geowizard/utils/depth2normal.py

# A reimplemented version in public environments by Xiao Fu and Mu Hu

import pickle
import os
import h5py
import numpy as np
import cv2
import torch
import torch.nn as nn
import glob


def init_image_coor(height, width):
    x_row = np.arange(0, width)
    x = np.tile(x_row, (height, 1))
    x = x[np.newaxis, :, :]
    x = x.astype(np.float32)
    x = torch.from_numpy(x.copy()).cuda()
    u_u0 = x - width/2.0

    y_col = np.arange(0, height)  # y_col = np.arange(0, height)
    y = np.tile(y_col, (width, 1)).T
    y = y[np.newaxis, :, :]
    y = y.astype(np.float32)
    y = torch.from_numpy(y.copy()).cuda()
    v_v0 = y - height/2.0
    return u_u0, v_v0


def depth_to_xyz(depth, focal_length):
    b, c, h, w = depth.shape
    u_u0, v_v0 = init_image_coor(h, w)
    x = u_u0 * depth / focal_length[0]
    y = v_v0 * depth / focal_length[1]
    z = depth
    pw = torch.cat([x, y, z], 1).permute(0, 2, 3, 1) # [b, h, w, c]
    return pw


def get_surface_normal(xyz, patch_size=5):
    # xyz: [1, h, w, 3]
    x, y, z = torch.unbind(xyz, dim=3)
    x = torch.unsqueeze(x, 0)
    y = torch.unsqueeze(y, 0)
    z = torch.unsqueeze(z, 0)

    xx = x * x
    yy = y * y
    zz = z * z
    xy = x * y
    xz = x * z
    yz = y * z
    patch_weight = torch.ones((1, 1, patch_size, patch_size), requires_grad=False).cuda()
    xx_patch = nn.functional.conv2d(xx, weight=patch_weight, padding=int(patch_size / 2))
    yy_patch = nn.functional.conv2d(yy, weight=patch_weight, padding=int(patch_size / 2))
    zz_patch = nn.functional.conv2d(zz, weight=patch_weight, padding=int(patch_size / 2))
    xy_patch = nn.functional.conv2d(xy, weight=patch_weight, padding=int(patch_size / 2))
    xz_patch = nn.functional.conv2d(xz, weight=patch_weight, padding=int(patch_size / 2))
    yz_patch = nn.functional.conv2d(yz, weight=patch_weight, padding=int(patch_size / 2))
    ATA = torch.stack([xx_patch, xy_patch, xz_patch, xy_patch, yy_patch, yz_patch, xz_patch, yz_patch, zz_patch],
                      dim=4)
    ATA = torch.squeeze(ATA)
    ATA = torch.reshape(ATA, (ATA.size(0), ATA.size(1), 3, 3))
    eps_identity = 1e-6 * torch.eye(3, device=ATA.device, dtype=ATA.dtype)[None, None, :, :].repeat([ATA.size(0), ATA.size(1), 1, 1])
    ATA = ATA + eps_identity
    x_patch = nn.functional.conv2d(x, weight=patch_weight, padding=int(patch_size / 2))
    y_patch = nn.functional.conv2d(y, weight=patch_weight, padding=int(patch_size / 2))
    z_patch = nn.functional.conv2d(z, weight=patch_weight, padding=int(patch_size / 2))
    AT1 = torch.stack([x_patch, y_patch, z_patch], dim=4)
    AT1 = torch.squeeze(AT1)
    AT1 = torch.unsqueeze(AT1, 3)

    patch_num = 4
    patch_x = int(AT1.size(1) / patch_num)
    patch_y = int(AT1.size(0) / patch_num)
    n_img = torch.randn(AT1.shape).cuda()
    overlap = patch_size // 2 + 1
    for x in range(int(patch_num)):
        for y in range(int(patch_num)):
            left_flg = 0 if x == 0 else 1
            right_flg = 0 if x == patch_num -1 else 1
            top_flg = 0 if y == 0 else 1
            btm_flg = 0 if y == patch_num - 1 else 1
            at1 = AT1[y * patch_y - top_flg * overlap:(y + 1) * patch_y + btm_flg * overlap,
                  x * patch_x - left_flg * overlap:(x + 1) * patch_x + right_flg * overlap]
            ata = ATA[y * patch_y - top_flg * overlap:(y + 1) * patch_y + btm_flg * overlap,
                  x * patch_x - left_flg * overlap:(x + 1) * patch_x + right_flg * overlap]
            # n_img_tmp, _ = torch.solve(at1, ata)
            n_img_tmp = torch.linalg.solve(ata, at1)

            n_img_tmp_select = n_img_tmp[top_flg * overlap:patch_y + top_flg * overlap, left_flg * overlap:patch_x + left_flg * overlap, :, :]
            n_img[y * patch_y:y * patch_y + patch_y, x * patch_x:x * patch_x + patch_x, :, :] = n_img_tmp_select

    n_img_L2 = torch.sqrt(torch.sum(n_img ** 2, dim=2, keepdim=True))
    n_img_norm = n_img / n_img_L2

