projection.dtype}"
background_image, background_mask, background_depth, background_interpolation_id, background_interpolation_uv = [background.get(k, None) if background is not None else None for k in ['image', 'mask', 'depth', 'interpolation_id', 'interpolation_uv']]
if background_image is not None:
assert background_image.ndim == 3 and background_image.shape == (height, width, attributes.shape[-1]), f"Image should be a float32 array with shape (H, W, {attributes.shape[1]}), but got {background_image.shape} {background_image.dtype}"
if background_depth is not None:
assert background_depth.dtype == np.float32 and background_depth.ndim == 2 and background_depth.shape == (height, width), f"Depth should be a float32 array with shape (H, W), but got {background_depth.shape} {background_depth.dtype}"
if background_interpolation_id is not None:
assert background_interpolation_id.dtype == np.int32 and background_interpolation_id.ndim == 2 and background_interpolation_id.shape == (height, width), f"Interpolation ID should be a int32 array with shape (H, W), but got {background_interpolation_id.shape} {background_interpolation_id.dtype}"
if background_interpolation_uv is not None:
assert background_interpolation_uv.dtype == np.float32 and background_interpolation_uv.ndim == 3 and background_interpolation_uv.shape == (height, width, 2), f"Interpolation UV should be a float32 array with shape (H, W, 2), but got {background_interpolation_uv.shape} {background_interpolation_uv.dtype}"
if faces is not None:
vertices = vertices[faces]
if attributes is not None:
num_channels = attributes.shape[-1]
attributes = np.concatenate([attributes, np.zeros((*attributes.shape[:-1], 4 - num_channels,), dtype=attributes.dtype)], axis=-1) if num_channels < 4 else attributes
if attributes_domain == 'vertex':
if faces is not None:
attributes = attributes[faces]
elif attributes_domain == 'face':
attributes = attributes[:, None, :].repeat(3, axis=1)
if intrinsics is not None:
assert projection is None, "Cannot specify both intrinsics and projection."
projection = intrinsics_to_perspective(intrinsics, near, far)
if extrinsics is not None:
assert view is None, "Cannot specify both extrinsics and view."
view = extrinsics_to_view(extrinsics)
if view is None:
view = np.eye(4, dtype=np.float32)
if projection is None:
projection = np.eye(4, dtype=np.float32)
if background_image is not None:
background_image = np.concatenate([background_image, np.ones((height, width, 4 - background_image.shape[-1]), dtype=background_image.dtype)], axis=-1) if background_image.shape[-1] < 4 else background_image
# Get program
flat = attributes_domain == 'face'
program_name = f'rasterize_triangles(flat={flat}, return_interpolation={return_interpolation})'
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=RASTERIZE_TRIANGLES_VS.replace('{flat}', 'flat' if flat else '').replace('{return_interpolation}', '' if return_interpolation else '//'),
fragment_shader=RASTERIZE_TRIANGLES_FS.replace('{flat}', 'flat' if flat else '').replace('{return_interpolation}', '' if return_interpolation else '//')
)
ctx.programs[program_name] = prog
# Create buffers
vbo_vertices = ctx.mgl_ctx.buffer(np.ascontiguousarray(vertices, dtype='f4'))
if attributes is not None:
vbo_attributes = ctx.mgl_ctx.buffer(np.ascontiguousarray(attributes, dtype='f4'))
if return_interpolation:
vbo_uv = ctx.mgl_ctx.buffer(np.ascontiguousarray((np.array([[1., 0.], [0., 1.], [0., 0.]], dtype=np.float32).reshape(1, 3, 2).repeat(vertices.shape[0], axis=0))))
vao = ctx.mgl_ctx.vertex_array(
prog,
list(filter(lambda x: x is not None, [
(vbo_vertices, '3f', 'inVert'),
(vbo_attributes, f'4f', 'inAttr') if attributes is not None else None,
(vbo_uv, '2f', 'inUV') if return_interpolation else None,
])),
mode=moderngl.TRIANGLES,
)
# Create textures
image_tex = ctx.mgl_ctx.texture((width, height), 4, dtype='f4', data=np.ascontiguousarray(background_image[::-1, :, :]) if background_image is not None else None)
buffer_depth_tex = ctx.mgl_ctx.depth_texture((width, height))
mask_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f1', data=np.ascontiguousarray(background_mask[::-1, :]) if background_mask is not None else None)
if return_depth:
linear_depth_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f4', data=np.ascontiguousarray(background_depth[::-1, :]) if background_depth is not None else None)
if return_interpolation:
interpolation_id_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='i4', data=np.ascontiguousarray(background_interpolation_id[::-1, :]) if background_interpolation_id is not None else None)
interpolation_uv_tex = ctx.mgl_ctx.texture((width, height), 2, dtype='f4', data=np.ascontiguousarray(background_interpolation_uv[::-1, :, :]) if background_interpolation_uv is not None else None)
# Clear textures
if background_image is None:
clear_texture(ctx, image_tex, value=(0.0, 0.0, 0.0, 1.0))
if background_mask is None:
clear_texture(ctx, mask_tex, value=0.0)
if background_depth is not None:
depth_texture_linear_to_buffer(ctx, linear_depth_tex, buffer_depth_tex)
else:
clear_texture(ctx, buffer_depth_tex, value=1.0)
if return_interpolation:
if background_interpolation_id is None:
clear_texture(ctx, interpolation_id_tex, value=(-1,))
if background_interpolation_uv is None:
clear_texture(ctx, interpolation_uv_tex, value=(0.0, 0.0))
# Create framebuffer
if return_interpolation:
fbo = ctx.mgl_ctx.framebuffer(
color_attachments=[image_tex, mask_tex, interpolation_id_tex, interpolation_uv_tex],
depth_attachment=buffer_depth_tex,
)
else:
fbo = ctx.mgl_ctx.framebuffer(
color_attachments=[image_tex, mask_tex],
depth_attachment=buffer_depth_tex,
)
fbo.viewport = (0, 0, width, height)
# Set uniforms
prog['uViewMat'].write(np.ascontiguousarray(view.transpose().astype('f4')))
prog['uProjectionMat'].write(np.ascontiguousarray(projection.transpose().astype('f4')))
# Set render states
ctx.mgl_ctx.depth_func = '<'
ctx.mgl_ctx.enable(ctx.mgl_ctx.DEPTH_TEST)
if cull_backface:
ctx.mgl_ctx.enable(ctx.mgl_ctx.CULL_FACE)
else:
ctx.mgl_ctx.disable(ctx.mgl_ctx.CULL_FACE)
ctx.mgl_ctx.disable(ctx.mgl_ctx.BLEND)
# Render
fbo.use()
vao.render()
# Read
mask = np.frombuffer(mask_tex.read(), dtype=bool).reshape((height, width))
mask = np.flip(mask, axis=0)
if attributes is not None:
image = np.frombuffer(image_tex.read(), dtype='f4').reshape((height, width, 4))
