mirror of
https://github.com/graphdeco-inria/gaussian-splatting
synced 2025-04-10 15:55:39 +00:00
82 lines
2.3 KiB
Python
82 lines
2.3 KiB
Python
#
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# Copyright (C) 2023, Inria
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# GRAPHDECO research group, https://team.inria.fr/graphdeco
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# All rights reserved.
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#
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# This software is free for non-commercial, research and evaluation use
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# under the terms of the LICENSE.md file.
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#
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# For inquiries contact george.drettakis@inria.fr
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#
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import torch
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import math
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import numpy as np
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from typing import NamedTuple
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class BasicPointCloud(NamedTuple):
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points : np.array
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colors : np.array
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normals : np.array
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def geom_transform_points(points, transf_matrix):
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P, _ = points.shape
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ones = torch.ones(P, 1, dtype=points.dtype, device=points.device)
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points_hom = torch.cat([points, ones], dim=1)
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points_out = torch.matmul(points_hom, transf_matrix.unsqueeze(0))
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denom = points_out[..., 3:] + 0.0000001
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return (points_out[..., :3] / denom).squeeze(dim=0)
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def getWorld2View(R, t):
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Rt = np.zeros((4, 4))
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Rt[:3, :3] = R.transpose()
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Rt[:3, 3] = t
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Rt[3, 3] = 1.0
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return np.float32(Rt)
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def getWorld2View2(R, t, translate=np.array([.0, .0, .0]), scale=1.0):
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Rt = np.zeros((4, 4))
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Rt[:3, :3] = R.transpose() # W2C的 R
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Rt[:3, 3] = t # W2C的 t
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Rt[3, 3] = 1.0
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# C2W的变换矩阵
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C2W = np.linalg.inv(Rt)
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cam_center = C2W[:3, 3] # C2W的 t，即相机在世界坐标系中的坐标位置
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cam_center = (cam_center + translate) * scale
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C2W[:3, 3] = cam_center # 加上平移后的 C2W的变换矩阵
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Rt = np.linalg.inv(C2W) # W2C的变换矩阵
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return np.float32(Rt)
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def getProjectionMatrix(znear, zfar, fovX, fovY):
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tanHalfFovY = math.tan((fovY / 2))
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tanHalfFovX = math.tan((fovX / 2))
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top = tanHalfFovY * znear
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bottom = -top
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right = tanHalfFovX * znear
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left = -right
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P = torch.zeros(4, 4)
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z_sign = 1.0
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P[0, 0] = 2.0 * znear / (right - left)
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P[1, 1] = 2.0 * znear / (top - bottom)
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P[0, 2] = (right + left) / (right - left)
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P[1, 2] = (top + bottom) / (top - bottom)
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P[3, 2] = z_sign
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P[2, 2] = z_sign * zfar / (zfar - znear)
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P[2, 3] = -(zfar * znear) / (zfar - znear)
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return P
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def fov2focal(fov, pixels):
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return pixels / (2 * math.tan(fov / 2))
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def focal2fov(focal, pixels):
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'''
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focal: fx 或 fy
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pixels: 宽度或高度,单位为像素
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'''
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return 2 * math.atan(pixels / (2 * focal)) |