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gaussian_renderer/__init__.py

@@ -17,22 +17,30 @@ from utils.sh_utils import eval_sh
 
 def render(viewpoint_camera, pc : GaussianModel, pipe, bg_color : torch.Tensor, scaling_modifier = 1.0, override_color = None):
     """
-    Render the scene. 
+    渲染场景： 将高斯分布的点投影到2D屏幕上来生成渲染图像
-    
+        viewpoint_camera: 训练相机集合
-    Background tensor (bg_color) must be on GPU!
+        pc: 高斯模型
+        pipe:   管道相关参数
+        bg_color: Background tensor 必须 on GPU
+        scaling_modifier:
+        override_color:
     """
  
     # Create zero tensor. We will use it to make pytorch return gradients of the 2D (screen-space) means
+    # 创建一个与输入点云（高斯模型）大小相同的 零tensor，用于记录屏幕空间中的点的位置。这个张量将用于计算对于屏幕空间坐标的梯度
     screenspace_points = torch.zeros_like(pc.get_xyz, dtype=pc.get_xyz.dtype, requires_grad=True, device="cuda") + 0
     try:
+        # 尝试保留张量的梯度。这是为了确保可以在反向传播过程中计算对于屏幕空间坐标的梯度
         screenspace_points.retain_grad()
     except:
         pass
 
     # Set up rasterization configuration
+    # 计算视场的 tan 值，这将用于设置光栅化配置
     tanfovx = math.tan(viewpoint_camera.FoVx * 0.5)
     tanfovy = math.tan(viewpoint_camera.FoVy * 0.5)
 
+    # 设置光栅化的配置，包括图像的大小、视场的 tan 值、背景颜色、视图矩阵viewmatrix、投影矩阵projmatrix等
     raster_settings = GaussianRasterizationSettings(
         image_height=int(viewpoint_camera.image_height),
         image_width=int(viewpoint_camera.image_width),
@@ -45,18 +53,19 @@ def render(viewpoint_camera, pc : GaussianModel, pipe, bg_color : torch.Tensor,
         sh_degree=pc.active_sh_degree,
         campos=viewpoint_camera.camera_center,
         prefiltered=False,
-        debug=pipe.debug,
+        debug=pipe.debug
-        clamp_color=True
     )
 
+    # 创建一个高斯光栅化器对象，用于将高斯分布投影到屏幕上
     rasterizer = GaussianRasterizer(raster_settings=raster_settings)
 
+    # 获取高斯模型的三维坐标、屏幕空间坐标、透明度
     means3D = pc.get_xyz
     means2D = screenspace_points
     opacity = pc.get_opacity
 
-    # If precomputed 3d covariance is provided, use it. If not, then it will be computed from
+    # If precomputed 3d covariance is provided, use it. If not, then it will be computed from scaling / rotation by the rasterizer.
-    # scaling / rotation by the rasterizer.
+    # 如果提供了预先计算的3D协方差矩阵，则使用它。否则，它将由光栅化器根据尺度和旋转进行计算
     scales = None
     rotations = None
     cov3D_precomp = None
@@ -68,14 +77,20 @@ def render(viewpoint_camera, pc : GaussianModel, pipe, bg_color : torch.Tensor,
 
     # If precomputed colors are provided, use them. Otherwise, if it is desired to precompute colors
     # from SHs in Python, do it. If not, then SH -> RGB conversion will be done by rasterizer.
+    # 如果提供了预先计算的颜色，则使用它们。否则，如果希望在Python中从球谐函数中预计算颜色，请执行此操作。如果没有，则颜色将通过光栅化器进行从球谐函数到RGB的转换
     shs = None
     colors_precomp = None
     if override_color is None:
         if pipe.convert_SHs_python:
+            # 将SH特征的形状调整为（batch_size * num_points，3，(max_sh_degree+1)**2）
             shs_view = pc.get_features.transpose(1, 2).view(-1, 3, (pc.max_sh_degree+1)**2)
+            # 计算相机中心到每个点的方向向量，并归一化
             dir_pp = (pc.get_xyz - viewpoint_camera.camera_center.repeat(pc.get_features.shape[0], 1))
+            # 计算相机中心到每个点的方向向量，并归一化
             dir_pp_normalized = dir_pp/dir_pp.norm(dim=1, keepdim=True)
+            # 使用SH特征将方向向量转换为RGB颜色
             sh2rgb = eval_sh(pc.active_sh_degree, shs_view, dir_pp_normalized)
+            # 将RGB颜色的范围限制在0到1之间
             colors_precomp = torch.clamp_min(sh2rgb + 0.5, 0.0)
         else:
             shs = pc.get_features
@@ -83,6 +98,7 @@ def render(viewpoint_camera, pc : GaussianModel, pipe, bg_color : torch.Tensor,
         colors_precomp = override_color
 
     # Rasterize visible Gaussians to image, obtain their radii (on screen).
+    # 调用光栅化器，将高斯分布投影到屏幕上，获得渲染图像和每个高斯分布在屏幕上的半径
     rendered_image, radii = rasterizer(
         means3D = means3D,
         means2D = means2D,

train.py

@@ -105,7 +105,7 @@ def training(dataset, opt, pipe, testing_iterations, saving_iterations, checkpoi
         bg = torch.rand((3), device="cuda") if opt.random_background else background
 
         # 渲染当前视角的图像
-        render_pkg = render(viewpoint_cam, gaussians, pipe, bg)
+        render_pkg = render(viewpoint_cam, gaussians, pipe, bg, return_depth=True, return_normal=True)
         image, viewspace_point_tensor, visibility_filter, radii = render_pkg["render"], render_pkg["viewspace_points"], render_pkg["visibility_filter"], render_pkg["radii"]
 
         # Loss

utils/general_utils.py

@@ -95,8 +95,8 @@ def strip_lowerdiag(L):
 def strip_symmetric(sym):
     """
     提取协方差矩阵的对称部分
-    :param sym: 协方差矩阵
+        sym: 协方差矩阵
-    :return: 对称部分
+        return: 对称部分
     """
     return strip_lowerdiag(sym)
 
@@ -129,10 +129,9 @@ def build_rotation(r):
 def build_scaling_rotation(s, r):
     """
     构建3D高斯模型的尺度-旋转矩阵
-
+        s: 尺度参数
-    :param s: 尺度参数
+        r: 旋转参数
-    :param r: 旋转参数
+        return: 尺度-旋转矩阵
-    :return: 尺度-旋转矩阵
     """
     L = torch.zeros((s.shape[0], 3, 3), dtype=torch.float, device="cuda")   # 初始化尺度矩阵
     R = build_rotation(r)   # 四元数 -> 旋转矩阵