image = np.flip(image, axis=0)
image = image[:, :, :num_channels]
else:
image = None
if return_depth:
depth_texture_buffer_to_linear(ctx, buffer_depth_tex, linear_depth_tex)
depth = np.frombuffer(linear_depth_tex.read(), dtype='f4').reshape((height, width))
depth = np.flip(depth, axis=0)
else:
depth = None
if return_interpolation:
interpolation_id = np.frombuffer(interpolation_id_tex.read(), dtype='i4').reshape((height, width))
interpolation_id = np.flip(interpolation_id, axis=0)
interpolation_uv = np.frombuffer(interpolation_uv_tex.read(), dtype='f4').reshape((height, width, 2))
interpolation_uv = np.flip(interpolation_uv, axis=0)
else:
interpolation_id = None
interpolation_uv = None
# Release
vao.release()
vbo_vertices.release()
if attributes is not None:
vbo_attributes.release()
if return_interpolation:
vbo_uv.release()
fbo.release()
image_tex.release()
mask_tex.release()
buffer_depth_tex.release()
if background_depth is not None or return_depth:
linear_depth_tex.release()
if return_interpolation:
interpolation_id_tex.release()
interpolation_uv_tex.release()
output = {
"image": image,
"mask": mask,
"depth": depth,
"interpolation_id": interpolation_id,
"interpolation_uv": interpolation_uv
}
output = {k: v for k, v in output.items() if v is not None}
return output
@contextmanager
def rasterize_triangles_peeling(
size: Tuple[int, int],
*,
vertices: ndarray,
attributes: ndarray,
attributes_domain: Literal['vertex', 'face'] = 'vertex',
faces: Optional[ndarray] = None,
view: ndarray = None,
projection: ndarray = None,
extrinsics: ndarray = None,
intrinsics: ndarray = None,
near: float = 0.01,
far: float = float('inf'),
cull_backface: bool = False,
return_depth: bool = False,
return_interpolation: bool = False,
ctx: Optional[RastContext] = None,
) -> Iterator[Iterator[Dict[str, ndarray]]]:
"""
Rasterize triangles with depth peeling.
Parameters
----
- `size` (Tuple[int, int]): (height, width) of the output image
- `vertices` (ndarray): (N, 3) or (T, 3, 3)
- `faces` (Optional[ndarray]): (T, 3) or None. If `None`, the vertices must be an array with shape (T, 3, 3)
- `attributes` (ndarray): (N, C), (T, 3, C) for vertex domain or (T, C) for face domain
- `attributes_domain` (Literal['vertex', 'face']): domain of the attributes
- `view` | `extrinsics` (ndarray): (4, 4) View matrix or extrinsics matrix. Provide either one of them.
- `projection` | `intrinsics` (ndarray): (4, 4) Projection matrix or (3, 3) Intrinsics matrix. Provide either one of them.
- `near` (float): near clipping plane. Only used for intrinsics. Ignored if projection matrix is provided.
- `far` (float): far clipping plane. Only used for intrinsics. Ignored if projection matrix is provided.
- `cull_backface` (bool): whether to cull backfaces
- `ctx` (RastContext): rasterization context. Created by `RastContext()`. Default to the thread-local default context.
Returns
----
A generator that yields dictionaries for each peeling layer containing:
- `mask` (ndarray): (H, W) bool mask of valid pixels in this layer
if attributes is not None
- `image` (ndarray): (H, W, C) float32 rendered image corresponding to the input attributes
if return_depth is True
- `depth` (ndarray): (H, W) float32 camera space linear depth. Empty pixels are filled with inf.
if return_interpolation is True
- `interpolation_id` (ndarray): (H, W) int32 triangle ID map
- `interpolation_uv` (ndarray): (H, W, 2) float32 triangle UV (first two channels of barycentric coordinates)
The last layer yielded will be empty (no pixels covered), then the generator stops.
Example
----
```
for i, layer_output in enumerate(rasterize_triangles_peeling(
(512, 512),
vertices=vertices,
faces=faces,
attributes=attributes,
view=view,
projection=projection
)):
print(f"Layer {i}:")
for key, value in layer_output.items():
print(f" {key}: {value.shape}")
if i >= 4: # Stop after 5 layers at most
break
```
"""
if ctx is None:
ctx = RastContext.get_default_context()
height, width = size
if faces is None:
assert vertices.ndim == 3 and vertices.shape[1] == vertices.shape[2] == 3, "If faces is None, vertices must be an array with shape (T, 3, 3)"
else:
assert faces.ndim == 2 and faces.shape[1] == 3, f"Faces should be a 2D array with shape (T, 3), but got {faces.shape}"
assert vertices.ndim == 2 and vertices.shape[1] == 3
assert vertices.dtype == np.float32
if attributes is not None:
assert attributes.dtype == np.float32
if attributes_domain == 'vertex':
assert (attributes.shape[:-1] == vertices.shape[:-1]), f"Attribute shape {attributes.shape} does not match vertex shape {vertices.shape}"
elif attributes_domain == 'face':
if faces is None:
assert attributes.shape[0] == vertices.shape[0], f"Attribute shape {attributes.shape} does not match vertex shape {vertices.shape}"
else:
assert attributes.shape[0] == faces.shape[0], f"Attribute shape {attributes.shape} does not match face shape {faces.shape}"
else:
raise ValueError(f"Unknown attributes domain: {attributes_domain}")
assert attributes.shape[-1] in [1, 2, 3, 4], f'Vertex attribute only supports channels 1, 2, 3, 4, but got {attributes.shape[-1]}'
assert intrinsics is None or (intrinsics.shape == (3, 3) and intrinsics.dtype == np.float32), f"Intrinsics should be a 3x3 float32 matrix, but got {intrinsics.shape} {intrinsics.dtype}"
assert extrinsics is None or (extrinsics.shape == (4, 4) and extrinsics.dtype == np.float32), f"Extrinsics should be a 4x4 float32 matrix, but got {extrinsics.shape} {extrinsics.dtype}"
assert view is None or (view.shape == (4, 4) and view.dtype == np.float32), f"View should be a 4x4 float32 matrix, but got {view.shape} {view.dtype}"
assert projection is None or (projection.shape == (4, 4) and projection.dtype == np.float32), f"Projection should be a 4x4 float32 matrix, but got {projection.shape} {projection.dtype}"
if faces is not None:
vertices = vertices[faces]
if attributes is not None:
num_channels = attributes.shape[-1]
attributes = np.concatenate([attributes, np.zeros((*attributes.shape[:-1], 4 - num_channels,), dtype=attributes.dtype)], axis=-1) if num_channels < 4 else attributes
if attributes_domain == 'vertex':
if faces is not None:
attributes = attributes[faces]
elif attributes_domain == 'face':
attributes = attributes[:, None, :].repeat(3, axis=1)
if extrinsics is not None:
assert view is None, "Cannot specify both extrinsics and view."
