diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c18ae36 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +COLCON_IGNORE diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..f951f5c --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,105 @@ +cmake_minimum_required(VERSION 3.13) +project(sogmm_open3d + VERSION 0.0.0 + DESCRIPTION + "SOGMM Open3D" + LANGUAGES CXX C) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +set(CMAKE_CXX_FLAGS "-std=c++17 -march=native -O3 -fopenmp -lstdc++fs") +set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) + +find_package(pybind11 REQUIRED) +find_package(Open3D REQUIRED) +find_package(Eigen3 3.4 REQUIRED) +find_package(self_organizing_gmm REQUIRED) +find_package(GSL REQUIRED) +find_package(CUDA REQUIRED) + +add_executable(sogmm_test src/tests/sogmm_test.cpp) +target_include_directories(sogmm_test + PRIVATE + include + ${sogmm_INCLUDE_DIR} + ${GSL_INCLUDE_DIRS} + ${CUDA_INCLUDE_DIRS} +) +target_link_libraries( + sogmm_test + PRIVATE stdc++fs + PRIVATE ${GSL_LIBRARIES} + PRIVATE Eigen3::Eigen + PRIVATE Open3D::Open3D +) +set_target_properties(sogmm_test PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_INSTALL_PREFIX}) + +pybind11_add_module(sogmm_open3d_py src/sogmm_open3d_py.cpp) +target_include_directories(sogmm_open3d_py + PRIVATE + include + ${sogmm_INCLUDE_DIR} + ${GSL_INCLUDE_DIRS} + ${CUDA_INCLUDE_DIRS} +) +target_link_libraries( + sogmm_open3d_py + PRIVATE stdc++fs + PRIVATE ${GSL_LIBRARIES} + PRIVATE Eigen3::Eigen + PRIVATE Open3D::Open3D +) +set_target_properties(sogmm_open3d_py PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_INSTALL_PREFIX}) + +pybind11_add_module(gmm_open3d_py src/gmm_open3d_py.cpp) +target_include_directories(gmm_open3d_py + PRIVATE + include + ${sogmm_INCLUDE_DIR} + ${GSL_INCLUDE_DIRS} + ${CUDA_INCLUDE_DIRS} +) +target_link_libraries( + gmm_open3d_py + PRIVATE stdc++fs + PRIVATE ${GSL_LIBRARIES} + PRIVATE Eigen3::Eigen + PRIVATE Open3D::Open3D +) +set_target_properties(gmm_open3d_py PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_INSTALL_PREFIX}) + +pybind11_add_module(time_profiler_py src/time_profiler_py.cpp) +target_include_directories(time_profiler_py + PRIVATE + include + ${sogmm_INCLUDE_DIR} + ${CUDA_INCLUDE_DIRS} +) +target_link_libraries( + time_profiler_py + PRIVATE stdc++fs +) +set_target_properties(time_profiler_py PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_INSTALL_PREFIX}) + +pybind11_add_module(kinit_open3d_py src/kinit_open3d_py.cpp) +target_include_directories(kinit_open3d_py + PRIVATE + include + ${sogmm_INCLUDE_DIR} + ${CUDA_INCLUDE_DIRS} +) +target_link_libraries( + kinit_open3d_py + PRIVATE stdc++fs + PRIVATE Eigen3::Eigen + PRIVATE Open3D::Open3D +) +set_target_properties(kinit_open3d_py PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_INSTALL_PREFIX}) + +install(TARGETS DESTINATION ${CMAKE_INSTALL_PREFIX}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION "include/${PROJECT_NAME}" + FILES_MATCHING PATTERN "*.h" +) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..de8eea8 --- /dev/null +++ b/LICENSE @@ -0,0 +1,28 @@ +BSD 3-Clause License + +Copyright (c) 2023, Kshitij Goel, Wennie Tabib + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..291da72 --- /dev/null +++ b/README.md @@ -0,0 +1,3 @@ +# Self-Organizing Gaussian Mixture Models + +Please see the meta-package https://github.com/gira3d/gira3d-reconstruction for detailed documentation. diff --git a/colcon.pkg b/colcon.pkg new file mode 100644 index 0000000..e64476f --- /dev/null +++ b/colcon.pkg @@ -0,0 +1,8 @@ +{ + "name": "sogmm_open3d", + "dependencies": { + "open3d_colcon", + "self_organizing_gmm" + }, + "hooks": [] +} diff --git a/include/sogmm_open3d/GMM.h b/include/sogmm_open3d/GMM.h new file mode 100644 index 0000000..58d3fde --- /dev/null +++ b/include/sogmm_open3d/GMM.h @@ -0,0 +1,620 @@ +#pragma once + +#define BUILD_CUDA_MODULE + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +#define LOG_2_M_PI 1.83788 + +namespace o3d = open3d; + +// T -- datatypes (usually float or double) +// D -- dimension of the data +template +class GMM +{ +public: + static constexpr uint32_t C = D * D; + static constexpr T MVN_NORM_D = + static_cast(1.0 / std::pow(std::sqrt(2.0 * M_PI), D)); + static constexpr T MVN_NORM_3 = + static_cast(1.0 / std::pow(std::sqrt(2.0 * M_PI), 3)); + + using Ptr = std::shared_ptr>; + using ConstPtr = std::shared_ptr>; + + using Vector = Eigen::Matrix; + using VectorD = Eigen::Matrix; + using VectorC = Eigen::Matrix; + + using Matrix = Eigen::Matrix; + using MatrixXD = Eigen::Matrix; + using MatrixDX = Eigen::Matrix; + using MatrixXC = Eigen::Matrix; + using MatrixDD = Eigen::Matrix; + + using Tensor = o3d::core::Tensor; + using SizeVector = o3d::core::SizeVector; + using Device = o3d::core::Device; + using Dtype = o3d::core::Dtype; + + GMM() : GMM(1, 1, "CUDA:0", false, "gmm_gpu_stats", "stats.csv") + { + } + + GMM(unsigned int n_components, unsigned int n_samples) + : GMM(n_components, n_samples, "CUDA:0", false, "gmm_gpu_stats", + "stats.csv") + { + } + + GMM(unsigned int n_components, unsigned int n_samples, std::string device) + : GMM(n_components, n_samples, device, false, "gmm_gpu_stats", "stats.csv") + { + } + + GMM(unsigned int n_components, unsigned int n_samples, std::string device, + bool save_stats) + : GMM(n_components, n_samples, device, save_stats, "gmm_gpu_stats", + "stats.csv") + { + } + + GMM(unsigned int n_components, unsigned int n_samples, std::string device, + const bool save_stats, const std::string& stats_dir, + const std::string& stats_file) + { + n_components_ = n_components; + n_samples_ = n_samples; + tol_ = 1e-3; + reg_covar_ = 1e-6; + max_iter_ = 100; + + device_ = o3d::core::Device(device); + dtype_ = Dtype::FromType(); + + initialize(save_stats, stats_dir, stats_file); + } + + ~GMM() + { + } + + void initialize(const bool save_stats, const std::string& stats_dir, + const std::string& stats_file) + { + tp_ = TimeProfiler(); + if (save_stats) + { + tp_.save(stats_dir, stats_file); + } + + int N = n_samples_; + int K = n_components_; + + Weights_ = Tensor::Zeros({ 1, K, 1 }, dtype_, device_); + Means_ = Tensor::Zeros({ 1, K, D }, dtype_, device_); + Covariances_ = Tensor::Zeros({ 1, K, D, D }, dtype_, device_); + Covs_Chol_ = Tensor::Zeros({ 1, K, D, D }, dtype_, device_); + Precs_Chol_ = Tensor::Zeros({ 1, K, D, D }, dtype_, device_); + + amax__ = Tensor::Zeros({ N, 1, 1 }, dtype_, device_); + Log_Det_Cholesky__ = Tensor::Zeros({ K, 1 }, dtype_, device_); + Log_Det_Cholesky_Tmp__ = Tensor::Zeros({ K, D }, dtype_, device_); + eDiff__ = Tensor::Zeros({ N, K, D, 1 }, dtype_, device_); + Log_Prob_Norm__ = Tensor::Zeros({ N, 1, 1 }, dtype_, device_); + + Nk__ = Tensor::Zeros({ 1, K }, dtype_, device_); + mDiff__ = Tensor::Zeros({ K, D, N }, dtype_, device_); + third_eye__ = Tensor::Zeros({ K, D, D }, dtype_, device_); + A__ = Tensor::Zeros({ K, D, D }, dtype_, device_); + B__ = Tensor::Zeros({ K, D, D }, dtype_, device_); + Log_Resp__ = Tensor::Zeros({ N, K, 1 }, dtype_, device_); + + updateHostfromDevice(); + + gsl_rng_env_setup(); + r_global_ = gsl_rng_alloc(gsl_rng_default); + normal_dist_ = + std::normal_distribution(static_cast(0.0), static_cast(1.0)); + } + + void updateHostfromDevice() + { + weights_ = TensorToEigenMatrix(Weights_.Reshape({ n_components_, 1 })); + means_ = TensorToEigenMatrix(Means_.Reshape({ n_components_, D })); + covariances_ = + TensorToEigenMatrix(Covariances_.Reshape({ n_components_, D * D })); + covariances_cholesky_ = + TensorToEigenMatrix(Covs_Chol_.Reshape({ n_components_, D * D })); + precisions_cholesky_ = + TensorToEigenMatrix(Precs_Chol_.Reshape({ n_components_, D * D })); + } + + void updateDevicefromHost() + { + Weights_ = + EigenMatrixToTensor(weights_, device_).Reshape(Weights_.GetShape()); + Means_ = EigenMatrixToTensor(means_, device_).Reshape(Means_.GetShape()); + Covariances_ = EigenMatrixToTensor(covariances_, device_) + .Reshape(Covariances_.GetShape()); + Covs_Chol_ = EigenMatrixToTensor(covariances_cholesky_, device_) + .Reshape(Covs_Chol_.GetShape()); + Precs_Chol_ = EigenMatrixToTensor(precisions_cholesky_, device_) + .Reshape(Precs_Chol_.GetShape()); + } + + void