UniqAI/gaussian-splatting
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fix camera intrisics

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This commit is contained in:
sheng 2023-12-22 18:29:35 +08:00
parent 2eee0e26d2
commit 7e3c8a7785
4 changed files with 21 additions and 7 deletions
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8
scene/cameras.py
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@ -15,7 +15,7 @@ import numpy as np
from utils.graphics_utils import getWorld2View2, getProjectionMatrix from utils.graphics_utils import getWorld2View2, getProjectionMatrix
class Camera(nn.Module): class Camera(nn.Module):
def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask, def __init__(self, colmap_id, R, T, FoVx, FoVy, cx, cy, image, gt_alpha_mask,
image_name, uid, image_name, uid,
trans=np.array([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda" trans=np.array([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda"
): ):
@ -27,6 +27,8 @@ class Camera(nn.Module):
self.T = T self.T = T
self.FoVx = FoVx self.FoVx = FoVx
self.FoVy = FoVy self.FoVy = FoVy
self.cx = cx
self.cy = cy
self.image_name = image_name self.image_name = image_name
try: try:
@ -52,7 +54,9 @@ class Camera(nn.Module):
self.scale = scale self.scale = scale
self.world_view_transform = torch.tensor(getWorld2View2(R, T, trans, scale)).transpose(0, 1).cuda() self.world_view_transform = torch.tensor(getWorld2View2(R, T, trans, scale)).transpose(0, 1).cuda()
self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy).transpose(0,1).cuda() self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar,
fovX=self.FoVx, fovY=self.FoVy,
cx=self.cx, cy=self.cy).transpose(0, 1).cuda()
self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0) self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0)
self.camera_center = self.world_view_transform.inverse()[3, :3] self.camera_center = self.world_view_transform.inverse()[3, :3]

11
scene/dataset_readers.py
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@ -29,6 +29,8 @@ class CameraInfo(NamedTuple):
T: np.array T: np.array
FovY: np.array FovY: np.array
FovX: np.array FovX: np.array
cx: np.array
cy: np.array
image: np.array image: np.array
image_path: str image_path: str
image_name: str image_name: str
@ -84,9 +86,13 @@ def readColmapCameras(cam_extrinsics, cam_intrinsics, images_folder):
if intr.model=="SIMPLE_PINHOLE": if intr.model=="SIMPLE_PINHOLE":
focal_length_x = intr.params[0] focal_length_x = intr.params[0]
cx = intr.params[1]
cy = intr.params[2]
FovY = focal2fov(focal_length_x, height) FovY = focal2fov(focal_length_x, height)
FovX = focal2fov(focal_length_x, width) FovX = focal2fov(focal_length_x, width)
elif intr.model=="PINHOLE": elif intr.model=="PINHOLE":
cx = intr.params[2]
cy = intr.params[3]
focal_length_x = intr.params[0] focal_length_x = intr.params[0]
focal_length_y = intr.params[1] focal_length_y = intr.params[1]
FovY = focal2fov(focal_length_y, height) FovY = focal2fov(focal_length_y, height)
@ -94,11 +100,14 @@ def readColmapCameras(cam_extrinsics, cam_intrinsics, images_folder):
else: else:
assert False, "Colmap camera model not handled: only undistorted datasets (PINHOLE or SIMPLE_PINHOLE cameras) supported!" assert False, "Colmap camera model not handled: only undistorted datasets (PINHOLE or SIMPLE_PINHOLE cameras) supported!"
cx = (cx - width / 2) / width * 2
cy = (cy - height / 2) / height * 2
image_path = os.path.join(images_folder, os.path.basename(extr.name)) image_path = os.path.join(images_folder, os.path.basename(extr.name))
image_name = os.path.basename(image_path).split(".")[0] image_name = os.path.basename(image_path).split(".")[0]
image = Image.open(image_path) image = Image.open(image_path)
cam_info = CameraInfo(uid=uid, R=R, T=T, FovY=FovY, FovX=FovX, image=image, cam_info = CameraInfo(uid=uid, R=R, T=T, FovY=FovY, FovX=FovX, cx=cx, cy=cy, image=image,
image_path=image_path, image_name=image_name, width=width, height=height) image_path=image_path, image_name=image_name, width=width, height=height)
cam_infos.append(cam_info) cam_infos.append(cam_info)
sys.stdout.write('\n') sys.stdout.write('\n')

3
utils/camera_utils.py
View File

@ -47,7 +47,8 @@ def loadCam(args, id, cam_info, resolution_scale):
loaded_mask = resized_image_rgb[3:4, ...] loaded_mask = resized_image_rgb[3:4, ...]
return Camera(colmap_id=cam_info.uid, R=cam_info.R, T=cam_info.T, return Camera(colmap_id=cam_info.uid, R=cam_info.R, T=cam_info.T,
FoVx=cam_info.FovX, FoVy=cam_info.FovY, FoVx=cam_info.FovX, FoVy=cam_info.FovY,
cx=cam_info.cx, cy=cam_info.cy,
image=gt_image, gt_alpha_mask=loaded_mask, image=gt_image, gt_alpha_mask=loaded_mask,
image_name=cam_info.image_name, uid=id, data_device=args.data_device) image_name=cam_info.image_name, uid=id, data_device=args.data_device)

6
utils/graphics_utils.py
View File

@ -48,7 +48,7 @@ def getWorld2View2(R, t, translate=np.array([.0, .0, .0]), scale=1.0):
Rt = np.linalg.inv(C2W) Rt = np.linalg.inv(C2W)
return np.float32(Rt) return np.float32(Rt)
def getProjectionMatrix(znear, zfar, fovX, fovY): def getProjectionMatrix(znear, zfar, fovX, fovY, cx, cy):
tanHalfFovY = math.tan((fovY / 2)) tanHalfFovY = math.tan((fovY / 2))
tanHalfFovX = math.tan((fovX / 2)) tanHalfFovX = math.tan((fovX / 2))
@ -63,8 +63,8 @@ def getProjectionMatrix(znear, zfar, fovX, fovY):
P[0, 0] = 2.0 * znear / (right - left) P[0, 0] = 2.0 * znear / (right - left)
P[1, 1] = 2.0 * znear / (top - bottom) P[1, 1] = 2.0 * znear / (top - bottom)
P[0, 2] = (right + left) / (right - left) P[0, 2] = cx
P[1, 2] = (top + bottom) / (top - bottom) P[1, 2] = cy
P[3, 2] = z_sign P[3, 2] = z_sign
P[2, 2] = z_sign * zfar / (zfar - znear) P[2, 2] = z_sign * zfar / (zfar - znear)
P[2, 3] = -(zfar * znear) / (zfar - znear) P[2, 3] = -(zfar * znear) / (zfar - znear)