view = extrinsics_to_view(extrinsics)
if intrinsics is not None:
assert projection is None, "Cannot specify both intrinsics and projection."
projection = intrinsics_to_perspective(intrinsics, near, far)
if view is None:
view = np.eye(4, dtype=np.float32)
if projection is None:
projection = np.eye(4, dtype=np.float32)
# Get program
flat = attributes_domain == 'face'
program_name = f'rasterize_triangles_peeling(flat={flat}, return_interpolation={return_interpolation})'
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=RASTERIZE_TRIANGLES_VS.replace('{flat}', 'flat' if flat else '').replace('{return_interpolation}', '' if return_interpolation else '//'),
fragment_shader=RASTERIZE_TRIANGLES_PEELING_FS.replace('{flat}', 'flat' if flat else '').replace('{return_interpolation}', '' if return_interpolation else '//')
)
prog['prevBufferDepthMap'] = 0
ctx.programs[program_name] = prog
# Create buffers
vbo_vertices = ctx.mgl_ctx.buffer(np.ascontiguousarray(vertices, dtype='f4'))
if attributes is not None:
vbo_attributes = ctx.mgl_ctx.buffer(np.ascontiguousarray(attributes, dtype='f4'))
if return_interpolation:
vbo_uv = ctx.mgl_ctx.buffer(np.ascontiguousarray((np.array([[1., 0.], [0., 1.], [0., 0.]], dtype=np.float32).reshape(1, 3, 2).repeat(vertices.shape[0], axis=0))))
vao = ctx.mgl_ctx.vertex_array(
prog,
list(filter(lambda x: x is not None, [
(vbo_vertices, '3f', 'inVert'),
(vbo_attributes, f'4f', 'inAttr') if attributes is not None else None,
(vbo_uv, '2f', 'inUV') if return_interpolation else None,
])),
mode=moderngl.TRIANGLES,
)
# Create textures
image_tex = ctx.mgl_ctx.texture((width, height), 4, dtype='f4')
mask_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f1')
buffer_depth_tex_a = ctx.mgl_ctx.depth_texture((width, height))
buffer_depth_tex_b = ctx.mgl_ctx.depth_texture((width, height))
if return_depth:
linear_depth_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f4')
if return_interpolation:
interpolation_id_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='i4')
interpolation_uv_tex = ctx.mgl_ctx.texture((width, height), 2, dtype='f4')
# Create frame buffers
if return_interpolation:
color_attachments=[image_tex, interpolation_id_tex, interpolation_uv_tex]
else:
color_attachments=[image_tex]
fbo_curr = ctx.mgl_ctx.framebuffer(
color_attachments=color_attachments,
depth_attachment=buffer_depth_tex_a,
)
fbo_curr.viewport = (0, 0, width, height)
fbo_prev = ctx.mgl_ctx.framebuffer(
color_attachments=color_attachments,
depth_attachment=buffer_depth_tex_b,
)
fbo_prev.viewport = (0, 0, width, height)
# Set uniforms
prog['uViewMat'].write(np.ascontiguousarray(view.transpose().astype('f4')))
prog['uProjectionMat'].write(np.ascontiguousarray(projection.transpose().astype('f4')))
prog['uScreenSize'].value = (width, height)
# Rendering settings
ctx.mgl_ctx.depth_func = '<'
ctx.mgl_ctx.enable(ctx.mgl_ctx.DEPTH_TEST)
if cull_backface:
ctx.mgl_ctx.enable(ctx.mgl_ctx.CULL_FACE)
else:
ctx.mgl_ctx.disable(ctx.mgl_ctx.CULL_FACE)
ctx.mgl_ctx.disable(ctx.mgl_ctx.BLEND)
# Initialize prev depth texture = 0
clear_texture(ctx, fbo_prev.depth_attachment, value=0.0)
try:
while True:
# Clear
clear_texture(ctx, image_tex, value=(0.0, 0.0, 0.0, 1.0))
clear_texture(ctx, mask_tex, value=0.0)
clear_texture(ctx, fbo_curr.depth_attachment, value=1.0)
if return_interpolation:
clear_texture(ctx, interpolation_id_tex, value=(-1,))
clear_texture(ctx, interpolation_uv_tex, value=(0.0, 0.0))
# Render
fbo_prev.depth_attachment.use(location=0)
fbo_curr.use()
vao.render()
# Read
mask = np.frombuffer(mask_tex.read(), dtype=bool).reshape((height, width))
mask = np.flip(mask, axis=0)
if attributes is not None:
image = np.frombuffer(image_tex.read(), dtype='f4').reshape((height, width, 4))
image = np.flip(image, axis=0)
image = image[:, :, :num_channels]
else:
image = None
if return_depth:
depth_texture_buffer_to_linear(ctx, fbo_curr.depth_attachment, linear_depth_tex)
depth = np.frombuffer(linear_depth_tex.read(), dtype='f4').reshape((height, width))
depth = np.flip(depth, axis=0)
else:
depth = None
if return_interpolation:
interpolation_id = np.frombuffer(interpolation_id_tex.read(), dtype='i4').reshape((height, width))
interpolation_id = np.flip(interpolation_id, axis=0)
interpolation_uv = np.frombuffer(interpolation_uv_tex.read(), dtype='f4').reshape((height, width, 2))
interpolation_uv = np.flip(interpolation_uv, axis=0)
else:
interpolation_id = None
interpolation_uv = None
# Yield
output = {
"image": image,
"mask": mask,
"depth": depth,
"interpolation_id": interpolation_id,
"interpolation_uv": interpolation_uv
}
output = {k: v for k, v in output.items() if v is not None}
yield output
# Check termination
if not np.any(mask):
break # No more layers
# Swap curr and prev fbos
fbo_curr, fbo_prev = fbo_prev, fbo_curr
finally:
# Release
vao.release()
vbo_vertices.release()
vbo_attributes.release()
fbo_curr.release()
fbo_prev.release()
image_tex.release()
mask_tex.release()
buffer_depth_tex_a.release()
buffer_depth_tex_b.release()
if return_depth:
linear_depth_tex.release()
if return_interpolation:
interpolation_id_tex.release()
interpolation_uv_tex.release()
def rasterize_lines(
size: Tuple[int, int],
*,
vertices: ndarray,
attributes: Optional[ndarray],
attributes_domain: Literal['vertex', 'line'] = 'vertex',
lines: ndarray | None = None,
view: Optional[ndarray] = None,
projection: Optional[ndarray] = None,
extrinsics: Optional[ndarray] = None,
intrinsics: Optional[ndarray] = None,
near: float = 0.01,
far: float = float('inf'),
line_width: float = 1.0,
return_depth: bool = False,
return_interpolation: bool = False,
background: Optional[Dict[str, ndarray]] = None,
ctx: Optional[RastContext] = None,
) -> Tuple[ndarray, ...]:
"""
Rasterize lines.
