mirror of
https://github.com/graphdeco-inria/gaussian-splatting
synced 2024-11-22 16:28:32 +00:00
104 lines
4.1 KiB
Python
104 lines
4.1 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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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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from utils.general_utils import PILtoTorch
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import cv2
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class Camera(nn.Module):
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def __init__(self, resolution, colmap_id, R, T, FoVx, FoVy, depth_params, image, invdepthmap,
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image_name, uid,
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trans=np.array([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda",
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train_test_exp = False, is_test_dataset = False, is_test_view = False
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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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try:
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self.data_device = torch.device(data_device)
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except Exception as e:
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print(e)
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print(f"[Warning] Custom device {data_device} failed, fallback to default cuda device" )
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self.data_device = torch.device("cuda")
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resized_image_rgb = PILtoTorch(image, resolution)
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gt_image = resized_image_rgb[:3, ...]
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self.alpha_mask = None
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if resized_image_rgb.shape[0] == 4:
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self.alpha_mask = resized_image_rgb[3:4, ...].to(self.data_device)
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else:
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self.alpha_mask = torch.ones_like(resized_image_rgb[0:1, ...].to(self.data_device))
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if train_test_exp and is_test_view:
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if is_test_dataset:
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self.alpha_mask[..., :self.alpha_mask.shape[-1] // 2] = 0
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else:
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self.alpha_mask[..., self.alpha_mask.shape[-1] // 2:] = 0
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self.original_image = gt_image.clamp(0.0, 1.0).to(self.data_device)
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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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self.invdepthmap = None
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self.depth_reliable = False
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if invdepthmap is not None:
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self.depth_mask = torch.ones_like(self.alpha_mask)
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self.invdepthmap = cv2.resize(invdepthmap, resolution)
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self.invdepthmap[self.invdepthmap < 0] = 0
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self.depth_reliable = True
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if depth_params is not None:
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if depth_params["scale"] < 0.2 * depth_params["med_scale"] or depth_params["scale"] > 5 * depth_params["med_scale"]:
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self.depth_reliable = False
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self.depth_mask *= 0
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if depth_params["scale"] > 0:
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self.invdepthmap = self.invdepthmap * depth_params["scale"] + depth_params["offset"]
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if self.invdepthmap.ndim != 2:
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self.invdepthmap = self.invdepthmap[..., 0]
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self.invdepthmap = torch.from_numpy(self.invdepthmap[None]).to(self.data_device)
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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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