o i~' @s*ddlTddlmZddlZddlZddlZddlmZddlZddl Z ddl m Z dFd ej d ej d e eeed ffd ededej f ddZdFd ej d ej d e eeed ffd ededej f ddZdejfdedededejdej f ddZdej fddZdej fddZd ej deej ej ffd!d"Zd#ej fd$d%Zd&ej d'ej fd(d)Zd&ej d'ej defd*d+ZdGd#ej d-ej ded.eeeffd/d0Zd ej dej fd1d2ZdHd4ej d-ej d5ed6efd7d8Zd9edej fd:d;Z dZ! ?dId@ej dAej dBedCedej f dDdEZ"dS)J)*)partialN) fftconvolve)timeitFHz>xwaxis.keepdimsepsreturncCsH|dur tj||dS||j}||j|dt|j|d|dS)Nr )npmeanastypedtypecliprr r r r r4/data/cameron/moge_repo/moge/utils/geometry_numpy.pyweighted_mean_numpys &rcCsT|durddt||dj|dS||j}dtd||||||d|S)Nrr)r r r )rrrrrrrrrrharmonic_mean_numpys "rwidthheight aspect_ratiorc Cs|dur||}|d|dd}dd|dd}tj| |d|||d|||d}tj| |d|||d|||d}tj||dd\}}tj||gdd }|S) zUV with left-top corner as (-width / diagonal, -height / diagonal) and right-bottom corner as (width / diagonal, height / diagonal)Nr?rxy)indexingr)rlinspacemeshgridstack) rrrrspan_xspan_yuvuvrrrnormalized_view_plane_uv_numpys,,r*focalcCsdtd|S)Nrr)rarctanr+rrrfocal_to_fov_numpy-r.fovcCsdt|dS)Nrr)rtan)r0rrrfov_to_focal_numpy1r/r2 intrinsicscCs t|d}t|d}||fS)N).rr).rr)r.)r3fov_xfov_yrrrintrinsics_to_fov_numpy5s  r6pointscCsR|jdd\}}|d|dd}t|||jd}t|dddf|\}}||dddfjg|jdddR}tj|dddf| gddjg|jddddR}|dd|}tj |d t d|dd|d  d} | \} } |d | d } t ||| d} t ||| d}| | || fS) Nr!rrr.rgư>).N.r).NN) shaper*rrbroadcast_arraysreshaper$swapaxeslinalginveyesqueezer,)r7rrdiagonalr)_bAMsolutionr+shiftdepthr4r5rrrpoint_map_to_depth_legacy_numpy;s.>4 rKr)xyzc Csddlm}|dd|dddfdd|dd}}}dtjd tjd tjd tjfd d }|t||||dddd}|dtj}|||dddf}|| t | } || fS)zKSolve `min |focal * xy / (z + shift) - uv|` with respect to shift and focalr least_squaresr!r.Nr:r)rzrIcSsF|||dddf}||t|}|||}|SN)sumrsquareravel)r)rrOrIxy_projferrrrrfnTsz%solve_optimal_focal_shift..fnMbP?lmx0Zftolmethodr) scipy.optimizerNr=rndarrayrrBrfloat32rQrR) r)rLrNrrOrWrH optim_shiftrT optim_focalrrrsolve_optimal_focal_shiftOs 6"rbc sddlm}|dd|dddfdd|dd}}}dtjd tjd tjd tjffd d }|t||||dddd}|dtj}|S)zASolve `min |focal * xy / (z + shift) - uv|` with respect to shiftrrMr!r.Nr:r)rrOrIcs,|||dddf}||}|SrP)rS)r)rrOrIrTrVr-rrrWhszsolve_optimal_shift..fnrXrYrZr) r]rNr=rr^rrBrr_) r)rLr+rNrrOrWrHr`rr-rsolve_optimal_shiftcs 6&rc@remaskdownsample_sizec Csddl}|jddksJd|jd|jd}}|d|dd}t||d }|durI|j|||jd dd} |j|||jd dd} n tjj||||d \} } } | j dkr]d S|durlt | | \} }|| fSt | | |} || fS) Nrr!zPoints should (H, W, 3)r8r9rr)rr) interpolation)rfsize)g?g) cv2r;r*resizeZ INTER_LINEARr=utils3drZmasked_nearest_resizerjrbrc) r7rfr+rgrkrrrCr) points_lruv_lrmask_lrrIrrrrecover_focal_shift_numpyss    rqcCs0tt|dt|dt|dS)z2Faster `np.linalg.norm(x, axis=-1)` for 3D vectors).r).rr:)rsqrtrR)rrrrnorm3ds0rs皙?rJ thicknesstolcCst|d|d}tj|||fdd}tj|||fdd}d|d}tjj|||fddd}tjj|||fddd} t|| dd} ||d|| k@} || d||k@} tj| tj tj dtj d |d dktj| tj tj dtj d |d dk@} | S) Nrr)constant_valuesFr)r9r!r)rhrhr iterations) rwherepadrmsliding_windowrrkdilateruint8ones)rJrfrurvdispZdisp_padZmask_pad kernel_sizeZ disp_window mask_windowZ disp_meanZ fg_edge_maskZ bg_edge_maskZ edge_maskrrrdepth_occlusion_edge_numpys &&rradiuscCsTt| |d}t||\}}|d|d|dktj}|t|}|S)z Generate disk kernel with given radius. Args: radius (int): Radius of the disk (in pixels). Returns: np.ndarray: (2*radius+1, 2*radius+1) normalized convolution kernel. rr)raranger#rr_rQ)rLXYkernelrrr disk_kernels   rimagecCs|dkr|St|}|jdkrt||dd}|S|jdkrBg}t|jdD]}t|d|f|dd}||q&tj|dd}|Std ) z Apply disk blur to an image using FFT convolution. Args: image (np.ndarray): Input image, can be grayscale or color. radius (int): Blur radius (in pixels). Returns: np.ndarray: Blurred image. rrsame)moderh.r!rzImage must be 2D or 3D.) rndimrranger;appendrr$ ValueError)rrrZblurredchannelsiZblurred_channelrrr disk_blurs    r imgr focus_dispmax_blur_radiusc Csht|}||}||}g}t|dD]}|tj|ttjd|dd|dfddqtt |||d| tj }t|dD])}tt ||||d| tj }||k||k@|||k@} || || <qIt|d|}t |d}t |} i} t|dD]}|| vrqt||| |<qt|} | D]} || k} | | | | | <q| S)a Apply depth of field effect to an image. Args: img (numpy.ndarray): (H, W, 3) input image. depth (numpy.ndarray): (H, W) depth map of the scene. focus_depth (float): Focus depth of the lens. strength (float): Strength of the depth of field effect. max_blur_radius (int): Maximum blur radius (in pixels). Returns: numpy.ndarray: (H, W, 3) output image with depth of field effect applied. rrrxr)r)rmaxrrrkr}ZgetStructuringElementZ MORPH_ELLIPSErabsrint32Zbluruniquer zeros_like)rrrrZmax_dispZ dilated_disprZ blur_radiiZdialted_blur_radiirfZ unique_radii precomputedoutputrrrrdepth_of_fields0 6"&   r)NNFr)NNrd)rrt)r)#typing functoolsrmathrknumpyrZ scipy.signalrrmtoolsrr^UnionintTupleboolfloatrrr_rr*r.r2r6rKrbrcrqrsrrrrrrrrsF   ::* (