Parameters
----
- `size` (Tuple[int, int]): (height, width) of the output image
- `vertices` (ndarray): (N, 3) or (L, 2, 3)
- `attributes` (ndarray): (N, C), (T, 3, C) for vertex domain or (T, C) for face domain
- `attributes_domain` (Literal['vertex', 'face']): domain of the attributes
- `lines` (ndarray): (L, 2) int32 array of line vertex indices. If None, vertices shape must be (L, 2, 3) and will be interpreted as line segments directly.
- `view` | `extrinsics` (ndarray): (4, 4) View matrix or extrinsics matrix. Provide either one of them.
- `projection` | `intrinsics` (ndarray): (4, 4) Projection matrix or (3, 3) Intrinsics matrix. Provide either one of them.
- `near` (float): near clipping plane. Only used for intrinsics. Ignored if projection matrix is provided.
- `far` (float): far clipping plane. Only used for intrinsics. Ignored if projection matrix is provided.
- `background` (Optional[Dict[str, ndarray]]): background to composite with. Contains the same keys as the return dictionary, each with shape matching the output.
- `ctx` (RastContext): rasterization context. Created by `RastContext()`. Defaults to the current default context.
Returns
----
A dictionary containing
- `mask` (ndarray): (H, W) bool mask of valid pixels
if attributes is not None
- `image` (ndarray): (H, W, C) float32 rendered image corresponding to the input attributes
if return_depth is True
- `depth` (ndarray): (H, W) float32 camera space linear depth, ranging from 0 to 1.
if return_interpolation is True
- `interpolation_id` (ndarray): (H, W) int32 triangle ID map
- `interpolation_uv` (ndarray): (H, W, 2) float32 triangle UV (first two channels of barycentric coordinates)
"""
if ctx is None:
ctx = RastContext.get_default_context()
height, width = size
if lines is None:
assert vertices.ndim == 3 and vertices.shape[1] == 2 and vertices.shape[2] == 3, "If lines is None, vertices must be an array with shape (T, 2, 3)"
else:
assert lines.ndim == 2 and lines.shape[1] == 2, f"Lines should be a int32 or uint32 array with shape (T, 2), but got {lines.shape} {lines.dtype}"
assert lines.dtype == np.uint32 or lines.dtype == np.int32
assert vertices.ndim == 2 and vertices.shape[1] == 3
assert vertices.dtype == np.float32
if attributes is not None:
assert attributes.dtype == np.float32
if attributes_domain == 'vertex':
assert (attributes.shape[:-1] == vertices.shape[:-1]), f"Attribute shape {attributes.shape} does not match vertex shape {vertices.shape}"
elif attributes_domain == 'line':
if lines is None:
assert attributes.shape[0] == vertices.shape[0], f"Attribute shape {attributes.shape} does not match vertex shape {vertices.shape}"
else:
assert attributes.shape[0] == lines.shape[0], f"Attribute shape {attributes.shape} does not match line shape {lines.shape}"
else:
raise ValueError(f"Unknown attributes domain: {attributes_domain}")
assert attributes.shape[-1] in [1, 2, 3, 4], f'Vertex attribute only supports channels 1, 2, 3, 4, but got {attributes.shape[-1]}'
assert intrinsics is None or (intrinsics.shape == (3, 3) and intrinsics.dtype == np.float32), f"Intrinsics should be a 3x3 float32 matrix, but got {intrinsics.shape} {intrinsics.dtype}"
assert extrinsics is None or (extrinsics.shape == (4, 4) and extrinsics.dtype == np.float32), f"Extrinsics should be a 4x4 float32 matrix, but got {extrinsics.shape} {extrinsics.dtype}"
assert view is None or (view.shape == (4, 4) and view.dtype == np.float32), f"View should be a 4x4 float32 matrix, but got {view.shape} {view.dtype}"
assert projection is None or (projection.shape == (4, 4) and projection.dtype == np.float32), f"Projection should be a 4x4 float32 matrix, but got {projection.shape} {projection.dtype}"
background_image, background_mask, background_depth, background_interpolation_id, background_interpolation_uv = [background.get(k, None) if background is not None else None for k in ['image', 'mask', 'depth', 'interpolation_id', 'interpolation_uv']]
if background_image is not None:
assert background_image.ndim == 3 and background_image.shape == (height, width, attributes.shape[-1]), f"Image should be a float32 array with shape (H, W, {attributes.shape[1]}), but got {background_image.shape} {background_image.dtype}"
if background_mask is not None:
assert background_mask.dtype == np.bool_ and background_mask.ndim == 2 and background_mask.shape == (height, width), f"Mask should be a bool array with shape (H, W), but got {background_mask.shape} {background_mask.dtype}"
if background_depth is not None:
assert background_depth.dtype == np.float32 and background_depth.ndim == 2 and background_depth.shape == (height, width), f"Depth should be a float32 array with shape (H, W), but got {background_depth.shape} {background_depth.dtype}"
if background_interpolation_id is not None:
assert background_interpolation_id.dtype == np.int32 and background_interpolation_id.ndim == 2 and background_interpolation_id.shape == (height, width), f"Interpolation ID should be a int32 array with shape (H, W), but got {background_interpolation_id.shape} {background_interpolation_id.dtype}"
if background_interpolation_uv is not None:
assert background_interpolation_uv.dtype == np.float32 and background_interpolation_uv.ndim == 3 and background_interpolation_uv.shape == (height, width, 2), f"Interpolation UV should be a float32 array with shape (H, W, 2), but got {background_interpolation_uv.shape} {background_interpolation_uv.dtype}"
if lines is not None:
vertices = vertices[lines]
if attributes is not None:
num_channels = attributes.shape[-1]
attributes = np.concatenate([attributes, np.zeros((*attributes.shape[:-1], 4 - num_channels,), dtype=attributes.dtype)], axis=-1) if num_channels < 4 else attributes
if attributes_domain == 'vertex':
if lines is not None:
attributes = attributes[lines]
elif attributes_domain == 'line':
attributes = attributes[:, None, :].repeat(2, axis=1)
if extrinsics is not None:
assert view is None, "Cannot specify both extrinsics and view."
view = extrinsics_to_view(extrinsics)
if intrinsics is not None:
assert projection is None, "Cannot specify both intrinsics and projection."
