Merge pull request #319 from princeton-vl/bugfix_nonprimary_cams

Fix non-primary cameras not being checked for pose validity

docs/CHANGELOG.md

@@ -135,4 +135,8 @@ v1.10.0
 - Add config for multiview cameras surrounding a point of interest
 - Add MaterialSegmentation output pass
 - Add passthrough mode to direct manage_jobs stdout directly to terminal
-- Add "copyfile:destination" upload mode
+- Add "copyfile:destination" upload mode
+
+v1.10.1
+- Fix missing validity checks for camera-rig cameras which are not the 0th index
+- Fix missing seat in dining chair

infinigen/__init__.py

@@ -6,7 +6,7 @@
 import logging
 from pathlib import Path
 
-__version__ = "1.10.0"
+__version__ = "1.10.1"
 
 
 def repo_root():

infinigen/core/placement/camera.py

@@ -11,7 +11,6 @@
 import typing
 from copy import deepcopy
 from dataclasses import dataclass
-from functools import partial
 from itertools import chain
 from pathlib import Path
 
@@ -34,6 +33,7 @@
 from infinigen.core.util.logging import Timer
 from infinigen.core.util.organization import SelectionCriterions
 from infinigen.core.util.random import random_general
+from infinigen.terrain.core import Terrain
 from infinigen.tools.suffixes import get_suffix
 
 from . import animation_policy
@@ -190,7 +190,11 @@ def set_active_camera(camera: bpy.types.Object):
 
 
 def terrain_camera_query(
-    cam, scene_bvh, terrain_tags_queries, vertexwise_min_dist, min_dist=0
+    cam: bpy.types.Object,
+    scene_bvh: BVHTree,
+    terrain_tags_queries,
+    vertexwise_min_dist,
+    min_dist=0,
 ):
     dists = []
     sensor_coords, pix_it = get_sensor_coords(cam, sparse=True)
@@ -222,10 +226,13 @@ class CameraProposal:
     rot: np.array
     focal_length: float
 
-    def apply(self, cam):
-        cam.location = self.loc
-        cam.rotation_euler = self.rot
-        cam.data.lens = self.focal_length
+    def apply(self, cam_rig):
+        cam_rig.location = self.loc
+        cam_rig.rotation_euler = self.rot
+
+        if self.focal_length is not None:
+            for cam in cam_rig.children:
+                cam.data.lens = self.focal_length
 
 
 @gin.configurable
@@ -310,9 +317,9 @@ def location_sample():
 
 @gin.configurable
 def keep_cam_pose_proposal(
-    cam,
-    terrain,
-    scene_bvh,
+    cam: bpy.types.Object,
+    terrain: Terrain,
+    scene_bvh: BVHTree,
     placeholders_kd,
     camera_selection_answers,
     vertexwise_min_dist,
@@ -323,11 +330,9 @@ def keep_cam_pose_proposal(
 ):
     if terrain is not None:  # TODO refactor
         terrain_sdf = terrain.compute_camera_space_sdf(
-            np.array(cam.location).reshape((1, 3))
+            np.array(cam.matrix_world.translation).reshape((1, 3))
         )
 
-    if not cam.type == "CAMERA":
-        cam = cam.children[0]
     if not cam.type == "CAMERA":
         raise ValueError(f"{cam.name=} had {cam.type=}")
 
@@ -359,7 +364,9 @@ def keep_cam_pose_proposal(
         return None
 
     if terrain is not None and terrain_sdf <= 0:
-        logger.debug(f"keep_cam_pose_proposal rejects {terrain_sdf=}")
+        logger.debug(
+            f"keep_cam_pose_proposal rejects {terrain_sdf=} for {cam.matrix_world.translation=}"
+        )
         return None
 
     if rparams := camera_selection_ratio:
@@ -415,10 +422,10 @@ def __call__(self, camera_rig, frame_curr, retry_pct, bvh):
 
 @gin.configurable
 def compute_base_views(
-    cam,
-    n_views,
+    camera_rig: bpy.types.Object,
+    n_views: int,
     terrain,
-    scene_bvh,
+    scene_bvh: BVHTree,
     location_sample: typing.Callable,
     center_coordinate=None,
     radius=None,
@@ -455,23 +462,31 @@ def compute_base_views(
                 )
                 continue
 
-            props.apply(cam)
+            props.apply(camera_rig)
+
+            all_scores = []
+            for cam in camera_rig.children:
+                score = keep_cam_pose_proposal(
+                    cam,
+                    terrain,
+                    scene_bvh,
+                    placeholders_kd,
+                    camera_selection_answers=camera_selection_answers,
+                    vertexwise_min_dist=vertexwise_min_dist,
+                    camera_selection_ratio=camera_selection_ratio,
+                )
+                all_scores.append(score)
 
-            criterion = keep_cam_pose_proposal(
-                cam,
-                terrain,
-                scene_bvh,
-                placeholders_kd,
-                camera_selection_answers=camera_selection_answers,
-                vertexwise_min_dist=vertexwise_min_dist,
-                camera_selection_ratio=camera_selection_ratio,
-            )
+            if any(score is None for score in all_scores):
+                criterion = None
+            else:
+                criterion = np.mean(all_scores)
 
             if visualize:
                 criterion_str = f"{criterion:.2f}" if criterion is not None else "None"
                 marker = butil.spawn_empty(f"attempt_{it}_{criterion_str}")
-                marker.location = cam.location
-                marker.rotation_euler = cam.rotation_euler
+                marker.location = camera_rig.location
+                marker.rotation_euler = camera_rig.rotation_euler
 
             if criterion is None:
                 logger.debug(f"{it=} {criterion=}")
@@ -515,6 +530,7 @@ def build_bvh_and_attrs(objs, tags_queries):
             obj.select_set(True)
         bpy.ops.object.join()
         obj = bpy.context.view_layer.objects.active
+
     bvh = BVHTree.FromObject(obj, bpy.context.evaluated_depsgraph_get())
     from infinigen.terrain.utils import Mesh
 
@@ -642,7 +658,6 @@ def configure_cameras(
     mvs_radius=("uniform", 12, 18),
 ):
     bpy.context.view_layer.update()
-    dummy_camera = spawn_camera()
 
     if init_bounding_box is not None:
 
@@ -688,18 +703,18 @@ def contain_keywords(name, keywords):
     else:
         center_coordinate = None
 
-    base_views = compute_base_views(
-        dummy_camera,
-        n_views=len(cam_rigs),
-        location_sample=location_sample,
-        center_coordinate=center_coordinate,
-        radius=mvs_radius,
-        bbox=init_bounding_box,
-        **scene_preprocessed,
-    )
+    for cam_rig in cam_rigs:
+        views = compute_base_views(
+            cam_rig,
+            n_views=1,
+            location_sample=location_sample,
+            center_coordinate=center_coordinate,
+            radius=mvs_radius,
+            bbox=init_bounding_box,
+            **scene_preprocessed,
+        )
 
-    for view, cam_rig in zip(base_views, cam_rigs):
-        score, props, focus_dist = view
+        score, props, focus_dist = views[0]
         cam_rig.location = props.loc
         cam_rig.rotation_euler = props.rot
 
@@ -712,8 +727,6 @@ def contain_keywords(name, keywords):
                     continue
                 cam.data.dof.focus_distance = focus_dist
 
-    butil.delete(dummy_camera)
-
 
 @gin.configurable
 def animate_cameras(
@@ -731,15 +744,24 @@ def animate_cameras(
             animation_ratio[k] = scene_preprocessed["camera_selection_ratio"][k]
             animation_answers[k] = scene_preprocessed["camera_selection_answers"][k]
 
-    anim_valid_pose_func = partial(
-        keep_cam_pose_proposal,
-        placeholders_kd=scene_preprocessed["placeholders_kd"],
-        scene_bvh=scene_preprocessed["scene_bvh"],
-        terrain=scene_preprocessed["terrain"],
-        vertexwise_min_dist=scene_preprocessed["vertexwise_min_dist"],
-        camera_selection_answers=animation_answers,
-        camera_selection_ratio=animation_ratio,
-    )
+    def anim_valid_camrig_pose_func(cam_rig: bpy.types.Object):
+        assert len(cam_rig.children) > 0
+
+        for cam in cam_rig.children:
+            score = keep_cam_pose_proposal(
+                cam,
+                placeholders_kd=scene_preprocessed["placeholders_kd"],
+                scene_bvh=scene_preprocessed["scene_bvh"],
+                terrain=scene_preprocessed["terrain"],
+                vertexwise_min_dist=scene_preprocessed["vertexwise_min_dist"],
+                camera_selection_answers=animation_answers,
+                camera_selection_ratio=animation_ratio,
+            )
+
+            if score is None:
+                return False
+
+        return True
 
     for cam_rig in cam_rigs:
         if policy_registry is None:
@@ -758,7 +780,7 @@ def animate_cameras(
             cam_rig,
             scene_preprocessed["scene_bvh"],
             policy_func=policy,
-            validate_pose_func=anim_valid_pose_func,
+            validate_pose_func=anim_valid_camrig_pose_func,
             verbose=True,
             fatal=True,
             bounding_box=bounding_box,

infinigen_examples/generate_indoors.py

@@ -552,6 +552,7 @@ def main(args):
     parser.add_argument("-d", "--debug", type=str, nargs="*", default=None)
 
     args = init.parse_args_blender(parser)
+
     logging.getLogger("infinigen").setLevel(logging.INFO)
     logging.getLogger("infinigen.core.nodes.node_wrangler").setLevel(logging.CRITICAL)
 

infinigen_examples/generate_nature.py

@@ -1023,16 +1023,18 @@ def main(args):
         "e.g. --gin_param module_1.a=2 module_2.b=3",
     )
     parser.add_argument("--task_uniqname", type=str, default=None)
-    parser.add_argument(
-        "-d",
-        "--debug",
-        action="store_const",
-        dest="loglevel",
-        const=logging.DEBUG,
-        default=logging.INFO,
-    )
+    parser.add_argument("-d", "--debug", type=str, nargs="*", default=None)
 
     args = init.parse_args_blender(parser)
-    logging.getLogger("infinigen").setLevel(args.loglevel)
+
+    logging.getLogger("infinigen").setLevel(logging.INFO)
+    logging.getLogger("infinigen.core.nodes.node_wrangler").setLevel(logging.CRITICAL)
+
+    if args.debug is not None:
+        for name in logging.root.manager.loggerDict:
+            if not name.startswith("infinigen"):
+                continue
+            if len(args.debug) == 0 or any(name.endswith(x) for x in args.debug):
+                logging.getLogger(name).setLevel(logging.DEBUG)
 
     main(args)