model trainer: function to generate inputs to pass neural network for rendering equirectangular projection

Dependencies

• [2] E742MTJA Fix segfault (don't pass pointers between functions in different SDL versions), minor refactor
• [3] ZRPV3GAJ Model trainer: Add function to make tensor of cartesian coordinates for drawing the map (equirectangular projection)
• [4] 6AXPZL5P Try to offload tight loop to rust (for now it segfaults)
• [5] ROQCAPZJ Begin function for showing the map (for now just opens SDL window)
• [6] IGYI5RVV Figure out how to draw on the sdl2 window

Change contents

• edit in trainmodel/src/drawmap.py at line 6
  [3.53]

  [3.13]
  + import numpy
• replacement in trainmodel/src/drawmap.py at line 17
  [3.71]→[3.71:127](∅→∅)
  − test_tensor = tf.constant([[[0,0,255]] * 1024] * 512)
  [3.71]

  [3.127]
  + test_tensor = tf.math.scalar_mul(255, tf.keras.activations.sigmoid(inputs_equirectangular(1024, 512)))
• edit in trainmodel/src/drawmap.py at line 32
  [3.442]→[3.442:443](∅→∅),[3.443]→[3.38:407](∅→∅),[3.742]→[3.742:743](∅→∅)
  −

  − def inputs(width, height):

  − def cartesian(x,y):

  − x = x / width * math.pi

  − y = y / height * math.pi

  − return [math.sin(y) * math.cos(x), math.sin(y) * math.sin(x), math.cos(y)]

  − def row(y):

  − def c(x):

  − return cartesian(x,y)

  − return list(map(c, range(0, width)))

  − return tf.constant(list(map(row, range(0, height))))

  −
• replacement in trainmodel/src/drawmap.py at line 33
  [3.278]→[2.89:90](∅→∅)
  −
  [3.278]

  [2.90]
  + def inputs_equirectangular(width, height):

  + n = numpy.zeros((height, width, 3), numpy.float64)

  + helpers.equirectangular(ctypes.cast(ctypes.c_voidp(n.ctypes.data), ctypes.POINTER(ctypes.c_double)), ctypes.c_int(width), ctypes.c_int(height))

  + return tf.constant(n)
• edit in trainmodel/src/nativehelpers.py at line 7
  [2.359]

  [2.359]
  +
• edit in trainmodel/src/nativehelpers.py at line 10
  [2.523]→[2.523:524](∅→∅)
  −
• edit in trainmodel/src/nativehelpers.py at line 12
  [2.562]
  + native.equirectangular.argtypes = [ctypes.POINTER(ctypes.c_double), ctypes.c_int, ctypes.c_int]

  + equirectangular = native.equirectangular
• replacement in trainmodel/src/helpers.rs at line 100
  [3.4099]→[3.4099:4100](∅→∅)
  −
  [3.4099]
  + #[no_mangle]

  + pub extern "C" fn equirectangular(target: *mut f64, width: u32, height: u32) {

  + use std::f64::consts::PI;

  + let target = unsafe {

  + std::slice::from_raw_parts_mut(target, (width as usize) * (height as usize) * 3)

  + };

  + for y in 0 .. (height as usize) {

  + let rowstart = y * (width as usize) * 3;

  + let yr = 0. - (y as f64) / (height as f64) * PI;

  + let yrs = yr.sin();

  + let yrc = yr.cos();

  + for x in 0 .. (width as usize) {

  + let xr = (x as f64) / (width as f64) * 2. * PI;

  + let pixstart = rowstart + 3 * x;

  + target[pixstart] = yrs * xr.sin();

  + target[pixstart + 1] = yrs * xr.cos();

  + target[pixstart + 2] = yrc;

  + }

  + }

  + }