projection = intrinsics_to_perspective(intrinsics, near, far)
if view is None:
view = np.eye(4, dtype=np.float32)
if projection is None:
projection = np.eye(4, dtype=np.float32)
if background_image is not None:
background_image = np.concatenate([background_image, np.ones((height, width, 4 - background_image.shape[-1]), dtype=background_image.dtype)], axis=-1) if background_image.shape[-1] < 4 else background_image
# Get program (shared with triangle rasterization)
flat = attributes_domain == 'line'
program_name = f'rasterize_triangles(flat={flat}, return_interpolation={return_interpolation})'
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=RASTERIZE_TRIANGLES_VS.replace('{flat}', 'flat' if flat else '').replace('{return_interpolation}', '' if return_interpolation else '//'),
fragment_shader=RASTERIZE_TRIANGLES_FS.replace('{flat}', 'flat' if flat else '').replace('{return_interpolation}', '' if return_interpolation else '//')
)
ctx.programs[program_name] = prog
# Create buffers
vbo_vertices = ctx.mgl_ctx.buffer(np.ascontiguousarray(vertices, dtype='f4'))
if attributes is not None:
vbo_attributes = ctx.mgl_ctx.buffer(np.ascontiguousarray(attributes, dtype='f4'))
if return_interpolation:
vbo_uv = ctx.mgl_ctx.buffer(np.ascontiguousarray((np.array([[1., 0.], [0., 1.]], dtype=np.float32).reshape(1, 2, 2).repeat(vertices.shape[0], axis=0))))
vao = ctx.mgl_ctx.vertex_array(
prog,
list(filter(lambda x: x is not None, [
(vbo_vertices, '3f', 'inVert'),
(vbo_attributes, f'4f', 'inAttr') if attributes is not None else None,
(vbo_uv, '2f', 'inUV') if return_interpolation else None,
])),
mode=moderngl.LINES,
)
# Create textures
image_tex = ctx.mgl_ctx.texture((width, height), 4, dtype='f4', data=np.ascontiguousarray(background_image[::-1, :, :]) if background_image is not None else None)
mask_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f1', data=np.ascontiguousarray(background_mask[::-1, :]) if background_mask is not None else None)
buffer_depth_tex = ctx.mgl_ctx.depth_texture((width, height))
if return_depth is not None:
linear_depth_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f4', data=np.ascontiguousarray(background_depth[::-1, :]) if background_depth is not None else None)
if return_interpolation:
interpolation_id_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='i4', data=np.ascontiguousarray(background_interpolation_id[::-1, :]) if background_interpolation_id is not None else None)
interpolation_uv_tex = ctx.mgl_ctx.texture((width, height), 2, dtype='f4', data=np.ascontiguousarray(background_interpolation_uv[::-1, :, :]) if background_interpolation_uv is not None else None)
if background_image is None:
clear_texture(ctx, image_tex, value=(0.0, 0.0, 0.0, 1.0))
if background_mask is None:
clear_texture(ctx, mask_tex, value=0.0)
if background_depth is None:
clear_texture(ctx, buffer_depth_tex, value=1.0)
else:
depth_texture_linear_to_buffer(ctx, linear_depth_tex, buffer_depth_tex)
if return_interpolation:
if background_interpolation_id is None:
clear_texture(ctx, interpolation_id_tex, value=(-1,))
if background_interpolation_uv is None:
clear_texture(ctx, interpolation_uv_tex, value=(0.0, 0.0))
# Create framebuffer
if return_interpolation:
fbo = ctx.mgl_ctx.framebuffer(
color_attachments=[image_tex, mask_tex, interpolation_id_tex, interpolation_uv_tex],
depth_attachment=buffer_depth_tex,
)
else:
fbo = ctx.mgl_ctx.framebuffer(
color_attachments=[image_tex, mask_tex],
depth_attachment=buffer_depth_tex,
)
fbo.viewport = (0, 0, width, height)
# Set uniforms
prog['uViewMat'].write(np.ascontiguousarray(view.transpose().astype('f4')))
prog['uProjectionMat'].write(np.ascontiguousarray(projection.transpose().astype('f4')))
# Set render states
ctx.mgl_ctx.depth_func = '<'
ctx.mgl_ctx.enable(ctx.mgl_ctx.DEPTH_TEST)
ctx.mgl_ctx.disable(ctx.mgl_ctx.BLEND)
ctx.mgl_ctx.line_width = line_width
# Render
fbo.use()
vao.render()
# Read
mask = np.frombuffer(mask_tex.read(), dtype=bool).reshape((height, width))
mask = np.flip(mask, axis=0)
if attributes is not None:
image = np.frombuffer(image_tex.read(), dtype='f4').reshape((height, width, 4))
image = np.flip(image, axis=0)
image = image[:, :, :num_channels]
else:
image = None
if return_depth:
depth_texture_buffer_to_linear(ctx, buffer_depth_tex, linear_depth_tex)
depth = np.frombuffer(linear_depth_tex.read(), dtype='f4').reshape((height, width))
depth = np.flip(depth, axis=0)
else:
depth = None
if return_interpolation:
interpolation_id = np.frombuffer(interpolation_id_tex.read(), dtype='i4').reshape((height, width))
interpolation_id = np.flip(interpolation_id, axis=0)
interpolation_uv = np.frombuffer(interpolation_uv_tex.read(), dtype='f4').reshape((height, width, 2))
interpolation_uv = np.flip(interpolation_uv, axis=0)
else:
interpolation_id = None
interpolation_uv = None
# Release
vao.release()
vbo_vertices.release()
if attributes is not None:
vbo_attributes.release()
if return_interpolation:
vbo_uv.release()
fbo.release()
image_tex.release()
mask_tex.release()
buffer_depth_tex.release()
if background_depth is not None or return_depth:
linear_depth_tex.release()
if return_interpolation:
interpolation_id_tex.release()
interpolation_uv_tex.release()
output = {
"image": image,
"mask": mask,
"depth": depth,
"interpolation_id": interpolation_id,
"interpolation_uv": interpolation_uv
}
output = {k: v for k, v in output.items() if v is not None}
return output
def rasterize_point_cloud(
size: Tuple[int, int],
*,
points: ndarray,
point_sizes: Union[float, ndarray] = 10,
point_size_in: Literal['2d', '3d'] = '2d',
point_shape: Literal['triangle', 'square', 'pentagon', 'hexagon', 'circle'] = 'square',
attributes: Optional[ndarray] = None,
view: ndarray = None,
projection: ndarray = None,
extrinsics: ndarray = None,
intrinsics: ndarray = None,
near: float = 0.01,
far: float = float('inf'),
return_depth: bool = False,
return_point_id: bool = False,
background: Optional[Dict[str, ndarray]] = None,
ctx: Optional[RastContext] = None,
) -> Dict[str, ndarray]:
"""
Rasterize point cloud.
