shared_utils.h

/*
 * Copyright 2025 Adobe. All rights reserved.
 * This file is licensed to you under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License. You may obtain a copy
 * of the License at http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software distributed under
 * the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR REPRESENTATIONS
 * OF ANY KIND, either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
 */
#pragma once
 
#include <lagrange/AttributeValueType.h>
#include <lagrange/Logger.h>
#include <lagrange/image/Array3D.h>
#include <lagrange/image/View3D.h>
#include <lagrange/scene/Scene.h>
#include <lagrange/scene/scene_utils.h>
#include <lagrange/texproc/TextureRasterizer.h>
#include <lagrange/transform_mesh.h>
 
#include <tbb/parallel_for.h>
 
// NOTE: These shared utils are used in our cli examples and Python bindings. They depend on the
// lagrange::scene module. But we do not want to create a strong dependency between
// lagrange::texproc and lagrange::scene, so this file is included directly via relative path in the
// examples and Python bindings C++ files. To avoid confusion with internal src/ files, we place
// this file is a separate "shared/" folder.
 
namespace lagrange::texproc {
 
using Array3Df = image::experimental::Array3D<float>;
using View3Df = image::experimental::View3D<float>;
 
Array3Df convert_from(const scene::ImageBufferExperimental& image)
{
    size_t nc = std::min(image.num_channels, size_t(3));
    auto result = image::experimental::create_image<float>(image.width, image.height, nc);
 
    auto copy_buffer = [&](auto scalar) {
        using T = std::decay_t<decltype(scalar)>;
        constexpr bool IsChar = std::is_integral_v<T> && sizeof(T) == 1;
        la_runtime_assert(sizeof(T) * 8 == image.get_bits_per_element());
        auto rawbuf = reinterpret_cast<const T*>(image.data.data());
        for (size_t y = 0, i = 0; y < image.height; ++y) {
            for (size_t x = 0; x < image.width; ++x) {
                for (size_t c = 0; c < image.num_channels; ++c) {
                    if (c >= nc) {
                        ++i;
                        continue;
                    }
                    if constexpr (IsChar) {
                        result(x, y, c) = static_cast<float>(rawbuf[i++]) / 255.f;
                    } else {
                        result(x, y, c) = rawbuf[i++];
                    }
                }
            }
        }
    };
 
    switch (image.element_type) {
    case AttributeValueType::e_uint8_t: copy_buffer(uint8_t()); break;
    case AttributeValueType::e_int8_t: copy_buffer(int8_t()); break;
    case AttributeValueType::e_uint32_t: copy_buffer(uint32_t()); break;
    case AttributeValueType::e_int32_t: copy_buffer(int32_t()); break;
    case AttributeValueType::e_float: copy_buffer(float()); break;
    case AttributeValueType::e_double: copy_buffer(double()); break;
    default: throw std::runtime_error("Unsupported image scalar type");
    }
 
    return result;
}
 
// Extract a single uv unwrapped mesh and optionally its base color tensor from a scene.
template <typename Scalar, typename Index>
std::tuple<SurfaceMesh<Scalar, Index>, std::optional<Array3Df>> single_mesh_from_scene(
    const scene::Scene<Scalar, Index>& scene)
{
    using ElementId = scene::ElementId;
 
    // Find mesh nodes in the scene
    std::vector<ElementId> mesh_node_ids;
    for (ElementId node_id = 0; node_id < scene.nodes.size(); ++node_id) {
        const auto& node = scene.nodes[node_id];
        if (!node.meshes.empty()) {
            mesh_node_ids.push_back(node_id);
        }
    }
 
    if (mesh_node_ids.size() != 1) {
        throw std::runtime_error(
            fmt::format(
                "Input scene contains {} mesh nodes. Expected exactly 1 mesh node.",
                mesh_node_ids.size()));
    }
    const auto& mesh_node = scene.nodes[mesh_node_ids.front()];
 
    if (mesh_node.meshes.size() != 1) {
        throw std::runtime_error(
            fmt::format(
                "Input scene has a mesh node with {} instance per node. Expected "
                "exactly 1 instance per node",
                mesh_node.meshes.size()));
    }
    const auto& mesh_instance = mesh_node.meshes.front();
 
    [[maybe_unused]] const auto mesh_id = mesh_instance.mesh;
    la_debug_assert(mesh_id < scene.meshes.size());
    SurfaceMesh<Scalar, Index> mesh = scene.meshes[mesh_instance.mesh];
    {
        // Apply node local->world transform
        auto world_from_mesh =
            scene::utils::compute_global_node_transform(scene, mesh_node_ids.front())
                .template cast<Scalar>();
        transform_mesh(mesh, world_from_mesh);
    }
 
    // Find base texture if available
    if (auto num_mats = mesh_instance.materials.size(); num_mats != 1) {
        logger().warn(
            "Mesh node has {} materials. Expected exactly 1 material. Ignoring materials.",
            num_mats);
        return {mesh, std::nullopt};
    }
    const auto& material = scene.materials[mesh_instance.materials.front()];
    if (material.base_color_texture.texcoord != 0) {
        logger().warn(
            "Mesh node material texcoord is {} != 0. Expected 0. Ignoring texcoord.",
            material.base_color_texture.texcoord);
    }
    const auto texture_id = material.base_color_texture.index;
    la_debug_assert(texture_id < scene.textures.size());
    const auto& texture = scene.textures[texture_id];
 
    const auto image_id = texture.image;
    la_debug_assert(image_id < scene.images.size());
    const auto& image_ = scene.images[image_id].image;
    Array3Df image = convert_from(image_);
 
    return {mesh, image};
}
 
template <typename Scalar, typename Index>
std::vector<CameraOptions> cameras_from_scene(const scene::Scene<Scalar, Index>& scene)
{
    using ElementId = scene::ElementId;
 