updateDeviceAndHostExternal(const Vector& weights, const MatrixXD& means, + const MatrixXC& covariances, + const MatrixXC& precisions_cholesky) + { + Weights_ = + EigenMatrixToTensor(weights, device_).Reshape(Weights_.GetShape()); + Means_ = EigenMatrixToTensor(means, device_).Reshape(Means_.GetShape()); + Covariances_ = EigenMatrixToTensor(covariances, device_) + .Reshape(Covariances_.GetShape()); + Covs_Chol_ = Covariances_[0].LLTBatched().Reshape(Covs_Chol_.GetShape()); + Precs_Chol_ = EigenMatrixToTensor(precisions_cholesky, device_) + .Reshape(Precs_Chol_.GetShape()); + } + + void logSumExp(const Tensor& in, const unsigned int dim, Tensor& out) + { + amax__ = in.Max({ dim }, true); + ((in - amax__).Exp()).Sum_({ dim }, true, out); + out.Log_(); + out.Add_(amax__); + } + + void estimateWeightedLogProb(const Tensor& Xt, unsigned int n_samples, + Tensor& Weighted_Log_Prob) + { + // Term 2 of Equation (3.14) + //Log_Det_Cholesky__ = ((GetDiagonal(Precs_Chol_[0]).Log()).Sum({ 1 }, true)) + // .Reshape({ 1, n_components_, 1 }); + + int N = n_samples_; + int K = n_components_; + + Log_Det_Cholesky__.Fill(0.0); + Tensor Log_Det_Cholesky_View = (GetDiagonal(Precs_Chol_[0])); + Log_Det_Cholesky_Tmp__.CopyFrom(Log_Det_Cholesky_View); + Log_Det_Cholesky_Tmp__.Log_(); + Log_Det_Cholesky_Tmp__.Sum_({ 1 }, true, Log_Det_Cholesky__); + + // Diff, PDiff, Log_Gaussian_Prob are all terms for the first + // term in Equation (3.14) + eDiff__ = (Xt.Reshape({ n_samples, 1, D }) - Means_) + .Reshape({ n_samples, n_components_, D, 1 }); + + eDiff__ = (Precs_Chol_.Mul(eDiff__)) + .Sum({ 2 }, true) + .Reshape({ n_samples, n_components_, D, 1 }); + + // Equation (3.14), output of estimateLogGaussianProb + (eDiff__.Mul(eDiff__)).Sum_({ 2 }, false, Weighted_Log_Prob); + Weighted_Log_Prob.Add_(D * LOG_2_M_PI); + Weighted_Log_Prob.Mul_(-0.5); + Weighted_Log_Prob.Add_(Log_Det_Cholesky__.Reshape({ 1, K, 1 })); + + // This is the first two terms in Equation (3.7) + Weighted_Log_Prob.Add_(Weights_.Log()); + } + + void eStep(const Tensor& Xt) + { + tp_.tic("eStep"); + + if (n_samples_ == 0) + { + SizeVector Xt_shape = Xt.GetShape(); + n_samples_ = Xt_shape[0]; + } + + estimateWeightedLogProb(Xt, n_samples_, Log_Resp__); + + Log_Prob_Norm__.Fill(0.0); + logSumExp(Log_Resp__, 1, Log_Prob_Norm__); + + Log_Resp__.Sub_(Log_Prob_Norm__); + + likelihood_ = Log_Prob_Norm__.Mean({ 0, 1, 2 }, false).Item(); + + tp_.toc("eStep"); + } + + void mStep(const Tensor& Xt, const Tensor& Respt) + { + tp_.tic("mStep"); + if (n_samples_ == 0) + { + SizeVector Xt_shape = Xt.GetShape(); + n_samples_ = Xt_shape[0]; + } + + // initialize tensor for weights + Nk__.Fill(0.0); + Respt.Sum_({ 0 }, true, Nk__); + Weights_ = Nk__.T(); + Weights_.Add_(Tensor::Ones({ n_components_, 1 }, dtype_, device_) * 10 * + std::numeric_limits::epsilon()); + + // update means + Means_ = (Respt.T().Matmul(Xt)).Div(Weights_).Reshape(Means_.GetShape()); + + // update covariances + mDiff__ = (Xt.Reshape({ n_samples_, 1, D }) - Means_) + .AsStrided({ n_components_, D, n_samples_ }, + { D, 1, D * n_components_ }); + + Covariances_ = + mDiff__ + .MatmulBatched(mDiff__.Transpose(1, 2) * + Respt.AsStrided({ n_components_, n_samples_, 1 }, + { 1, n_components_, 1 })) + .Reshape(Covariances_.GetShape()); + + Covariances_.Div_(Weights_.Reshape({ 1, n_components_, 1, 1 })); + + // add reg_covar_ along the diagonal for Covariances_ + Covariances_[0] + .AsStrided({ n_components_, D }, { C, D + 1 }) + .Add_(reg_covar_); + + // update weights + Weights_.Div_(n_samples_); + Weights_.Div_(Weights_.Sum({ 0 }, false)); + + // update precision and covariance cholesky + Covs_Chol_ = Covariances_[0].LLTBatched().Reshape(Covs_Chol_.GetShape()); + + third_eye__.AsStrided({ n_components_, D }, { C, D + 1 }) + .Fill(static_cast(1)); + + A__ = Covs_Chol_[0].Transpose(1, 2).MatmulBatched(Covs_Chol_[0]); + B__ = Covs_Chol_[0].Transpose(1, 2).MatmulBatched(third_eye__); + + Precs_Chol_ = A__.SolveLLTBatched(B__).Reshape(Precs_Chol_.GetShape()); + + tp_.toc("mStep"); + } + + bool fit(const Tensor& Xt, const Tensor& Respt) + { + tp_.tic("fit"); + + SizeVector Xt_shape = Xt.GetShape(); + n_samples_ = Xt_shape[0]; + + if (n_samples_ <= 1) + { + throw std::runtime_error("fit: number of samples is " + + std::to_string(n_samples_) + + ", it should be greater than 1."); + } + + if (n_components_ <= 1) + { + throw std::runtime_error("fit: number of components is " + + std::to_string(n_components_) + + ", it should be greater than 1."); + } + + mStep(Xt, Respt); + + T lower_bound = -std::numeric_limits::infinity(); + for (unsigned int n_iter = 0; n_iter <= max_iter_; n_iter++) + { + T prev_lower_bound = lower_bound; + + // E step + eStep(Xt); + + // M step + mStep(Xt, Log_Resp__.Exp().Reshape({ n_samples_, n_components_ })); + + // convergence check + lower_bound = likelihood_; + T change = lower_bound - prev_lower_bound; + if (!std::isinf(change) && std::abs(change) < tol_) + { + converged_ = true; + break; + } + } + + tp_.toc("fit"); + + o3d::core::MemoryManagerCached::ReleaseCache(device_); + + if (converged_) + { + support_size_ = n_samples_; + return true; + } + else + { + return false; + } + } + + void scoreSamples(const Tensor& Xt, Tensor& Per_Sample_Log_Likelihood) + { + unsigned int n_samples = Xt.GetShape()[0]; + + Tensor Weighted_Log_Prob; + estimateWeightedLogProb(Xt, n_samples, Weighted_Log_Prob); + + // Log likelihood for each sample + logSumExp(Weighted_Log_Prob, 1, Per_Sample_Log_Likelihood); + } + + T score(const Tensor& Xt) + { + Tensor PSLL; + scoreSamples(Xt, PSLL); + + return PSLL.Mean({ 0, 1, 2 }).Item(); + } + + MatrixXD sample(const unsigned int& n_samples, double sigma = 3.0) + { + unsigned int n_samples_comp[n_components_]; + + // gsl ran multinomial only uses double datatype + // convert the datatype of the weights vector to double + double probs[n_components_]; + for (unsigned int i = 0; i < n_components_; i++) + { + probs[i] = static_cast(weights_(i)); + } + + gsl_ran_multinomial(r_global_, static_cast(n_components_), + n_samples, probs, n_samples_comp); + + // prepare the samples matrix + std::vector x; + x.reserve(n_samples * D); + + while (x.size() < n_samples * D) + { + T rand_val = normal_dist_(generator_); + + if (std::abs(rand_val) < sigma) + { + x.push_back(rand_val); + } + } + + MatrixXD samples = Eigen::Map(x.data(), n_samples, D); + + unsigned int prev_idx = 0; + for (unsigned int k = 0; k < n_components_; k++) + { + // covariance cholesky for this component + VectorC cov_chol_vector = covariances_cholesky_.row(k); + MatrixDD L = Eigen::Map(cov_chol_vector.data(), D, D); + VectorD mean = means_.row(k); + +#pragma omp parallel + { +#pragma omp for + for (unsigned int n = 0; n < n_samples_comp[k]; n++) + { + VectorD z = samples.row(prev_idx + n); + VectorD Lz = L * z; + samples.row(prev_idx + n) = Lz + mean; + } + } + prev_idx += n_samples_comp[k]; + } + + return samples; + } + + void merge(const GMM& that) + { + Vector new_weights = Vector::Zero(weights_.rows() + that.weights_.rows()); + MatrixXD new_means = + MatrixXD::Zero(means_.rows() + that.means_.rows(), means_.cols()); + MatrixXC new_covariances = MatrixXC::Zero( + covariances_.rows() + that.covariances_.rows(), covariances_.cols()); + MatrixXC new_precisions_cholesky = MatrixXC::Zero( + precisions_cholesky_.rows() + that.precisions_cholesky_.rows(), + precisions_cholesky_.cols()); + MatrixXC new_covariances_cholesky = MatrixXC::Zero( + covariances_cholesky_.rows() + that.covariances_cholesky_.rows(), + covariances_cholesky_.cols()); + + new_weights << weights_.array() * support_size_, + that.weights_.array() * that.support_size_; + new_weights.array() /= (support_size_ + that.support_size_); + new_weights.array() /= new_weights.sum(); + + new_means << means_, that.means_; + new_covariances << covariances_, that.covariances_; + new_precisions_cholesky << precisions_cholesky_, that.precisions_cholesky_; + new_covariances_cholesky << covariances_cholesky_, + that.covariances_cholesky_; + + weights_ = new_weights; + means_ = new_means; + covariances_ = new_covariances; + precisions_cholesky_ = new_precisions_cholesky; + covariances_cholesky_ = new_covariances_cholesky; + support_size_ += that.support_size_; + converged_ = true; + n_components_ += that.n_components_; + } + + void mvnPdf(const Matrix& X, const Matrix& mu, const Matrix& sigma, + const Matrix& Xminusmean, int k, Matrix& probs, Matrix& Linv, + Matrix& y) + { + // compute determinant of covariance matrix. + T cov_det = static_cast(sigma.determinant()); + + // handle the case when the determinant is too low. + // if (cov_det < reg_covar_ * reg_covar_) + // { + // cov_det = reg_covar_ * reg_covar_; + // } + + // compute the norm factor + T norm_factor = MVN_NORM_3 * static_cast(1.0 / std::sqrt(cov_det)); + + // compute the term inside the exponential + // avoid the matrix inverse using a linear solver via Cholesky decomposition + // solving L y = (X - µ)^T gives the solution y = L^{-1} (X - µ)^T + // then, the term (X - µ)^T Σ^{-1} (X - µ) becomes y^T y (easy to derive) + Matrix L = sigma.llt().matrixL(); + Linv = L.inverse(); + y = Linv * Xminusmean; + Matrix temp = (y.array().square().colwise().sum()).array() * (-0.5); + + probs.col(k) = ((temp.array().exp()) * norm_factor).transpose(); + } + + std::tuple colorConditional(const Matrix& X) + { + int N = X.rows(); + + Matrix ws = Matrix::Zero(N, n_components_); + Matrix ms = Matrix::Zero(N, n_components_); + Vector vars = Vector::Zero(n_components_); + + Matrix dev = Matrix::Zero(N, D - 1); + + // parts of the mean vector + Matrix mu_kX = Matrix::Zero(D - 1, 1); + T mu_kli; + + // parts of the covariance matrix + MatrixDD sigma = Matrix::Zero(D, D); + Matrix sigma_kXX = Matrix::Zero(D - 1, D - 1); + Matrix sigma_kXX_inv = Matrix::Zero(D - 1, D - 1); + Matrix sigma_kXli = Matrix::Zero(D - 1, 1); + Matrix sigma_kliX = Matrix::Zero(1, D - 1); + T sigma_klili; + + Matrix sigma_kliX_kXX_inv = Matrix::Zero(1, D - 1); + + // temp variable to reduce redundant computation later + // Linv is the inverse of (lower triangular) Cholesky decomposition of + // sigma_kXX + Matrix Linv = Matrix::Zero(D - 1, D - 1); + // y = L^{-1} (X - µ)^T + Matrix y = Matrix::Zero(N, n_components_); + + for (int k = 0; k < n_components_; k++) + { + // parts of the mean vector + mu_kX = means_(k, { 0, 1, 2 }); + mu_kli = static_cast(means_(k, 3)); + + // parts of the covariance matrix + sigma = Eigen::Map(covariances_.row(k).data(), D, D); + sigma_kXX = sigma({ 0, 1, 2 }, { 0, 1, 2 }); + sigma_kXli = sigma({ 0, 1, 2 }, { 3 }); + sigma_kliX = sigma({ 3 }, { 0, 1, 2 }); + sigma_klili = static_cast(sigma(3, 3)); + + dev = (X.rowwise() - mu_kX(0, Eigen::all)).transpose(); + + mvnPdf(X, mu_kX, sigma_kXX, dev, k, ws, Linv, y); + ws.col(k) = weights_(k) * ws.col(k); + + sigma_kXX_inv = (Linv.transpose()) * Linv; + sigma_kliX_kXX_inv = sigma_kliX * sigma_kXX_inv; + + ms.col(k) = ((sigma_kliX_kXX_inv * dev).array() + mu_kli).transpose(); + vars(k) = (sigma_klili - (sigma_kliX_kXX_inv * sigma_kXli).value()); + } + + // clamp ws to zero + ws = (ws.array() < reg_covar_).select(0.0, ws); + + Vector ws_sums = Vector::Zero(N); + ws_sums << ws.rowwise().sum(); + + // normalize in place + ws.array().colwise() /= ws_sums.array(); + + // nan to zeros + ws = (ws.array().isFinite()).select(ws, static_cast(0.0)); + + // expected values + Vector expected_values = Vector::Zero(N); + expected_values = (ws.array() * ms.array()).rowwise().sum(); + + // uncertainty + Vector uncerts = Vector::Zero(N); + uncerts = (ws.array() * (ms.array().square().rowwise() + vars.transpose().array())).rowwise().sum(); + uncerts = uncerts.array() - expected_values.array().square(); + + return std::make_tuple(ws, expected_values, uncerts); + } + + Tensor getLogResp() const + { + return Log_Resp__; + } + + // Public GPU members + Tensor Weights_; + Tensor Means_; + Tensor Covariances_; + Tensor Covs_Chol_; + Tensor Precs_Chol_; + + // CPU members + Vector weights_; + MatrixXD means_; + MatrixXC covariances_; + MatrixXC precisions_cholesky_; + MatrixXC covariances_cholesky_; + unsigned int support_size_; + bool converged_ = false; + unsigned int n_components_; + Device device_; + Dtype dtype_; + T tol_; + T reg_covar_; + unsigned int max_iter_; + unsigned int n_samples_ = 0; + T likelihood_; + + // for Box-Muller sampling + gsl_rng* r_global_; + std::default_random_engine generator_; + std::normal_distribution normal_dist_; + + TimeProfiler tp_; + +private: + Tensor amax__; + Tensor Log_Det_Cholesky__; + Tensor Log_Det_Cholesky_Tmp__; + Tensor eDiff__; + Tensor Log_Prob_Norm__; + + Tensor Nk__; + Tensor mDiff__; + Tensor third_eye__; + Tensor A__; + Tensor B__; + Tensor Log_Resp__; +}; diff --git a/include/sogmm_open3d/KInit.h b/include/sogmm_open3d/KInit.h new file mode 100644 index 0000000..3178396 --- /dev/null +++ b/include/sogmm_open3d/KInit.h @@ -0,0 +1,282 @@ +#pragma once + +#include +#include +#include + +#include + +#include +#include +#include + +// to allow for debugging uninitialized matrices +#define EIGEN_INITIALIZE_MATRICES_BY_NAN + +// T -- datatypes (usually float or double) +// D -- dimension of the data +template +class KInit +{ +public: + using Vector = Eigen::Matrix; + using Matrix = Eigen::Matrix; + + KInit() + { + n_components_ = 1; + } + + ~KInit() + { + } + + KInit(unsigned int n_components) + { + n_components_ = n_components; + + initialize(false, "kinit_cpu_stats", "stats.csv"); + } + + KInit(unsigned int n_components, const bool save_stats, + const std::string& stats_dir, const std::string& stats_file) + { + n_components_ = n_components; + + initialize(save_stats, stats_dir, stats_file); + } + + void initialize(const bool save_stats, const std::string& stats_dir, + const std::string& stats_file) + { + tp_ = TimeProfiler(); + if (save_stats) + { + tp_.save(stats_dir, stats_file); + } + } + + inline Matrix cumsum(const Matrix& X) + { + Matrix Y = X; + + for (unsigned int i = 1; i < X.cols(); i++) + { + Y(Eigen::all, i) += Y(Eigen::all, i - 1); + } + + return Y; + } + + inline int ceilSearch(const Matrix& haystack, int low, int high, T needle) + { + // get index of ceiling of needle in haystack + + // if needle is smaller than or equal to the first element in haystack, + // then return the first element + if (needle <= haystack(low)) + return low; + + // if needle is greater than the last element, + // then return the last element + if (needle > haystack(high)) + return high; + + // get the index of the middle element + int mid = int((low + high) / 2); + + // if needle is the same as the middle element, return mid + if (needle == haystack(mid)) + { + return mid; + } + else if (needle > haystack(mid)) + { + // if needle is greater than haystack(mid), + // then either haystack(mid+1) is ceiling of needle + // of ceiling lies in haystack(mid+1...high) + if (mid + 1 <= high && needle <= haystack(mid + 1)) + return mid + 1; + else + return ceilSearch(haystack, mid + 1, high, needle); + } + else + { + // if needle is smaller than haystack(mid), + // then either haystack(mid) is ceiling of needle + // or ceiling lies in haystack(low...mid-1) + if (mid - 1 >= low && needle > haystack(mid - 1)) + return mid; + else + return ceilSearch(haystack, low, mid - 1, needle); + } + } + + inline std::vector search_sorted(const Matrix& a, + const Matrix& v) + { + const unsigned int a_size = a.cols(); + const unsigned int v_size = v.rows(); + + std::vector ret; + + for (unsigned int i = 0; i < v_size; i++) + { + ret.push_back(ceilSearch(a, 0, a_size - 1, v(i))); + } + + return ret; + } + + Matrix euclidean_distances_sq(const Matrix& X, const Matrix& Y) + { + tp_.tic("euclideanDist"); + // assumes the input to be (num_samples x dimension) + const int N = X.rows(); + const int K = Y.rows(); + + Matrix Dist; + + Matrix XX, YY, XY; + XX = Matrix::Zero(N, 1); + YY = Matrix::Zero(1, K); + XY = Matrix::Zero(N, K); + Dist = Matrix::Zero(N, K); + + XX = X.array().square().rowwise().sum(); + YY = Y.array().square().rowwise().sum().transpose(); + XY = (2.0f * X) * Y.transpose(); + + Dist = XX * Matrix::Ones(1, K); + Dist = Dist + Matrix::Ones(N, 1) * YY; + Dist = Dist - XY; + + // if there is any negative value, turn it to positive + // can happen at values very close to zero + Dist = (Dist.array() < 0.0f).select(-Dist, Dist); + tp_.toc("euclideanDist"); + + return Dist; + } + + Matrix euclidean_distances_sq_gpu(const Matrix& X, const Matrix& Y) + { + tp_.tic("euclideanDistGPU"); + unsigned int N = X.rows(); + unsigned int K = Y.rows(); + + // take to GPU + Tensor Xt = EigenMatrixToTensor(X, open3d::core::Device("CUDA:0")).Reshape({ N, 1, D }); + Tensor Yt = EigenMatrixToTensor(Y, open3d::core::Device("CUDA:0")).Reshape({ 1, K, D }); + + Tensor Diff = (Xt - Yt).Reshape({ N * K, 1, D }); + + Tensor Dist = Diff.MatmulBatched(Diff.Transpose(1, 2)); + + tp_.toc("euclideanDistGPU"); + + return TensorToEigenMatrix(Dist.Reshape({N, K})); + } + + inline std::pair> resp_calc(const Matrix& X) + { + tp_.tic("respCalc"); + // For initial responsibilities, we use the steps 1a -- 1c of the algorithm + // from: Arthur, D. and Vassilvitskii, S. "k-means++: the advantages of + // careful seeding". ACM-SIAM symposium on Discrete algorithms. 