Parameters
----
- `size` (Tuple[int, int]): (height, width) of the output image
- `points` (ndarray): (N, 3)
- `point_sizes` (ndarray): (N,) or float
- `point_size_in`: Literal['2d', '3d'] = '2d'. Whether the point sizes are in 2D (size in pixels) or 3D (size in world units).
- `point_shape`: Literal['triangle', 'square', 'pentagon', 'hexagon', 'circle'] = 'square'. The visual shape of the points.
- `attributes` (ndarray): (N, C)
- `view` | `extrinsics` (ndarray): (4, 4) View matrix or extrinsics matrix. Provide either one of them.
- `projection` | `intrinsics` (ndarray): (4, 4) Projection matrix or (3, 3) Intrinsics matrix. Provide either one of them.
- `near` (float): near clipping plane. Only used for intrinsics. Ignored if projection matrix is provided.
- `far` (float): far clipping plane. Only used for intrinsics. Ignored if projection matrix is provided.
- `return_depth` (bool): whether to return depth map
- `return_point_id` (bool): whether to return point ID map
- `background` (Optional[Dict[str, ndarray]]): background to composite with. Contains the same keys as the return dictionary, each with shape matching the output.
- `ctx` (RastContext): rasterization context. Created by `RastContext()`. Defaults to the current default context.
Returns
----
A dictionary containing
if attributes is not None
- `image` (ndarray): (H, W, C) float32 rendered image corresponding to the input attributes
if return_depth is True
- `depth` (ndarray): (H, W) float32 camera space linear depth, ranging from 0 to 1.
if return_point_id is True
- `point_id` (ndarray): (H, W) int32 point ID map
"""
if ctx is None:
ctx = RastContext.get_default_context()
height, width = size
assert points.ndim == 2 and points.shape[1] == 3 and points.dtype == np.float32, f"Points should be a float32 array with shape (N, 3), but got {points.shape} {points.dtype}"
if attributes is not None:
assert attributes.dtype == np.float32
assert (attributes.shape[:-1] == points.shape[:-1]), f"Attribute shape {attributes.shape} does not match point shape {points.shape}"
assert attributes.shape[-1] in [1, 2, 3, 4], f'Vertex attribute only supports channels 1, 2, 3, 4, but got {attributes.shape[-1]}'
assert intrinsics is None or (intrinsics.shape == (3, 3) and intrinsics.dtype == np.float32), f"Intrinsics should be a 3x3 float32 matrix, but got {intrinsics.shape} {intrinsics.dtype}"
assert extrinsics is None or (extrinsics.shape == (4, 4) and extrinsics.dtype == np.float32), f"Extrinsics should be a 4x4 float32 matrix, but got {extrinsics.shape} {extrinsics.dtype}"
assert view is None or (view.shape == (4, 4) and view.dtype == np.float32), f"View should be a 4x4 float32 matrix, but got {view.shape} {view.dtype}"
assert projection is None or (projection.shape == (4, 4) and projection.dtype == np.float32), f"Projection should be a 4x4 float32 matrix, but got {projection.shape} {projection.dtype}"
background_image, background_depth, background_mask, background_point_id = [background.get(k, None) if background is not None else None for k in ['image', 'depth', 'mask', 'point_id']]
if background_image is not None:
assert background_image.ndim == 3 and background_image.shape == (height, width, attributes.shape[-1]), f"Image should be a float32 array with shape (H, W, {attributes.shape[1]}), but got {background_image.shape} {background_image.dtype}"
if background_depth is not None:
assert background_depth.dtype == np.float32 and background_depth.ndim == 2 and background_depth.shape == (height, width), f"Depth should be a float32 array with shape (H, W), but got {background_depth.shape} {background_depth.dtype}"
if background_mask is not None:
assert background_mask.dtype == np.bool_ and background_mask.ndim == 2 and background_mask.shape == (height, width), f"Mask should be a bool array with shape (H, W), but got {background_mask.shape} {background_mask.dtype}"
if background_point_id is not None:
assert background_point_id.dtype == np.int32 and background_point_id.ndim == 2 and background_point_id.shape == (height, width), f"Point ID should be a int32 array with shape (H, W), but got {background_point_id.shape} {background_point_id.dtype}"
if not isinstance(point_sizes, ndarray):
point_sizes = np.full((points.shape[0],), point_sizes, dtype=np.float32)
if attributes is not None:
num_channels = attributes.shape[-1]
attributes = np.concatenate([attributes, np.zeros((*attributes.shape[:-1], 4 - num_channels,), dtype=attributes.dtype)], axis=-1) if num_channels < 4 else attributes
if background_image is not None:
background_image = np.concatenate([background_image, np.ones((height, width, 4 - background_image.shape[-1]), dtype=background_image.dtype)], axis=-1) if background_image.shape[-1] < 4 else background_image
if extrinsics is not None:
assert view is None, "Cannot specify both extrinsics and view."
view = extrinsics_to_view(extrinsics)
if intrinsics is not None:
assert projection is None, "Cannot specify both intrinsics and projection."
