mirror of
https://github.com/graphdeco-inria/gaussian-splatting
synced 2024-11-22 16:28:32 +00:00
54 lines
2.0 KiB
Python
54 lines
2.0 KiB
Python
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import torch
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from torch import nn
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import numpy as np
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from utils.graphics_utils import getWorld2View2, getProjectionMatrix
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class Camera(nn.Module):
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def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask,
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image_name, uid,
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trans=np.array([0.0, 0.0, 0.0]), scale=1.0
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):
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super(Camera, self).__init__()
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self.uid = uid
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self.colmap_id = colmap_id
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self.R = R
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self.T = T
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self.FoVx = FoVx
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self.FoVy = FoVy
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self.image_name = image_name
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self.original_image = image.clamp(0.0, 1.0).cuda()
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self.image_width = self.original_image.shape[2]
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self.image_height = self.original_image.shape[1]
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if gt_alpha_mask is not None:
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self.original_image *= gt_alpha_mask.cuda()
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else:
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self.original_image *= torch.ones((1, self.image_height, self.image_width), device="cuda")
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self.zfar = 100.0
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self.znear = 0.01
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self.trans = trans
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self.scale = scale
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self.world_view_transform = torch.tensor(getWorld2View2(R, T, trans, scale)).transpose(0, 1).cuda()
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self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy).transpose(0,1).cuda()
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self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0)
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self.camera_center = self.world_view_transform.inverse()[3, :3]
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class MiniCam:
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def __init__(self, width, height, fovy, fovx, znear, zfar, world_view_transform, full_proj_transform):
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self.image_width = width
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self.image_height = height
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self.FoVy = fovy
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self.FoVx = fovx
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self.znear = znear
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self.zfar = zfar
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self.world_view_transform = world_view_transform
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self.full_proj_transform = full_proj_transform
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view_inv = torch.inverse(self.world_view_transform)
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self.camera_center = view_inv[3][:3]
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