2007 + + // We assume the input dataset is of shape N x D where + // N is the number of samples in the dataset + // D is the dimension of each point in the dataset + unsigned int n_samples = X.rows(); + + // Number of samples should be strictly greater than 1 + if (n_samples <= 1) + { + throw std::runtime_error("fit: number of samples is " + + std::to_string(n_samples) + + ", it should be greater than 1."); + } + + // Number of components should be strictly greater than 1 + if (n_components_ <= 1) + { + throw std::runtime_error("fit: number of components is " + + std::to_string(n_components_) + + ", it should be greater than 1."); + } + + // Number of components should be strictly lower than the number of samples + if (n_samples < n_components_) + { + throw std::runtime_error("fit: number of components is " + + std::to_string(n_components_) + + ". It should be strictly smaller than the " + "number of components: " + + std::to_string(n_samples)); + } + + // Initialize centers shape is K x D + Matrix centers = Matrix::Zero(n_components_, D); + std::vector indices; + + // Set the number of local seeding trials + // This is what Arthur/Vassilvitskii tried, but did not report + // specific results for other than mentioning in the conclusion + // that it helped + unsigned int n_local_trials = 2 + std::floor(std::log(n_components_)); + + // Pick the first center randomly and track index of point + int_dist_ = std::uniform_int_distribution(0, n_samples - 1); + int center_id = int_dist_(generator_); + centers.row(0) << X.row(center_id); + indices.push_back(center_id); + + // Initialize list of closest distances and calculate current potential + Matrix closest_dist_sq = euclidean_distances_sq(centers(0, Eigen::all), X); + T current_pot = closest_dist_sq.array().sum(); + + for (unsigned int i = 1; i < n_components_; i++) + { + // choose center candidates by sampling with probability proportional + // to the squared distance to the closest existing center + Matrix rand_vals = + Matrix::Random(n_local_trials, 1).array().abs() * current_pot; + std::vector candidate_ids = + search_sorted(cumsum(closest_dist_sq), rand_vals); + + // compute distances to center candidates + Matrix distances_to_candidates = + euclidean_distances_sq(X(candidate_ids, Eigen::all), X); + + // update closest distances squared and potential for each candidate + for (unsigned int trial = 0; trial < n_local_trials; ++trial) + { + Matrix new_dist_sq = + closest_dist_sq.cwiseMin(distances_to_candidates.row(trial)); + distances_to_candidates.row(trial) << new_dist_sq; + } + Matrix candidates_pot = distances_to_candidates.rowwise().sum(); + + // decide which candidate is the best + Eigen::Index best_candidate, temp; + current_pot = candidates_pot.minCoeff(&best_candidate, &temp); + closest_dist_sq = distances_to_candidates(best_candidate, Eigen::all); + + // permanently add best center candidate found in local tries + centers.row(i) << X.row(candidate_ids[best_candidate]); + indices.push_back(candidate_ids[best_candidate]); + } + tp_.toc("respCalc"); + + return std::make_pair(centers, indices); + } + + unsigned int n_components_; + + std::default_random_engine generator_; + std::uniform_int_distribution int_dist_; + + TimeProfiler tp_; +}; diff --git a/include/sogmm_open3d/Open3DUtils.h b/include/sogmm_open3d/Open3DUtils.h new file mode 100644 index 0000000..ea84e29 --- /dev/null +++ b/include/sogmm_open3d/Open3DUtils.h @@ -0,0 +1,83 @@ +#pragma once + +#include +#include + +namespace o3d = open3d; +using Tensor = o3d::core::Tensor; +using Device = o3d::core::Device; +using Dtype = o3d::core::Dtype; +using SizeVector = o3d::core::SizeVector; + +template +Tensor EigenMatrixToTensor(const Eigen::MatrixBase& matrix, + const Device& device) +{ + typedef typename Derived::Scalar Scalar; + Dtype dtype = Dtype::FromType(); + Eigen::Matrix + matrix_row_major = matrix; + return Tensor(matrix_row_major.data(), { matrix.rows(), matrix.cols() }, + dtype, device); +} + +template +Eigen::Matrix +TensorToEigenMatrix(const Tensor& tensor) +{ + static_assert(std::is_same::value || + std::is_same::value || + std::is_same::value, + "Only supports double, float and int (MatrixXd, MatrixXf and " + "MatrixXi)."); + Dtype dtype = Dtype::FromType(); + + SizeVector dim = tensor.GetShape(); + if (dim.size() != 2) + { + o3d::utility::LogError( + " [TensorToEigenMatrix]: Number of dimensions supported = 2, " + "but got {}.", + dim.size()); + } + + Tensor tensor_cpu_contiguous = tensor.Contiguous().To(Device("CPU:0"), dtype); + T* data_ptr = tensor_cpu_contiguous.GetDataPtr(); + + Eigen::Map> + eigen_matrix(data_ptr, dim[0], dim[1]); + + Eigen::Matrix + eigen_matrix_copy(eigen_matrix); + return eigen_matrix_copy; +} + +Tensor GetDiagonal(const Tensor& A) +{ + std::vector shape = A.GetShape(); + + if (shape.size() == 3) + { + if (shape[1] != shape[2]) + { + o3d::utility::LogError( + "GetDiagonal expects a K x D x D Tensor with <= 3 dimensions, but " + "the " + "Tensor has K x D x J dimensions."); + } + int K = shape[0]; + int D = shape[1]; + int DD = D * D; + return A.AsStrided({ K, D }, { DD, D + 1 }); + } + else if (shape.size() == 2) + { + std::vector strides = A.GetStrides(); + int K = shape[0]; + return A.AsStrided({ K }, { strides[0] + strides[1] }); + } + else + { + o3d::utility::LogError("GetDiagonal not implemented 1D"); + } +} \ No newline at end of file diff --git a/src/gmm_open3d_py.cpp b/src/gmm_open3d_py.cpp new file mode 100644 index 0000000..142055e --- /dev/null +++ b/src/gmm_open3d_py.cpp @@ -0,0 +1,144 @@ +#include +#include + +#include + +namespace py = pybind11; + +template +void binding_generator(py::module& m, std::string& typestr) +{ + static constexpr uint32_t C = D * D; + using GMMClass = GMM; + std::string pyclass_name = std::string("GMM") + typestr; + py::class_(m, pyclass_name.c_str(), py::dynamic_attr(), + py::module_local()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def_readwrite("n_components_", &GMMClass::n_components_) + .def_readwrite("n_samples_", &GMMClass::n_samples_) + .def_readwrite("tol_", &GMMClass::tol_) + .def_readwrite("reg_covar_", &GMMClass::reg_covar_) + .def_readwrite("max_iter_", &GMMClass::max_iter_) + .def_readwrite("support_size_", &GMMClass::support_size_) + .def_readwrite("weights_", &GMMClass::weights_) + .def_readwrite("means_", &GMMClass::means_) + .def_readwrite("covariances_", &GMMClass::covariances_) + .def_readwrite("covariances_cholesky_", &GMMClass::covariances_cholesky_) + .def_readwrite("precisions_cholesky_", &GMMClass::precisions_cholesky_) + .def("update_device_and_host_external", + &GMMClass::updateDeviceAndHostExternal) + .def("sample", &GMMClass::sample) + .def("color_conditional", &GMMClass::colorConditional) + .def("score", + [](GMMClass& g, const typename GMMClass::MatrixXD& X) { + // take to the GPU + typename GMMClass::Tensor Xt = EigenMatrixToTensor(X, g.device_); + + return g.score(Xt); + }) + .def("score_samples", + [](GMMClass& g, const typename GMMClass::MatrixXD& X) { + // take to the GPU + typename GMMClass::Tensor Xt = EigenMatrixToTensor(X, g.device_); + + // compute the scores on GPU + typename GMMClass::Tensor output; + g.scoreSamples(Xt, output); + + // return to CPU + return TensorToEigenMatrix(output.Reshape({ X.rows(), 1 })); + }) + .def("fit", + [](GMMClass& g, const typename GMMClass::MatrixXD& X, + const typename GMMClass::Matrix& resp) { + // take to the GPU + typename GMMClass::Tensor Xt = EigenMatrixToTensor(X, g.device_); + typename GMMClass::Tensor Respt = + EigenMatrixToTensor(resp, g.device_); + + // fit + bool success = g.fit(Xt, Respt); + + // update CPU members + g.updateHostfromDevice(); + + return success; + }) + .def("e_step", + [](GMMClass& g, const typename GMMClass::MatrixXD& X) { + // take to the GPU + typename GMMClass::Tensor Xt = EigenMatrixToTensor(X, g.device_); + + // run eStep once + // stores Log_Resp_ internally + g.eStep(Xt); + + // return Log_Resp_ on CPU + return TensorToEigenMatrix( + g.getLogResp().Reshape({ X.rows(), g.n_components_ })); + }) + .def("m_step", + [](GMMClass& g, const typename GMMClass::MatrixXD& X, + const typename GMMClass::Matrix& resp) { + // take to the GPU + typename GMMClass::Tensor Xt = EigenMatrixToTensor(X, g.device_); + typename GMMClass::Tensor Respt = + EigenMatrixToTensor(resp, g.device_); + + // run mStep once + // stores the output within the class object + g.mStep(Xt, Respt); + + // copy to CPU members + g.updateHostfromDevice(); + }) + .def(py::pickle( + [](const GMMClass& g) { + return py::make_tuple( + g.n_components_, g.tol_, g.reg_covar_, g.max_iter_, + g.support_size_, g.weights_, g.means_, g.covariances_, + g.precisions_cholesky_, g.covariances_cholesky_); + }, + [](py::tuple t) { + GMMClass g; + g.n_components_ = t[0].cast(); + g.tol_ = t[1].cast(); + g.reg_covar_ = t[2].cast(); + g.max_iter_ = t[3].cast(); + g.support_size_ = t[4].cast(); + g.weights_ = t[5].cast>(); + g.means_ = t[6].cast< + Eigen::Matrix>(); + g.covariances_ = t[7].cast< + Eigen::Matrix>(); + g.precisions_cholesky_ = t[8].cast< + Eigen::Matrix>(); + g.covariances_cholesky_ = t[9].cast< + Eigen::Matrix>(); + return g; + })); +} + +PYBIND11_MODULE(gmm_open3d_py, g) +{ + std::string t1 = "f1GPU"; + binding_generator(g, t1); + + std::string t2 = "f2GPU"; + binding_generator(g, t2); + + std::string t3 = "f3GPU"; + binding_generator(g, t3); + + std::string t4 = "f4GPU"; + binding_generator(g, t4); +} \ No newline at end of file diff --git a/src/kinit_open3d_py.cpp b/src/kinit_open3d_py.cpp new file mode 100644 index 0000000..f2365f6 --- /dev/null +++ b/src/kinit_open3d_py.cpp @@ -0,0 +1,46 @@ +#include +#include +#include +#include + +namespace py = pybind11; + +template +void binding_generator(py::module& m, std::string& typestr) +{ + using KInitClass = KInit; + std::string pyclass_name = std::string("KInit") + typestr; + py::class_(m, pyclass_name.c_str(), py::dynamic_attr(), + py::module_local()) + .def(py::init()) + .def(py::init()) + .def(py::init()) + .def_readwrite("n_components_", &KInitClass::n_components_) + .def("cumsum", &KInitClass::cumsum) + .def("search_sorted", &KInitClass::search_sorted) + .def("euclidean_dists", &KInitClass::euclidean_distances_sq) + .def("euclidean_dists_gpu", &KInitClass::euclidean_distances_sq_gpu) + .def("resp_calc", &KInitClass::resp_calc) + .def(py::pickle( + [](const KInitClass& g) { return py::make_tuple(g.n_components_); }, + [](py::tuple t) { + KInitClass g; + g.n_components_ = t[0].cast(); + return g; + })); +} + +PYBIND11_MODULE(kinit_open3d_py, g) +{ + std::string t1 = "f1GPU"; + binding_generator(g, t1); + + std::string t2 = "f2GPU"; + binding_generator(g, t2); + + std::string t3 = "f3GPU"; + binding_generator(g, t3); + + std::string t4 = "f4GPU"; + binding_generator(g, t4); +} \ No newline at end of file diff --git a/src/sogmm_open3d_py.cpp b/src/sogmm_open3d_py.cpp new file mode 100644 index 0000000..196c4af --- /dev/null +++ b/src/sogmm_open3d_py.cpp @@ -0,0 +1,350 @@ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace py = pybind11; +namespace o3d = open3d; +typedef o3d::core::Tensor Tensor; +typedef Eigen::Matrix + Matrix; + +void test(Eigen::MatrixXf A) +{ + // Figure out what version of SOGMM to run. + int response = o3d::core::cuda::DeviceCount(); + if (!response) + { + std::cerr << "No CUDA device found; running SOGMM CPU." << std::endl; + } + else + { + std::cerr << "CUDA device found" << std::endl; + + int open3d_cuda = o3d::core::cuda::IsAvailable(); + if (!open3d_cuda) + { + std::cerr << "Open3D not compiled with CUDA support; running SOGMM CPU." + << std::endl; + } + else + { + std::cerr << "Open3D compiled with CUDA support; running SOGMM GPU." + << std::endl; + } + } + + // CPU v/s GPU matrix multiplication + // convert to open3d tensors on GPU + typedef o3d::core::Tensor Tensor; + Tensor At = EigenMatrixToTensor(A, o3d::core::Device("CUDA:0")); + Tensor ret = At.LLT(); + Eigen::Matrix c = + TensorToEigenMatrix(ret); + std::cerr << "CUDA LLT output:\n" << c << std::endl; + + // inverse correct answer + Eigen::Matrix I = + Eigen::Matrix::Identity(3, 3); + Eigen::Matrix + crt_answer = A.llt().solve(I); + std::cerr << "Eigen LLT inverse output: " << crt_answer << std::endl; + + // compute inverse of At using LLT solver + Tensor Atinv = + At.SolveLLT(Tensor::Eye(3, At.GetDtype(), o3d::core::Device("CUDA:0"))); + Eigen::Matrix + at_inv_eigen = TensorToEigenMatrix(Atinv); + std::cerr << "CUDA LLT inverse output: " << at_inv_eigen << std::endl; + + Tensor Dt = EigenMatrixToTensor(A, o3d::core::Device("CPU:0")); + Tensor ret2 = Dt.LLT(); + Eigen::Matrix e = + TensorToEigenMatrix(ret2); + std::cerr << "CPU LLT output: " << e << std::endl; + + // compute inverse of At using LLT solver + Tensor Dtinv = + ret2.SolveLLT(Tensor::Eye(3, Dt.GetDtype(), o3d::core::Device("CPU:0"))); + Eigen::Matrix + dt_inv_eigen = TensorToEigenMatrix(Dtinv); + std::cerr << "CPU LLT inverse output: " << dt_inv_eigen << std::endl; +} + +// Assumes 2D input +Eigen::Matrix +diagonal(const Eigen::MatrixXf& in) +{ + int DD = in.cols(); + int D = std::sqrt(DD); + int K = in.rows(); + + if (DD != D * D) + { + std::cerr << "Second dimension must be square of a number" << std::endl; + return Eigen::Matrix(); + } + + Tensor mchol = + EigenMatrixToTensor(in, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + Tensor diagonals = GetDiagonal(mchol).Flatten(1, 1); + return TensorToEigenMatrix(diagonals); +} + +Eigen::Matrix +computeLogDetCholesky(const Eigen::MatrixXf& in) +{ + int DD = in.cols(); + int D = std::sqrt(DD); + int K = in.rows(); + + Tensor in_Tensor = + EigenMatrixToTensor(in, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + Tensor diagonals = GetDiagonal(in_Tensor).Flatten(1, 1); + return TensorToEigenMatrix(((diagonals.Log()).Sum({ 1 }, true))); +} + +Matrix computeCholeskyForLoop(const Eigen::MatrixXf& in) +{ + int DD = in.cols(); + int D = std::sqrt(DD); + int K = in.rows(); + int idx = 0; + + int start_idx = 0; + int end_idx = 1; + + Tensor inTensor = + EigenMatrixToTensor(in, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + + ///// + // Line below is only for returning result via binding + ///// + Matrix out = Matrix::Zero(in.rows(), in.cols()); + + for (int k = 0; k < K; ++k) + { + // CUDA + Tensor slice_reshaped = inTensor[k].Reshape({ D, D }); + Tensor llt = slice_reshaped.LLT(); + Tensor soln = (((llt.T()).Matmul(llt)) + .SolveLLT((llt.T()).Matmul(Tensor::Eye( + D, llt.GetDtype(), o3d::core::Device("CUDA:0"))))) + .T(); + + // Binding + Matrix tmp = TensorToEigenMatrix(soln); + out.row(k) << Eigen::Map(tmp.data(), 1, DD); + + // Eigen check + typedef float T; + using VectorC = Eigen::Matrix; + using MatrixDD = Eigen::Matrix; + + VectorC c = in.row(k); + MatrixDD cov = Eigen::Map(c.data(), D, D); + MatrixDD cov_chol = cov.llt().matrixL(); + MatrixDD prec_chol = + (cov_chol.transpose() * cov_chol) + .llt() + .solve(cov_chol.transpose() * MatrixDD::Identity(D, D)) + .transpose(); + + // std::cerr << "Eigen Solution\n" << prec_chol << std::endl; + // std::cerr << "Tensor Solution\n" << soln.ToString() << std::endl; + } + return out; +} + +Matrix logSumExpCols(const Eigen::MatrixXf& in) +{ + int DD = in.cols(); + int K = in.rows(); + int idx = 0; + + Tensor inTensor = EigenMatrixToTensor(in, o3d::core::Device("CUDA:0")); + Tensor amax = inTensor.Max({ 1 }, true); + Tensor logsumexp = ((inTensor - amax).Exp()).Sum({ 1 }, true).Log(); + Tensor soln = logsumexp + amax; + + // Binding + Matrix tmp = TensorToEigenMatrix(soln); + return tmp; +} + +void logSumExp(const Tensor& in, const unsigned int dim, Tensor& out) +{ + Tensor amax = in.Max({ dim }, true); + Tensor logsumexp = ((in - amax).Exp()).Sum({ dim }, true).Log(); + + out = logsumexp + amax; +} + +Tensor scoreSamples(const Tensor& Xt, const Tensor& Means, + const Tensor& Weights, const Tensor& Precs_Chol) +{ + int N = Xt.GetShape()[0]; + int D = Xt.GetShape()[1]; + int C = D * D; + int n_components = Means.GetShape()[1]; + int n_samples = N; + + // Term 2 of Equation (3.14) + Tensor Log_Det_Cholesky = + ((GetDiagonal(Precs_Chol[0]).Log()).Sum({ 1 }, true)) + .Reshape({ 1, n_components, 1 }); + + // Diff, PDiff, Log_Gaussian_Prob are all terms for the first + // term in Equation (3.14) + Tensor Diff = (Xt.Reshape({ n_samples, 1, D }) - Means) + .Reshape({ n_samples, n_components, D, 1 }); + + Tensor PDiff = (Precs_Chol.Mul(Diff)) + .Sum({ 2 }, true) + .Reshape({ n_samples, n_components, D, 1 }); + + // Equation (3.14), output of estimateLogGaussianProb + Tensor Log_Gaussian_Prob = + ((((PDiff.Mul(PDiff)).Sum({ 2 }, false)).Add(D * LOG_2_M_PI)).Mul(-0.5)) + .Add(Log_Det_Cholesky); + + // This is the first two terms in Equation (3.7) + Tensor WeightedLogProb = Log_Gaussian_Prob.Add(Weights.Log()); + + // Log likelihood for each sample + Tensor PerSampleLogLikelihood; + logSumExp(WeightedLogProb, 1, PerSampleLogLikelihood); + return PerSampleLogLikelihood; +} + +/////////////////// +// X \in \mathbb{R}^{NxD} +// means \in \mathbb{R}^{KxD} +// weights \in \mathbb{R}^{Kx1} +// precisions_chol \in \mathbb{R}^{KxC} +// +// where N = number of points +// D = dimension of data +// C = D * D +/////////////////// +Matrix scoreSamplesWrapper(const Eigen::MatrixXf& X, + const Eigen::MatrixXf& means, + const Eigen::MatrixXf& weights, + const Eigen::MatrixXf& precisions_chol) +{ + TimeProfiler tp; + int D = X.cols(); + int N = X.rows(); + int C = D * D; + int n_components = means.rows(); + Dtype dtype = Dtype::FromType(); + + Device device = o3d::core::Device("CUDA:0"); + + Tensor Means = Tensor::Zeros({ 1, n_components, D }, dtype, device); + Tensor Weights = Tensor::Zeros({ 1, n_components, 1 }, dtype, device); + Tensor Precs_Chol = Tensor::Zeros({ 1, n_components, D, D }, dtype, device); + + Tensor Xt = EigenMatrixToTensor(X, device); + Means = EigenMatrixToTensor(means, device).Reshape(Means.GetShape()); + Weights = EigenMatrixToTensor(weights, device).Reshape(Weights.GetShape()); + Precs_Chol = EigenMatrixToTensor(precisions_chol, device) + .Reshape(Precs_Chol.GetShape()); + + tp.tic("score_samples"); + Tensor PerSampleLogLikelihood = scoreSamples(Xt, Means, Weights, Precs_Chol); + auto duration = tp.toc("score_samples"); + std::cerr << "Time: " << duration << std::endl; + + // Binding + return TensorToEigenMatrix(PerSampleLogLikelihood.Reshape({ N, 1 })); +} + +Matrix matMulBatched(const Eigen::MatrixXf& A, const Eigen::MatrixXf& B) +{ + TimeProfiler tp; + int DD = A.cols(); + int D = std::sqrt(DD); // DD needs to be a perfect square. + int K = A.rows(); + + Tensor ATensorCUDA = + EigenMatrixToTensor(A, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + Tensor BTensorCUDA = + EigenMatrixToTensor(B, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + + tp.tic("CUDAMatmulBatched"); + Tensor CTensor = ATensorCUDA.MatmulBatched(BTensorCUDA); + auto cuda_mat_mul_time = tp.toc("CUDAMatmulBatched"); + std::cerr << "cuda mat mul 3d time " << cuda_mat_mul_time << std::endl; + + return TensorToEigenMatrix(CTensor.Reshape({ K, DD })); +} + +Matrix +sum(const Eigen::MatrixXf& A) +{ + TimeProfiler tp; + int DD = A.cols(); + int D = std::sqrt(DD); // DD needs to be a perfect square. + int K = A.rows(); + + Tensor ATensorCUDA = + EigenMatrixToTensor(A, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + + tp.tic("Sum"); + Tensor CTensor = ATensorCUDA.Sum({1}, true); + auto time = tp.toc("Sum"); + std::cerr << "cuda sum: " << time << std::endl; + + std::cerr << "CTensor: " << CTensor.GetShape().ToString() << std::endl; + return TensorToEigenMatrix(CTensor.Reshape({ K, D })); +} + +Matrix +sum_(const Eigen::MatrixXf& A) +{ + TimeProfiler tp; + int DD = A.cols(); + int D = std::sqrt(DD); // DD needs to be a perfect square. + int K = A.rows(); + + Tensor ATensorCUDA = + EigenMatrixToTensor(A, o3d::core::Device("CUDA:0")).Reshape({ K, D, D }); + Tensor BTensorCUDA = Tensor::Zeros({K, 1, D}, ATensorCUDA.GetDtype(), ATensorCUDA.GetDevice()); + + tp.tic("Sum_"); + ATensorCUDA.Sum_({1}, true, BTensorCUDA); + auto time = tp.toc("Sum_"); + std::cerr << "cuda sum_: " << time << std::endl; + + std::cerr << "BTensorCUDA: " << BTensorCUDA.GetShape().ToString() << std::endl; + + return TensorToEigenMatrix(BTensorCUDA.Reshape({ K, D })); +} + + +PYBIND11_MODULE(sogmm_open3d_py, g) +{ + g.def("test", &test); + g.def("diagonal", &diagonal); + g.def("compute_log_det_cholesky", &computeLogDetCholesky); + g.def("compute_cholesky_for_loop", &computeCholeskyForLoop); + g.def("log_sum_exp_cols", &logSumExpCols); + g.def("mat_mul_batched", &matMulBatched); + g.def("score_samples", &scoreSamplesWrapper); + g.def("sum", &sum); + g.def("sum_", &sum_); +} diff --git a/src/tests/sogmm_test.cpp b/src/tests/sogmm_test.cpp new file mode 100644 index 0000000..468df67 --- /dev/null +++ b/src/tests/sogmm_test.cpp @@ -0,0 +1,111 @@ +#include +#include +#include + +#include +#include + +using GMMf4 = GMM; +using KInitf4 = KInit; + +template +M load_csv_vector(const std::string& path) +{ + std::ifstream indata; + indata.open(path); + std::string line; + std::vector values; + uint rows = 0; + while (std::getline(indata, line)) + { + std::stringstream lineStream(line); + std::string cell; + while (std::getline(lineStream, cell, ',')) + { + values.push_back(std::stof(cell)); + } + ++rows; + } + return Eigen::Map>( + values.data(), rows, values.size() / rows); +} + +template +M load_csv_matrix(const std::string& path) +{ + std::ifstream indata; + indata.open(path); + std::string line; + std::vector values; + uint rows = 0; + while (std::getline(indata, line)) + { + std::stringstream lineStream(line); + std::string cell; + while (std::getline(lineStream, cell, ',')) + { + values.push_back(std::stof(cell)); + } + ++rows; + } + return Eigen::Map< + const Eigen::Matrix>( + values.data(), rows, values.size() / rows); +} + +bool test_gpu_fit_single(unsigned int K) +{ + GMMf4::MatrixXD X = + load_csv_matrix("../../test_data/pcld_npy.csv"); + + GMMf4::Matrix resp = load_csv_matrix( + "../../test_data/resp_ref_" + std::to_string(K) + ".csv"); + + GMMf4 gmm(K, X.rows(), "CUDA:0", false); + + GMMf4::Tensor Xt = EigenMatrixToTensor(X, gmm.device_); + GMMf4::Tensor Respt = EigenMatrixToTensor(resp, gmm.device_); + bool success = gmm.fit(Xt, Respt); + + if (!success) + { + return false; + } + else + { + return true; + } +} + +bool test_gpu_fit_multiple() +{ + std::vector K = { 300, 200, 100, 50 }; + + for (int i = 0; i < K.size(); i++) + { + bool success = test_gpu_fit_single(K[i]); + + if (!success) + { + return false; + } + } + + return true; +} + +int main(int argc, char* argv[]) +{ + bool success = test_gpu_fit_multiple(); + + if (success) + { + return EXIT_SUCCESS; + } + else + { + return EXIT_FAILURE; + } +} \ No newline at end of file diff --git a/src/time_profiler_py.cpp b/src/time_profiler_py.cpp new file mode 100644 index 0000000..b76d84e --- /dev/null +++ b/src/time_profiler_py.cpp @@ -0,0 +1,14 @@ +#include +#include + +#include + +namespace py = pybind11; + +PYBIND11_MODULE(time_profiler_py, m) +{ + py::class_(m, "TimeProfiler") + .def(py::init()) + .def("tic", &TimeProfiler::tic) + .def("toc", &TimeProfiler::toc); +} diff --git a/test/basic.py b/test/basic.py new file mode 100755 index 0000000..a92e4fa --- /dev/null +++ b/test/basic.py @@ -0,0 +1,18 @@ +import sogmm_open3d_py +import numpy as np + +A = np.zeros((3,3)) +A[0,0] = 4 +A[0,1] = 12 +A[0,2] = -16 + +A[1,0] = 12 +A[1,1] = 37 +A[1,2] = -43 + +A[2,0] = -16 +A[2,1] = -43 +A[2,2] = 98 + +sogmm_open3d_py.test(A) +print('test complete') diff --git a/test/compute_cholesky.py b/test/compute_cholesky.py new file mode 100755 index 0000000..2a15bc9 --- /dev/null +++ b/test/compute_cholesky.py @@ -0,0 +1,24 @@ +import sogmm_open3d_py +import numpy as np +from termcolor import colored + +def helper(K, DD): + D = int(np.sqrt(DD)) + P = np.zeros((K, DD)) + + count = 0 + for i in range(0, K): + for j in range(0,DD): + P[i,j] = count + count += 1 + + return P + +############################### +# Test 1 +############################### +A = np.loadtxt('./test_data/covs.txt') +crt_answer = np.loadtxt('./test_data/compute_cholesky_python_output.txt') +answer = sogmm_open3d_py.compute_cholesky_for_loop(A) +np.testing.assert_array_almost_equal(crt_answer, answer, decimal=6) +print(colored('Test 1 Passed', 'green')) diff --git a/test/compute_log_det_cholesky.py b/test/compute_log_det_cholesky.py new file mode 100755 index 0000000..8519f55 --- /dev/null +++ b/test/compute_log_det_cholesky.py @@ -0,0 +1,12 @@ +import sogmm_open3d_py +import numpy as np +from termcolor import colored + +############################### +# Test 1 +############################### +P = np.loadtxt('./test_data/precisions_cholesky.csv', delimiter=",") +answer = sogmm_open3d_py.compute_log_det_cholesky(P) +crt_answer = np.loadtxt('./test_data/python_output.csv', delimiter=",") +np.testing.assert_array_almost_equal(crt_answer, answer.flatten(), decimal=6) +print(colored('Test 1 Passed', 'green')) diff --git a/test/get_diagonal.py b/test/get_diagonal.py new file mode 100755 index 0000000..a110a9a --- /dev/null +++ b/test/get_diagonal.py @@ -0,0 +1,53 @@ +import sogmm_open3d_py +import numpy as np +from termcolor import colored + + +def run_test(K, DD): + D = int(np.sqrt(DD)) + P = np.zeros((K, DD)) + + count = 0 + for i in range(0, K): + for j in range(0, DD): + P[i, j] = count + count += 1 + P_tensor = P.reshape((K, D, D)) + answer = sogmm_open3d_py.diagonal(P) + + crt_answer = np.zeros((np.shape(P_tensor)[0], np.shape(P_tensor)[1])) + for i in range(0, np.shape(P_tensor)[0]): + crt_answer[i, :] = np.diag(P_tensor[i, :, :]) + + np.testing.assert_array_almost_equal(crt_answer, answer, decimal=8) + + +############################### +# Test 1 +############################### +run_test(5, 16) +print(colored('Test 1 Passed', 'green')) + +############################### +# Test 2 +############################### +run_test(7, 16) +print(colored('Test 2 Passed', 'green')) + +############################### +# Test 3 +############################### +run_test(18, 9) +print(colored('Test 3 Passed', 'green')) + +############################### +# Test 4 +############################### +run_test(6, 4) +print(colored('Test 4 Passed', 'green')) + +############################### +# Test 5 +############################### +run_test(3, 16) +print(colored('Test 5 Passed', 'green')) diff --git a/test/log_sum_exp_cols.py b/test/log_sum_exp_cols.py new file mode 100755 index 0000000..dfdd824 --- /dev/null +++ b/test/log_sum_exp_cols.py @@ -0,0 +1,22 @@ +import sogmm_open3d_py +import numpy as np +from termcolor import colored + +def createA(n): + A = np.zeros((n,n)) + count = 0 + for i in range(0,n): + for j in range(0,n): + A[i,j] = count + count = count+1 + return A + +############################### +# Test 1 +############################### +A = createA(5) +crt_answer = [ 4.4519143, 9.451915, 14.451915, 19.451914, 24.451914 ] + +answer = sogmm_open3d_py.log_sum_exp_cols(A).transpose()[0] +np.testing.assert_array_almost_equal(crt_answer, answer, decimal=6) +print(colored('Test 1 Passed', 'green')) diff --git a/test/matmul_batch.py b/test/matmul_batch.py new file mode 100755 index 0000000..3c591d0 --- /dev/null +++ b/test/matmul_batch.py @@ -0,0 +1,38 @@ +import time +import argparse +import numpy as np +from termcolor import cprint + +import sogmm_open3d_py as sop + +class MatmulBatchTest: + def __init__(self, N, K, D): + self.K = K + self.D = D + self.C = self.D * self.D + + def test_3d(self): + A = np.random.rand(self.K, self.D, self.D) + B = np.random.rand(self.K, self.D, self.D) + + crt_ans = np.zeros(A.shape) + start = time.time() + for i in range(self.K): + crt_ans[i, :, :] = np.matmul(A[i, :, :], B[i, :, :]) + end = time.time() + cprint('numpy matmul 3d time %f seconds' % (end - start), 'yellow') + + output = sop.mat_mul_batched(A.reshape((self.K, self.C)), B.reshape((self.K, self.C))) + np.testing.assert_array_almost_equal(crt_ans, output.reshape(crt_ans.shape)) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Matmul Batched Test") + parser.add_argument('--samples', type=int, default=10) + parser.add_argument('--components', type=int, default=2) + parser.add_argument('--dim', type=int, default=2) + args = parser.parse_args() + + mb = MatmulBatchTest(args.samples, args.components, args.dim) + + mb.test_3d() \ No newline at end of file diff --git a/test/novelty_check.py b/test/novelty_check.py new file mode 100755 index 0000000..67a8335 --- /dev/null +++ b/test/novelty_check.py @@ -0,0 +1,204 @@ +import os +import time +import pathlib +import numpy as np +from termcolor import colored +import glob +import open3d as o3d +import argparse +from termcolor import cprint +from sklearn.mixture import GaussianMixture as PythonGMM + +import sogmm_open3d_py +from sogmm_py.utils import ImageUtils, read_log_trajectory, np_to_o3d +from sogmm_py.vis_open3d import VisOpen3D + +def generate_red_pcld(pcld_in): + if np.shape(pcld_in)[0] == 0: + cprint('Returning empty pointcloud', 'yellow') + return o3d.geometry.PointCloud() + + pcld_out = o3d.geometry.PointCloud() + pcld_out.points = o3d.utility.Vector3dVector(pcld_in) + pcld_out.paint_uniform_color([1, 0.0, 0.0]) + return pcld_out + +def generate_blue_pcld(pcld_in): + if np.shape(pcld_in)[0] == 0: + cprint('Returning empty pointcloud', 'yellow') + return o3d.geometry.PointCloud() + + pcld_out = o3d.geometry.PointCloud() + pcld_out.points = o3d.utility.Vector3dVector(pcld_in) + pcld_out.paint_uniform_color([0.0, 0.0, 1.0]) + return pcld_out + +def generate_green_pcld(pcld_in): + if np.shape(pcld_in)[0] == 0: + cprint('Returning empty pointcloud', 'yellow') + return o3d.geometry.PointCloud() + + pcld_out = o3d.geometry.PointCloud() + pcld_out.points = o3d.utility.Vector3dVector(pcld_in) + pcld_out.paint_uniform_color([0.0, 1.0, 0.0]) + return pcld_out + +def get3DPart(gmm_in): + means = gmm_in['means'][:,0:3] + weights = gmm_in['weights'] + precs_chol_4d = np.reshape(gmm_in['precs_chol'], (len(weights), 4, 4)) + precs_chol = np.zeros((len(weights), 3, 3)) + for i in range(0, len(weights)): + precs_chol[i,:,:] = precs_chol_4d[i, 0:3, 0:3] + precs_chol = np.reshape(precs_chol, (len(weights), 9)) + return (means, weights, precs_chol) + +def novelty_check(pin, scored_samples, novelty_thresh): + + count = 0 + for i in range(0, np.shape(pin)[0]): + if scored_samples[i] < novelty_thresh: + count += 1 + + pout = np.zeros( (count, 3) ) + count = 0 + for i in range(0, np.shape(pin)[0]): + if scored_samples[i] < novelty_thresh: + pout[count, :] = pin[i, 0:3] + count += 1 + + return pout + +def dir_path(string): + if os.path.isdir(string): + return string + else: + raise NotADirectoryError(string) + + + +parser = argparse.ArgumentParser(description="Novelty Checker") +parser.add_argument('--noveltythresh', type=float) +parser.add_argument('--decimate', type=int) +parser.add_argument('--datasetroot', type=dir_path) +parser.add_argument('--datasetname', type=str) +parser.add_argument('--resultsroot', type=dir_path) +parser.add_argument('--vizcamera', type=bool, default=False) +parser.add_argument('--colorext', type=str) +parser.add_argument('--frames', nargs='+', type=int) +args = parser.parse_args() + +n_components = 1000 +novelty_thresh = 0 + +decimate_factor = args.decimate +datasets_root = args.datasetroot +dataset_name = args.datasetname +results_root = args.resultsroot + +results_path = os.path.join(results_root, dataset_name) +pathlib.Path(results_path).mkdir(parents=True, exist_ok=True) + +K = np.eye(3) +K[0, 0] = 525.0/decimate_factor +K[1, 1] = 525.0/decimate_factor +K[0, 2] = 319.5/decimate_factor +K[1, 2] = 239.5/decimate_factor + +# used in open3d visualization +O3D_K = np.array([[935.30743609, 0., 959.5], + [0., 935.30743609, 539.5], + [0., 0., 1.]]) + +W = (int)(640/decimate_factor) +H = (int)(480/decimate_factor) + +rgb_glob_string = os.path.join( + datasets_root, dataset_name + '-color/*.' + args.colorext) +cprint('rgb glob string %s' % (rgb_glob_string), 'green') +depth_glob_string = os.path.join( + datasets_root, dataset_name + '-depth/*.png') +cprint('depth glob string %s' % (depth_glob_string), 