Pixel Kernels (1/2): Color Kernels #147
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This PR implements the second piece of the new image kernel: the per-pixel kernels that generates the observed depth given the latent (when available), as outlined [in this Notion card](https://www.notion.so/chi-mit/Sep-9-Track-2-Image-Kernel-Deliverables-70f1490053564db7b4ab3197447f7aaa?pvs=4). The organization of the kernels roughly follows the same structure as the previous PR: #147 ## Test Plan I've added some unit tests to make sure that the kernels roughly have the behaviors that we expected: ```bash pytest pytest tests/gen3d/test_pixel_depth_kernels.py ```
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While working on the image kernels, I realized that it might be useful to have a unified class that sample the RGBD values jointly, so I'm introducing this utility class that takes in an color kernel (from #147) and a depth kernel (from #149) to create an RGBD kernel, which supports sample and logpdf computation. This is a general class that's agnostic of the type of RGB and depth kernels -- it'll pass in the arguments it receives to _both_ of the kernels during `sample` and `logpdf` call. Since both color and depth kernels have `*args, **kwargs` as part of their function signature, they should simply ignore additional arguments that's not relevant to them. (I also just realized that I was referring to these classes as "kernels" but the actual class names are `*Distributions`... maybe I should fix these in a future PR.) I'm submitting this PR to `main` for now. Once I'm wrapping up my local changes, I'm going to work on resolving merge conflicts with `gen3d`. ## Test Plan Similar to the previous PRs, I've added some unit tests to make sure that the kernels roughly have the behaviors that we expected: ```bash pytest tests/gen3d/test_pixel_rgbd_kernels.py ```
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This PR implements the first piece of the new image kernel: the per-pixel kernels that generates the observed color given the latent (when available), as outlined in this Notion card. The organization of the kernels may still subject to changes as we start to connect the different pieces together.
Test Plan
I've added some unit tests to make sure that the kernels roughly have the behaviors that we expected: