test_DeformationField.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "import PartExtractor.DeformationField as DeformationField\n",
    "import PartExtractor.DNerfManager as DNerfManager\n",
    "from run_dnerf import config_parser, create_nerf\n",
    "import matplotlib.pyplot as plt\n",
    "from mpl_toolkits.mplot3d import Axes3D\n",
    "import torch\n",
    "from load_blender import pose_spherical\n",
    "from run_dnerf import render_path\n",
    "from run_dnerf_helpers import to8b\n",
    "from scipy.spatial.transform import Rotation as R\n",
    "import numpy as np\n",
    "import cv2 as cv\n",
    "import json"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "NeRF type selected: direct_temporal\n",
      "Found ckpts ['./logs/ball_cube_frame_fix_2/050000.tar', './logs/ball_cube_frame_fix_2/100000.tar', './logs/ball_cube_frame_fix_2/150000.tar', './logs/ball_cube_frame_fix_2/200000.tar', './logs/ball_cube_frame_fix_2/250000.tar', './logs/ball_cube_frame_fix_2/300000.tar', './logs/ball_cube_frame_fix_2/350000.tar', './logs/ball_cube_frame_fix_2/400000.tar', './logs/ball_cube_frame_fix_2/450000.tar', './logs/ball_cube_frame_fix_2/500000.tar', './logs/ball_cube_frame_fix_2/550000.tar', './logs/ball_cube_frame_fix_2/600000.tar', './logs/ball_cube_frame_fix_2/650000.tar', './logs/ball_cube_frame_fix_2/700000.tar', './logs/ball_cube_frame_fix_2/750000.tar', './logs/ball_cube_frame_fix_2/800000.tar', './logs/ball_cube_frame_fix_2/latest.tar']\n",
      "Reloading from ./logs/ball_cube_frame_fix_2/latest.tar\n"
     ]
    }
   ],
   "source": [
    "config_file = \"configs/ball_cube_2.txt\"\n",
    "object_poses_yaml = \"/home/stanlew/src/D-NeRF/data/BallCube_Take2/base_data/object_simulation_result.json\"\n",
    "manager = DNerfManager.DNerfManager(config_file = config_file)\n",
    "\n",
    "num_frames = 60\n",
    "times = torch.linspace(0.0,1.0,num_frames)#torch.Tensor([0.0, 0.25, 0.5, 0.75, 1.0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "object_poses_data = json.load(open(object_poses_yaml,'r'))\n",
    "objects_names = ['object_cube','object_sphere']\n",
    "obj_pose_dict = {}\n",
    "for obj in objects_names:\n",
    "    cur_obj_data = object_poses_data[obj]\n",
    "    cur_obj_pose_dict = {}\n",
    "    for i in range(num_frames):\n",
    "        key = \"frame_{0:02d}\".format(i)\n",
    "        time_key = times[i].item()\n",
    "        pose = torch.Tensor(cur_obj_data[key])\n",
    "        cur_obj_pose_dict[time_key] = pose\n",
    "    obj_pose_dict[obj] = cur_obj_pose_dict"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "torch.Size([1, 8004, 3])\n",
      "tensor([[[-1.0000, -1.0000, -1.0000],\n",
      "         [-1.0000, -1.0000, -0.8947],\n",
      "         [-1.0000, -1.0000, -0.7895],\n",
      "         ...,\n",
      "         [-0.2500,  0.2500,  0.6000],\n",
      "         [-0.2500,  0.2500,  0.3000],\n",
      "         [-0.2500,  0.2500,  0.4000]]])\n"
     ]
    }
   ],
   "source": [
    "additional_samples = torch.tensor([[-0.25,0.25,0.5+0.2],[-0.25,0.25,0.5+0.1],[-0.25,0.25,0.5-0.2],[-0.25,0.25,0.5-0.1],]).unsqueeze(0)\n",
    "field = DeformationField.DeformationField(manager,\\\n",
    "                                          times,\\\n",
    "                                          torch.Tensor([[-1.0,1.0],[-1.0,1.0],[-1.0,1.0]]),\\\n",
    "                                          torch.Tensor([20,20,20]).to(dtype=torch.int32),\\\n",
    "                                          additional_samples)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
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       "         [-1.0513e-01,  9.6280e-01, -2.4892e-01,  2.5021e-01],\n",
       "         [ 5.1279e-01,  2.6695e-01,  8.1596e-01,  7.1588e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 2.6400e-01, -2.6674e-01, -9.2691e-01, -2.4871e-01],\n",
       "         [-4.3667e-01,  8.2382e-01, -3.6144e-01,  2.4981e-01],\n",
       "         [ 8.6001e-01,  5.0017e-01,  1.0101e-01,  6.7415e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 1.6222e-01, -1.3364e-01, -9.7766e-01, -2.4912e-01],\n",
       "         [-3.4276e-01,  9.2146e-01, -1.8283e-01,  2.4999e-01],\n",
       "         [ 9.2531e-01,  3.6476e-01,  1.0367e-01,  7.0237e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.8203e-01,  3.0444e-02, -1.8625e-01, -2.5309e-01],\n",
       "         [-1.7561e-02,  9.9736e-01,  7.0436e-02,  2.5090e-01],\n",
       "         [ 1.8790e-01, -6.5900e-02,  9.7997e-01,  8.1310e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.8685e-01, -5.5469e-02, -1.5185e-01, -2.5429e-01],\n",
       "         [ 6.6051e-02,  9.9566e-01,  6.5548e-02,  2.5126e-01],\n",
       "         [ 1.4756e-01, -7.4716e-02,  9.8623e-01,  8.4162e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.7586e-01,  1.5051e-03, -2.1839e-01, -2.5351e-01],\n",
       "         [ 4.2985e-02,  9.7909e-01,  1.9883e-01,  2.5103e-01],\n",
       "         [ 2.1412e-01, -2.0341e-01,  9.5539e-01,  8.2320e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.6132e-01, -3.4377e-02, -2.7329e-01, -2.5803e-01],\n",
       "         [ 4.6515e-02,  9.9819e-01,  3.8059e-02,  2.5129e-01],\n",
       "         [ 2.7149e-01, -4.9299e-02,  9.6118e-01,  8.1247e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9657e-01, -1.2844e-02, -8.1727e-02, -2.5021e-01],\n",
       "         [ 3.6981e-02,  9.5284e-01,  3.0120e-01,  2.5024e-01],\n",
       "         [ 7.4004e-02, -3.0319e-01,  9.5005e-01,  8.1279e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.6152e-01, -4.7346e-02, -2.7062e-01, -2.5032e-01],\n",
       "         [ 9.3287e-02,  9.8278e-01,  1.5951e-01,  2.5033e-01],\n",
       "         [ 2.5841e-01, -1.7862e-01,  9.4938e-01,  8.3517e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9779e-01, -4.8308e-03, -6.6335e-02, -2.5420e-01],\n",
       "         [ 1.5714e-02,  9.8624e-01,  1.6455e-01,  2.5125e-01],\n",
       "         [ 6.4628e-02, -1.6523e-01,  9.8414e-01,  8.4714e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9890e-01, -1.5753e-02, -4.4167e-02, -2.5246e-01],\n",
       "         [ 1.9046e-02,  9.9699e-01,  7.5160e-02,  2.5086e-01],\n",
       "         [ 4.2850e-02, -7.5919e-02,  9.9619e-01,  8.4806e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9010e-01,  3.2664e-02, -1.3648e-01, -2.4883e-01],\n",
       "         [-1.3080e-02,  9.8978e-01,  1.4199e-01,  2.5001e-01],\n",
       "         [ 1.3972e-01, -1.3880e-01,  9.8041e-01,  8.4382e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.8801e-01,  5.2743e-02, -1.4509e-01, -2.4315e-01],\n",