    // Find cameras in the scene
    std::vector<CameraOptions> cameras;
    for (ElementId node_id = 0; node_id < scene.nodes.size(); ++node_id) {
        using namespace scene::utils;
        const auto& node = scene.nodes[node_id];
        if (!node.cameras.empty()) {
            auto world_from_node = compute_global_node_transform(scene, node_id);
            for (auto camera_id : node.cameras) {
                const auto& scene_camera = scene.cameras[camera_id];
                CameraOptions camera;
                camera.view_transform = camera_view_transform(scene_camera, world_from_node);
                camera.projection_transform = camera_projection_transform(scene_camera);
                cameras.push_back(camera);
            }
        }
    }
 
    return cameras;
}
 
template <typename Scalar, typename Index>
std::vector<std::pair<Array3Df, Array3Df>> rasterize_textures_from_renders(
    const lagrange::scene::Scene<Scalar, Index>& scene,
    std::optional<Array3Df> base_texture_in,
    const std::vector<View3Df>& renders,
    const std::optional<size_t> tex_width,
    const std::optional<size_t> tex_height,
    const float low_confidence_ratio,
    const std::optional<float> base_confidence)
{
    // Load mesh, base texture and cameras from input scene
    auto [mesh, base_texture] = single_mesh_from_scene(scene);
    auto cameras = cameras_from_scene(scene);
    lagrange::logger().info("Found {} cameras in the input scene", cameras.size());
 
    if (base_texture_in.has_value()) {
        if (base_texture.has_value()) {
            lagrange::logger().warn(
                "Input scene already contains a base texture. Overriding with user-provided "
                "texture.");
        }
        base_texture = std::move(base_texture_in);
    }
 
    // Load rendered images to unproject
    for (const auto& render : renders) {
        size_t img_width = render.extent(0);
        size_t img_height = render.extent(1);
        la_runtime_assert(img_width == renders.front().extent(0), "Render width must all be equal");
        la_runtime_assert(
            img_height == renders.front().extent(1),
            "Render height must all be equal");
    }
    la_runtime_assert(
        renders.size() == cameras.size(),
        "Number of renders must match number of cameras");
 
    std::vector<std::pair<Array3Df, Array3Df>> textures_and_weights;
 
    // Use base texture with a low confidence
    if (base_confidence.has_value() && base_confidence.value() == 0) {
        if (base_texture.has_value()) {
            lagrange::logger().warn(
                "Base confidence is 0, ignoring base texture in the input scene.");
        }
    } else {
        if (base_texture.has_value()) {
            const float default_confidence = base_confidence.value_or(0.3f);
            lagrange::logger().info(
                "Using base texture with uniform confidence: {}",
                default_confidence);
            const auto base_image = base_texture.value();
            auto base_weights = lagrange::image::experimental::create_image<float>(
                base_image.extent(0),
                base_image.extent(1),
                1);
            for (size_t i = 0; i < base_weights.extent(0); ++i) {
                for (size_t j = 0; j < base_weights.extent(1); ++j) {
                    base_weights(i, j, 0) = default_confidence;
                }
            }
            textures_and_weights.emplace_back(base_image, std::move(base_weights));
        } else {
            if (base_confidence.has_value()) {
                lagrange::logger().warn(
                    "No base texture was found in the input scene. Ignoring user-provided base "
                    "confidence: {}",
                    base_confidence.value());
            }
        }
    }
 
    // Check base texture size against expected size
    TextureRasterizerOptions rasterizer_options;
    if (textures_and_weights.empty()) {
        rasterizer_options.width = tex_width.value_or(1024);
        rasterizer_options.height = tex_height.value_or(1024);
        lagrange::logger().info(
            "No base texture found. Using rasterization size: {}x{}",
            rasterizer_options.width,
            rasterizer_options.height);
    } else {
        const auto& base_image = textures_and_weights.front().first;
        la_runtime_assert(!tex_width.has_value() || base_image.extent(0) == tex_width.value());
        la_runtime_assert(!tex_height.has_value() || base_image.extent(1) == tex_height.value());
        rasterizer_options.width = base_image.extent(0);
        rasterizer_options.height = base_image.extent(1);
        lagrange::logger().info(
            "Using base texture size for rasterization: {}x{}",
            rasterizer_options.width,
            rasterizer_options.height);
    }
 
    // Unproject render in texture space and generate confidence map for each camera
    size_t offset = textures_and_weights.size();
    textures_and_weights.resize(offset + cameras.size());
    const TextureRasterizer<Scalar, Index> rasterizer(mesh, rasterizer_options);
    lagrange::logger().info("Computing confidence maps for {} cameras", cameras.size());
    tbb::parallel_for(size_t(0), cameras.size(), [&](size_t i) {
        textures_and_weights[offset + i] =
            rasterizer.weighted_texture_from_render(renders[i], cameras[i]);
    });
 
    // Filter confidence across all cameras at each pixel
    lagrange::logger().info(
        "Filtering low confidence values using ratio threshold: {}",
        low_confidence_ratio);
    filter_low_confidences(textures_and_weights, low_confidence_ratio);
 
    return textures_and_weights;
}
 
} // namespace lagrange::texproc