'green') +traj_string = os.path.join(datasets_root, dataset_name + '-traj.log') +cprint('traj path %s' % (traj_string), 'green') + +rgb_paths = sorted(glob.glob(rgb_glob_string)) +depth_paths = sorted(glob.glob(depth_glob_string)) +traj = read_log_trajectory(traj_string) + +n_frames = len(rgb_paths) + +print(len(depth_paths), n_frames) +assert(len(depth_paths) == n_frames) +assert(len(traj) == n_frames) + +iu = ImageUtils(K) +viz = VisOpen3D() + +frames = args.frames[0:-1] +for i, fr in enumerate(frames): + print('i: ' + str(i)) + print('fr: ' + str(fr)) + + # load the pointcloud and ground truth + pcld_curr, _ = iu.generate_pcld_wf(traj[fr].pose, rgb_path=rgb_paths[fr], + depth_path=depth_paths[fr], + size=(W, H)) + + # Next frame + next_fr = args.frames[i+1] + pcld_next_np, _ = iu.generate_pcld_wf(traj[next_fr].pose, rgb_path=rgb_paths[next_fr], + depth_path=depth_paths[next_fr], + size=(W, H)) + + # Check if a GMM exists in the results + gmm_filepath = results_root + '/' + str(args.frames[i]).zfill(5) + '.npz' + if not os.path.isfile(gmm_filepath): + + # If not, create one and save + print(gmm_filepath + ' doesnt exist...creating now'); + g = PythonGMM(n_components=n_components, + init_params='k-means++', random_state=0) + g.fit(pcld_curr) + sampled_points, _ = g.sample(n_samples=25000) + means = g.means_ + precs_chol = g.precisions_cholesky_ + weights = g.weights_ + np.savez(gmm_filepath, means=means, precs_chol=precs_chol, weights=weights, sampled_points=sampled_points) + + # Load the data + gmm_4d_data = np.load(gmm_filepath) + + # Get the 3d part + gmm_3d_part = get3DPart(gmm_4d_data) + + # Calculate the novelty check + scored_samples = sogmm_open3d_py.score_samples(pcld_next_np[:,0:3], + gmm_3d_part[0], + gmm_3d_part[1], + gmm_3d_part[2]) + + novel_points = novelty_check(pcld_next_np, scored_samples, novelty_thresh) + + # Color all points red + pcld_next_o3d = generate_red_pcld(novel_points) + pcld_next_blue = generate_blue_pcld(pcld_next_np[:,0:3]) + pcld_curr_recon_green = generate_green_pcld(gmm_4d_data['sampled_points'][:,0:3]) + + # add to the visualizer + viz.add_geometry(np_to_o3d(pcld_curr)) + viz.add_geometry(pcld_curr_recon_green) + viz.add_geometry(pcld_next_blue) + viz.add_geometry(pcld_next_o3d) + if args.vizcamera: + viz.draw_camera(K, traj[fr].pose, W, H, color=[0.0, 0.0, 0.0]) + viz.update_view_point(O3D_K, np.linalg.inv(traj[fr].pose)) + viz.update_renderer() + viz.poll_events() + + time.sleep(1.0) + + cprint('frame ' + str(i), 'green') + +cprint('done', 'green') +viz.render() diff --git a/test/score_samples.py b/test/score_samples.py new file mode 100755 index 0000000..3a5ff3b --- /dev/null +++ b/test/score_samples.py @@ -0,0 +1,16 @@ +import sogmm_open3d_py +import numpy as np +from termcolor import colored + +############################### +# Test 1 +############################### +P = np.loadtxt('./test_data/score_samples_test__precs_chol.txt') +X = np.loadtxt('./test_data/score_samples_test__X.txt') +M = np.loadtxt('./test_data/score_samples_test__means.txt') +W = np.loadtxt('./test_data/score_samples_test__weights.txt') + +answer = sogmm_open3d_py.score_samples(X, M, W, P) +crt_answer = np.loadtxt('./test_data/score_samples_test__python_output.txt', delimiter=",") +np.testing.assert_array_almost_equal(crt_answer, answer.flatten(), decimal=5) +print(colored('Test 1 Passed', 'green')) diff --git a/test/test_color_conditional.py b/test/test_color_conditional.py new file mode 100644 index 0000000..03a16b1 --- /dev/null +++ b/test/test_color_conditional.py @@ -0,0 +1,104 @@ +import numpy as np +import pickle +import open3d as o3d +import time +import matplotlib as mpl +import matplotlib.cm as cm + +from sogmm_py.utils import o3d_to_np, np_to_o3d +from sogmm_py.sogmm import SOGMM +from sogmm_py.vis_open3d import VisOpen3D + +cmap = mpl.colormaps['viridis'] + +sg = SOGMM(0.02, compute='GPU') +pose = np.loadtxt('test_color_conditional_pose.txt') + +with open('model.pkl', 'rb') as f: + sg.model = pickle.load(f) + +pcd = o3d.io.read_point_cloud('test_color_conditional.pcd', format='pcd') +np_pcd = o3d_to_np(pcd) + +# st = time.time() +# py_output_ws, py_output_ms, py_output_covs = sg.color_conditional(np_pcd[:, 0:3]) +# en = time.time() +# print('python time %f' % (en - st)) + +st = time.time() +cpp_output_ws, cpp_output_ms, cpp_output_covs = sg.model.color_conditional(np_pcd[:, 0:3]) +en = time.time() +print('cpp time %f' % (en - st)) + +# if py_output_ws.ndim == 1: +# py_output_ws = py_output_ws[:, np.newaxis] + +# if cpp_output_ws.ndim == 1: +# cpp_output_ws = cpp_output_ws[:, np.newaxis] + +# assert py_output_ws.shape == cpp_output_ws.shape, f'cpp output shape (%s) does not match python output shape (%s)' % ( +# cpp_output_ws.shape, py_output_ws.shape) + +# if py_output_ms.ndim == 1: +# py_output_ms = py_output_ms[:, np.newaxis] + +# if cpp_output_ms.ndim == 1: +# cpp_output_ms = cpp_output_ms[:, np.newaxis] + +# assert py_output_ms.shape == cpp_output_ms.shape, f'cpp output shape (%s) does not match python output shape (%s)' % ( +# cpp_output_ms.shape, py_output_ms.shape) + +# if py_output_covs.ndim == 1: +# py_output_covs = py_output_covs[:, np.newaxis] + +# if cpp_output_covs.ndim == 1: +# cpp_output_covs = cpp_output_covs[:, np.newaxis] + +# assert py_output_covs.shape == cpp_output_covs.shape, f'cpp output shape (%s) does not match python output shape (%s)' % ( +# cpp_output_covs.shape, py_output_covs.shape) + +# print('asserting weights python and cpp match') +# np.testing.assert_array_almost_equal(py_output_ws, cpp_output_ws, decimal=3) + +# print('asserting means python and cpp match') +# np.testing.assert_array_almost_equal(py_output_ms, cpp_output_ms, decimal=4) + +# print('asserting covs python and cpp match') +# np.testing.assert_array_almost_equal(py_output_covs, cpp_output_covs, decimal=4) + +print('number of components are', sg.model.n_components_) + +recon_pcd = np.zeros(np_pcd.shape) +recon_pcd[:, :3] = np_pcd[:, :3] +recon_pcd[:, 3] = np.squeeze(cpp_output_ms) + +uncert_pcd = np.zeros((np_pcd.shape[0], 6)) +uncert_pcd[:, :3] = np_pcd[:, :3] +uncerts = np.squeeze(cpp_output_covs) + +minima = np.min(uncerts) +maxima = np.max(uncerts) + +norm = mpl.colors.Normalize(vmin=minima, vmax=maxima, clip=True) +mapper = cm.ScalarMappable(norm=norm, cmap=cmap) + +uncert_pcd[:, 3:6] = np.array(mapper.to_rgba(uncerts))[:, 0:3] + +# visualize reconstruction +O3D_K = np.array([[935.30743609, 0., 959.5], + [0., 935.30743609, 539.5], + [0., 0., 1.]]) +vis = VisOpen3D(visible=True) +vis.add_geometry(np_to_o3d(recon_pcd)) +vis.update_view_point(O3D_K, np.linalg.inv(pose)) +vis.update_renderer() +vis.run() +del vis + +# visualize uncertainty image +vis = VisOpen3D(visible=True) +vis.add_geometry(np_to_o3d(uncert_pcd)) +vis.update_view_point(O3D_K, np.linalg.inv(pose)) +vis.update_renderer() +vis.run() +del vis \ No newline at end of file diff --git a/test/test_data/X.txt b/test/test_data/X.txt new file mode 100644 index 0000000..cb2b229 --- /dev/null +++ b/test/test_data/X.txt @@ -0,0 +1,5000 @@ +6.173065848256110044e+00,-1.025446246818537510e+01 +-2.130936766047865305e+00,-6.263324458619605295e+00 +2.713072407611893055e+00,4.326867389146267229e+00 +7.918186359989300149e-02,-5.923725740463535061e+00 +7.973598737248327462e-01,-5.044804843865893673e+00 +3.602597838680888120e+00,4.003419173198749625e+00 +-5.482746642764996459e+00,5.425364517556523047e+00 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index 0000000..b31773a --- /dev/null +++ b/test/test_data/python_output.csv @@ -0,0 +1,4 @@ +2.155662145928625428e-01 +6.602016275698802117e-02 +2.050644912018903532e-01 +1.126188822982269189e-01 diff --git a/test/time_profiler.py b/test/time_profiler.py new file mode 100755 index 0000000..b203f07 --- /dev/null +++ b/test/time_profiler.py @@ -0,0 +1,26 @@ +import time_profiler_py +import numpy as np +import time + +t = time_profiler_py.TimeProfiler() +t.tic("test1") +time.sleep(0.1) +out = t.toc("test1") +print(out) + +t.tic("test2") +time.sleep(0.2) +out = t.toc("test2") +print(out) + +t.tic("test3") +time.sleep(0.3) +out = t.toc("test3") +print(out) + +t.tic("test1") +time.sleep(0.15) +out = t.toc("test1") +print(out) + +print('test complete')