projection = intrinsics_to_perspective(intrinsics, near, far)
if view is None:
view = np.eye(4, dtype=np.float32)
if projection is None:
projection = np.eye(4, dtype=np.float32)
# Get program
program_name = f'rasterize_point_cloud(return_point_id={return_point_id}, point_shape={point_shape})'
num_point_shape_vertices = {'triangle': 3, 'square': 4, 'pentagon': 5, 'hexagon': 6, 'circle': 4}.get(point_shape)
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=RASTERIZE_POINT_CLOUD_VS.replace('{return_point_id}', '' if return_point_id else '//'),
geometry_shader=RASTERIZE_POINT_CLOUD_GS\
.replace('{return_point_id}', '' if return_point_id else '//')\
.replace('{point_shape}', point_shape)\
.replace('{num_point_shape_vertices}', str(num_point_shape_vertices)),
fragment_shader=RASTERIZE_POINT_CLOUD_FS\
.replace('{return_point_id}', '' if return_point_id else '//')\
.replace('{circle_begin}', '' if point_shape == 'circle' else '/*')\
.replace('{circle_end}', '' if point_shape == 'circle' else '*/')
)
ctx.programs[program_name] = prog
# Create buffers
vbo_vertices = ctx.mgl_ctx.buffer(np.ascontiguousarray(points, dtype='f4'))
if attributes is not None:
vbo_attributes = ctx.mgl_ctx.buffer(np.ascontiguousarray(attributes, dtype='f4'))
vbo_point_sizes = ctx.mgl_ctx.buffer(np.ascontiguousarray(point_sizes, dtype='f4'))
vao = ctx.mgl_ctx.vertex_array(
prog,
list(filter(lambda x: x is not None, [
(vbo_vertices, '3f', 'inVert'),
(vbo_attributes, f'4f', 'inAttr') if attributes is not None else None,
(vbo_point_sizes, '1f', 'inPointSize') if point_sizes is not None else None,
]))
)
# Create textures
image_tex = ctx.mgl_ctx.texture((width, height), 4, dtype='f4', data=np.ascontiguousarray(background_image[::-1, :, :]) if background_image is not None else None)
mask_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f1', data=np.ascontiguousarray(background_mask[::-1, :]) if background_mask is not None else None)
buffer_depth_tex = ctx.mgl_ctx.depth_texture((width, height))
if return_depth:
linear_depth_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='f4', data=np.ascontiguousarray(background_depth[::-1, :]) if background_depth is not None else None)
if return_point_id:
point_id_tex = ctx.mgl_ctx.texture((width, height), 1, dtype='i4', data=np.ascontiguousarray(background_point_id[::-1, :]) if background_point_id is not None else None)
if background_image is None:
clear_texture(ctx, image_tex, value=(0.0, 0.0, 0.0, 1.0))
if background_mask is None:
clear_texture(ctx, mask_tex, value=0.0)
if background_depth is None:
clear_texture(ctx, buffer_depth_tex, value=1.0)
else:
depth_texture_linear_to_buffer(ctx, linear_depth_tex, buffer_depth_tex)
if return_point_id:
clear_texture(ctx, point_id_tex, value=(-1,))
# Create framebuffer
if return_point_id:
fbo = ctx.mgl_ctx.framebuffer(
color_attachments=[image_tex, mask_tex, point_id_tex],
depth_attachment=buffer_depth_tex,
)
else:
fbo = ctx.mgl_ctx.framebuffer(
color_attachments=[image_tex, mask_tex],
depth_attachment=buffer_depth_tex,
)
fbo.viewport = (0, 0, width, height)
# Set uniforms
prog['uViewMat'].write(np.ascontiguousarray(view.transpose().astype('f4')))
prog['uProjectionMat'].write(np.ascontiguousarray(projection.transpose().astype('f4')))
prog['uScreenSize'].value = (width, height)
prog['uIsPointSize3D'].value = point_size_in == '3d'
# Set render states
ctx.mgl_ctx.depth_func = '<'
ctx.mgl_ctx.enable(ctx.mgl_ctx.DEPTH_TEST)
ctx.mgl_ctx.disable(ctx.mgl_ctx.CULL_FACE)
ctx.mgl_ctx.disable(ctx.mgl_ctx.BLEND)
# Render
fbo.use()
vao.render(mode=moderngl.POINTS)
# Read
mask = np.frombuffer(mask_tex.read(), dtype=bool).reshape((height, width))
mask = np.flip(mask, axis=0)
if attributes is not None:
image = np.frombuffer(image_tex.read(), dtype='f4').reshape((height, width, 4))
image = np.flip(image, axis=0)
image = image[:, :, :num_channels]
else:
image = None
if return_depth:
depth_texture_buffer_to_linear(ctx, buffer_depth_tex, linear_depth_tex)
depth = np.frombuffer(linear_depth_tex.read(), dtype='f4').reshape((height, width))
depth = np.flip(depth, axis=0)
else:
depth = None
if return_point_id:
point_id = np.frombuffer(point_id_tex.read(), dtype='i4').reshape((height, width))
point_id = np.flip(point_id, axis=0)
else:
point_id = None
# Release
vao.release()
vbo_vertices.release()
if attributes is not None:
vbo_attributes.release()
vbo_point_sizes.release()
fbo.release()
image_tex.release()
mask_tex.release()
buffer_depth_tex.release()
if background_depth is not None or return_depth:
linear_depth_tex.release()
if return_point_id:
point_id_tex.release()
output = {
"image": image,
"depth": depth,
"mask": mask,
"point_id": point_id
}
output = {k: v for k, v in output.items() if v is not None}
return output
def sample_texture(
uv_map: ndarray,
texture_map: ndarray,
interpolation: Literal['linear', 'nearest'] = 'linear',
mipmap_level: Union[int, Tuple[int, int]] = 0,
repeat: Union[bool, Tuple[bool, bool]] = False,
anisotropic: float = 1.0,
ctx: Optional[RastContext] = None
) -> ndarray:
"""
Sample from a texture map with a UV map.
"""
if ctx is None:
ctx = RastContext.get_default_context()
assert len(texture_map.shape) == 3 and 1 <= texture_map.shape[2] <= 4
assert uv_map.shape[2] == 2
height, width = uv_map.shape[:2]
texture_dtype = map_np_dtype(texture_map.dtype)
# Create texture
texture_tex = ctx.mgl_ctx.texture((texture_map.shape[1], texture_map.shape[0]), texture_map.shape[2], dtype=texture_dtype, data=np.ascontiguousarray(texture_map))
if isinstance(mipmap_level, tuple):
base_mipmap_level, max_mipmap_level = mipmap_level
else:
base_mipmap_level, max_mipmap_level = 0, mipmap_level
if base_mipmap_level > 0 or max_mipmap_level > 0:
use_mipmap = True
texture_tex.build_mipmaps(base_mipmap_level, max_mipmap_level)
else:
use_mipmap = False
if interpolation == 'linear':
texture_tex.filter = (moderngl.LINEAR_MIPMAP_LINEAR if use_mipmap else moderngl.LINEAR, moderngl.LINEAR)
elif interpolation == 'nearest':
texture_tex.filter = (moderngl.NEAREST_MIPMAP_NEAREST if use_mipmap else moderngl.NEAREST, moderngl.NEAREST)
if isinstance(repeat, tuple):
texture_tex.repeat_x, texture_tex.repeat_y = repeat
else:
texture_tex.repeat_x = texture_tex.repeat_y = repeat
texture_tex.anisotropy = anisotropic
uv_tex = ctx.mgl_ctx.texture((width, height), 2, dtype='f4', data=np.ascontiguousarray(uv_map.astype('f4', copy=False)))
uv_tex.filter = (moderngl.NEAREST, moderngl.NEAREST)
# Create render buffer and frame buffer
output_tex = ctx.mgl_ctx.texture((uv_map.shape[1], uv_map.shape[0]), texture_map.shape[2], dtype=texture_dtype)
# Get program
program_name = 'sample_texture'
if (prog := ctx.programs.get(program_name, None)) is None:
prog = ctx.mgl_ctx.program(
vertex_shader=FULL_SCREEN_VS,
fragment_shader=SAMPLE_TEXTURE_FS
)
prog['texMap'] = 0
prog['uvMap'] = 1
ctx.programs[program_name] = prog
# Render
run_full_screen_program(ctx, prog, [texture_tex, uv_tex], output_tex)
# Read buffer
image_buffer = np.frombuffer(output_tex.read(), dtype=texture_dtype).reshape((height, width, texture_tex.shape[2]))
# Release
texture_tex.release()
output_tex.release()
uv_tex.release()