       "         [-2.1930e-02,  9.7825e-01,  2.0628e-01,  2.4859e-01],\n",
       "         [ 1.5281e-01, -2.0062e-01,  9.6768e-01,  8.3407e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9065e-01,  4.8214e-02, -1.2762e-01, -2.4322e-01],\n",
       "         [-1.1114e-02,  9.6088e-01,  2.7674e-01,  2.4861e-01],\n",
       "         [ 1.3597e-01, -2.7273e-01,  9.5243e-01,  8.3509e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.7551e-01,  4.7808e-02, -2.1470e-01, -2.4300e-01],\n",
       "         [ 1.2699e-02,  9.6223e-01,  2.7196e-01,  2.4854e-01],\n",
       "         [ 2.1959e-01, -2.6802e-01,  9.3805e-01,  8.3344e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9677e-01,  4.2958e-02, -6.7884e-02, -2.4333e-01],\n",
       "         [-3.4935e-02,  9.9272e-01,  1.1525e-01,  2.4864e-01],\n",
       "         [ 7.2341e-02, -1.1250e-01,  9.9101e-01,  8.3273e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9965e-01,  7.5576e-03, -2.5500e-02, -2.4497e-01],\n",
       "         [-4.7895e-03,  9.9426e-01,  1.0692e-01,  2.4908e-01],\n",
       "         [ 2.6162e-02, -1.0676e-01,  9.9394e-01,  8.3040e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9812e-01,  1.9830e-02, -5.8039e-02, -2.4430e-01],\n",
       "         [-8.8058e-03,  9.8282e-01,  1.8437e-01,  2.4892e-01],\n",
       "         [ 6.0698e-02, -1.8351e-01,  9.8114e-01,  8.2951e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.9601e-01,  3.3991e-02, -8.2569e-02, -2.4528e-01],\n",
       "         [-2.1775e-02,  9.8925e-01,  1.4457e-01,  2.4916e-01],\n",
       "         [ 8.6596e-02, -1.4220e-01,  9.8604e-01,  8.3269e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.0701e-01,  7.6304e-02, -4.1414e-01, -2.4414e-01],\n",
       "         [ 3.6074e-02,  9.6575e-01,  2.5694e-01,  2.4891e-01],\n",
       "         [ 4.1957e-01, -2.4799e-01,  8.7319e-01,  8.3715e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.6560e-01,  5.3445e-02, -2.5448e-01, -2.4340e-01],\n",
       "         [ 3.6467e-02,  9.4115e-01,  3.3602e-01,  2.4868e-01],\n",
       "         [ 2.5747e-01, -3.3374e-01,  9.0682e-01,  8.3667e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.7426e-01,  2.5167e-02, -2.2402e-01, -2.4231e-01],\n",
       "         [ 3.7756e-02,  9.6150e-01,  2.7222e-01,  2.4829e-01],\n",
       "         [ 2.2225e-01, -2.7367e-01,  9.3580e-01,  8.3601e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.5937e-01,  2.4725e-02, -2.8108e-01, -2.4325e-01],\n",
       "         [ 6.2353e-02,  9.5295e-01,  2.9664e-01,  2.4863e-01],\n",
       "         [ 2.7519e-01, -3.0211e-01,  9.1269e-01,  8.3595e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]],\n",
       "\n",
       "        [[ 9.6789e-01,  2.8044e-02, -2.4982e-01, -2.4264e-01],\n",
       "         [ 3.7906e-02,  9.6611e-01,  2.5532e-01,  2.4843e-01],\n",
       "         [ 2.4851e-01, -2.5659e-01,  9.3403e-01,  8.3456e-01],\n",
       "         [ 0.0000e+00,  0.0000e+00,  0.0000e+00,  1.0000e+00]]])"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "field.samples[8001,:]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "###### "
   ]
  }
 ],
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