    # re-orient normals consistently
    orient_mask = torch.sum(torch.squeeze(n_img_norm) * torch.squeeze(xyz), dim=2) > 0
    n_img_norm[orient_mask] *= -1
    return n_img_norm

def get_surface_normalv2(xyz, patch_size=5):
    """
    xyz: xyz coordinates
    patch: [p1, p2, p3,
            p4, p5, p6,
            p7, p8, p9]
    surface_normal = [(p9-p1) x (p3-p7)] + [(p6-p4) - (p8-p2)]
    return: normal [h, w, 3, b]
    """
    b, h, w, c = xyz.shape
    half_patch = patch_size // 2
    xyz_pad = torch.zeros((b, h + patch_size - 1, w + patch_size - 1, c), dtype=xyz.dtype, device=xyz.device)
    xyz_pad[:, half_patch:-half_patch, half_patch:-half_patch, :] = xyz

    # xyz_left_top = xyz_pad[:, :h, :w, :]  # p1
    # xyz_right_bottom = xyz_pad[:, -h:, -w:, :]# p9
    # xyz_left_bottom = xyz_pad[:, -h:, :w, :]   # p7
    # xyz_right_top = xyz_pad[:, :h, -w:, :]  # p3
    # xyz_cross1 = xyz_left_top - xyz_right_bottom  # p1p9
    # xyz_cross2 = xyz_left_bottom - xyz_right_top  # p7p3

    xyz_left = xyz_pad[:, half_patch:half_patch + h, :w, :]  # p4
    xyz_right = xyz_pad[:, half_patch:half_patch + h, -w:, :]  # p6
    xyz_top = xyz_pad[:, :h, half_patch:half_patch + w, :]  # p2
    xyz_bottom = xyz_pad[:, -h:, half_patch:half_patch + w, :]  # p8
    xyz_horizon = xyz_left - xyz_right  # p4p6
    xyz_vertical = xyz_top - xyz_bottom  # p2p8

    xyz_left_in = xyz_pad[:, half_patch:half_patch + h, 1:w+1, :]  # p4
    xyz_right_in = xyz_pad[:, half_patch:half_patch + h, patch_size-1:patch_size-1+w, :]  # p6
    xyz_top_in = xyz_pad[:, 1:h+1, half_patch:half_patch + w, :]  # p2
    xyz_bottom_in = xyz_pad[:, patch_size-1:patch_size-1+h, half_patch:half_patch + w, :]  # p8
    xyz_horizon_in = xyz_left_in - xyz_right_in  # p4p6
    xyz_vertical_in = xyz_top_in - xyz_bottom_in  # p2p8

    n_img_1 = torch.cross(xyz_horizon_in, xyz_vertical_in, dim=3)
    n_img_2 = torch.cross(xyz_horizon, xyz_vertical, dim=3)

    # re-orient normals consistently
    orient_mask = torch.sum(n_img_1 * xyz, dim=3) > 0
    n_img_1[orient_mask] *= -1
    orient_mask = torch.sum(n_img_2 * xyz, dim=3) > 0
    n_img_2[orient_mask] *= -1

    n_img1_L2 = torch.sqrt(torch.sum(n_img_1 ** 2, dim=3, keepdim=True))
    n_img1_norm = n_img_1 / (n_img1_L2 + 1e-8)

    n_img2_L2 = torch.sqrt(torch.sum(n_img_2 ** 2, dim=3, keepdim=True))
    n_img2_norm = n_img_2 / (n_img2_L2 + 1e-8)

    # average 2 norms
    n_img_aver = n_img1_norm + n_img2_norm
    n_img_aver_L2 = torch.sqrt(torch.sum(n_img_aver ** 2, dim=3, keepdim=True))
    n_img_aver_norm = n_img_aver / (n_img_aver_L2 + 1e-8)
    # re-orient normals consistently
    orient_mask = torch.sum(n_img_aver_norm * xyz, dim=3) > 0
    n_img_aver_norm[orient_mask] *= -1
    n_img_aver_norm_out = n_img_aver_norm.permute((1, 2, 3, 0))  # [h, w, c, b]

    # a = torch.sum(n_img1_norm_out*n_img2_norm_out, dim=2).cpu().numpy().squeeze()
    # plt.imshow(np.abs(a), cmap='rainbow')
    # plt.show()
    return n_img_aver_norm_out#n_img1_norm.permute((1, 2, 3, 0))

def surface_normal_from_depth(depth, focal_length, valid_mask=None):
    # para depth: depth map, [b, c, h, w]
    b, c, h, w = depth.shape
    focal_length = focal_length[:, None, None, None]
    depth_filter = nn.functional.avg_pool2d(depth, kernel_size=3, stride=1, padding=1)
    #depth_filter = nn.functional.avg_pool2d(depth_filter, kernel_size=3, stride=1, padding=1)
    xyz = depth_to_xyz(depth_filter, focal_length)
    sn_batch = []
    for i in range(b):
        xyz_i = xyz[i, :][None, :, :, :]
        #normal = get_surface_normalv2(xyz_i)
        normal = get_surface_normal(xyz_i)
        sn_batch.append(normal)
    sn_batch = torch.cat(sn_batch, dim=3).permute((3, 2, 0, 1))  # [b, c, h, w]

    if valid_mask != None:
        mask_invalid = (~valid_mask).repeat(1, 3, 1, 1)
        sn_batch[mask_invalid] = 0.0

    return sn_batch