return image_buffer
# def warp_image_by_depth(
# ctx: RastContext,
# src_depth: ndarray,
# src_image: ndarray = None,
# width: int = None,
# height: int = None,
# *,
# extrinsics_src: ndarray = None,
# extrinsics_tgt: ndarray = None,
# intrinsics_src: ndarray = None,
# intrinsics_tgt: ndarray = None,
# near: float = 0.1,
# far: float = 100.0,
# cull_backface: bool = True,
# ssaa: int = 1,
# return_depth: bool = False,
# ) -> Tuple[ndarray, ...]:
# """
# Warp image by depth map.
# ## Parameters
# ctx (RastContext): rasterizer context
# src_depth (ndarray): [H, W]
# src_image (ndarray, optional): [H, W, C]. The image to warp. Defaults to None (use uv coordinates).
# width (int, optional): width of the output image. None to use depth map width. Defaults to None.
# height (int, optional): height of the output image. None to use depth map height. Defaults to None.
# extrinsics_src (ndarray, optional): extrinsics matrix of the source camera. Defaults to None (identity).
# extrinsics_tgt (ndarray, optional): extrinsics matrix of the target camera. Defaults to None (identity).
# intrinsics_src (ndarray, optional): intrinsics matrix of the source camera. Defaults to None (use the same as intrinsics_tgt).
# intrinsics_tgt (ndarray, optional): intrinsics matrix of the target camera. Defaults to None (use the same as intrinsics_src).
# cull_backface (bool, optional): whether to cull backface. Defaults to True.
# ssaa (int, optional): super sampling anti-aliasing. Defaults to 1.
# ## Returns
# tgt_image (ndarray): [H, W, C] warped image (or uv coordinates if image is None).
# tgt_depth (ndarray): [H, W] screen space depth, ranging from 0 to 1. If return_depth is False, it is None.
# """
# assert src_depth.ndim == 2
# if width is None:
# width = src_depth.shape[1]
# if height is None:
# height = src_depth.shape[0]
# if src_image is not None:
# assert src_image.shape[-2:] == src_depth.shape[-2:], f'Shape of source image {src_image.shape} does not match shape of source depth {src_depth.shape}'
# # set up default camera parameters
# extrinsics_src = np.eye(4) if extrinsics_src is None else extrinsics_src
# extrinsics_tgt = np.eye(4) if extrinsics_tgt is None else extrinsics_tgt
# intrinsics_src = intrinsics_tgt if intrinsics_src is None else intrinsics_src
# intrinsics_tgt = intrinsics_src if intrinsics_tgt is None else intrinsics_tgt
# assert all(x is not None for x in [extrinsics_src, extrinsics_tgt, intrinsics_src, intrinsics_tgt]), "Make sure you have provided all the necessary camera parameters."
# # check shapes
# assert extrinsics_src.shape == (4, 4) and extrinsics_tgt.shape == (4, 4)
# assert intrinsics_src.shape == (3, 3) and intrinsics_tgt.shape == (3, 3)
# # convert to view and perspective matrices
# view_tgt = transforms.extrinsics_to_view(extrinsics_tgt)
# perspective_tgt = transforms.intrinsics_to_perspective(intrinsics_tgt, near=near, far=far)
# # unproject depth map
# uv, faces = utils.image_mesh(*src_depth.shape[-2:])
# pts = transforms.unproject_cv(uv, src_depth.reshape(-1), extrinsics_src, intrinsics_src)
# faces = mesh.triangulate_mesh(faces, vertices=pts)
# # rasterize attributes
# if src_image is not None:
# attr = src_image.reshape(-1, src_image.shape[-1])
# else:
# attr = uv
# tgt_image, tgt_depth = rasterize_triangles(
# ctx,
# width * ssaa,
# height * ssaa,
# vertices=pts,
# faces=faces,
# attr=attr,
# transform=perspective_tgt @ view_tgt,
# cull_backface=cull_backface,
# return_depth=return_depth,
# )
# if ssaa > 1:
# tgt_image = tgt_image.reshape(height, ssaa, width, ssaa, -1).mean(axis=(1, 3))
# tgt_depth = tgt_depth.reshape(height, ssaa, width, ssaa, -1).mean(axis=(1, 3)) if return_depth else None
# return tgt_image, tgt_depth
def test_rasterization(ctx: Optional[RastContext] = None):
"""
Test if rasterization works. It will render a cube with random colors and save it as a CHECKME.png file.
"""
from .mesh import create_cube_mesh
from .transforms import perspective_from_fov, view_look_at
vertices, faces = create_cube_mesh(tri=True)
attributes = np.random.rand(len(vertices), 3).astype(np.float32)
projection = perspective_from_fov(fov_x=np.deg2rad(60), aspect_ratio=1, near=1e-8, far=100000)
view = view_look_at([1, 2, 2], [0, 0, 0], [0, 1, 0])
out = rasterize_triangles(
(512, 512),
vertices=vertices,
attributes=attributes,
faces=faces,
view=view,
projection=projection,
cull_backface=True,
return_depth=True,
return_interpolation=False,
ctx=ctx,
)
image, mask = out['image'], out['mask']
image = np.concatenate([image, mask[:, :, None].astype(np.float32)], axis=-1)
import cv2
cv2.imwrite('CHECKME.png', cv2.cvtColor((image.clip(0, 1) * 255).astype(np.uint8), cv2.COLOR_RGBA2BGRA))
print("An image has been saved as ./CHECKME.png")
# def test_rasterization(ctx: RastContext):
# """
# Test if rasterization works. It will render a cube with random colors and save it as a CHECKME.png file.
# """
# from .mesh import cube
# from .transforms import perspective_from_fov, view_look_at, project, unproject
# vertices, faces = cube(tri=True)
# attributes = np.random.rand(len(vertices), 3).astype(np.float32)
# projection = perspective_from_fov(fov_x=np.deg2rad(60), aspect_ratio=1, near=0.1, far=100000)
# view = view_look_at([1, 2, 2], [0, 0, 0], [0, 1, 0])
# for _ in range(20):
# with timeit():
# out = rasterize_point_cloud(
# ctx,
# 512, 512,
# points=vertices,
# point_sizes=1,
# point_size_in='3d',
# point_shape='circle',
# attributes=attributes,
# view=view,
# projection=projection,
# return_depth=True,
# return_point_id=True,
# )
# image = out['image']
# print(np.unique(image))
# image = np.concatenate([image, np.zeros((*image.shape[:2], 4 - image.shape[2]), dtype=image.dtype)], axis=-1)
# import cv2
# cv2.imwrite('CHECKME.png', cv2.cvtColor((image.clip(0, 1) * 255).astype(np.uint8), cv2.COLOR_RGB2BGR))
# print("An image has been saved as ./CHECKME.png") |