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| # | |
| # Copyright (C) 2023, Inria | |
| # GRAPHDECO research group, https://team.inria.fr/graphdeco | |
| # All rights reserved. | |
| # | |
| # This software is free for non-commercial, research and evaluation use | |
| # under the terms of the LICENSE.md file. | |
| # | |
| # For inquiries contact [email protected] | |
| # | |
| import torch | |
| from torch import nn | |
| import numpy as np | |
| from gaussiansplatting.utils.graphics_utils import getWorld2View2, getProjectionMatrix, focal2fov, fov2focal,getWorld2View2_tensor,getWorld2View_tensor | |
| class Camera(nn.Module): | |
| def __init__(self, c2w, FoVy, height, width, | |
| trans=torch.tensor([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda" | |
| ): | |
| super(Camera, self).__init__() | |
| FoVx = focal2fov(fov2focal(FoVy, height), width) | |
| # FoVx = focal2fov(fov2focal(FoVy, width), height) | |
| R = c2w[:3, :3] | |
| T = c2w[:3, 3] | |
| self.R = R.float() | |
| self.T = T.float() | |
| self.FoVx = FoVx | |
| self.FoVy = FoVy | |
| self.image_height =height | |
| self.image_width = width | |
| try: | |
| self.data_device = torch.device(data_device) | |
| except Exception as e: | |
| print(e) | |
| print(f"[Warning] Custom device {data_device} failed, fallback to default cuda device" ) | |
| self.data_device = torch.device("cuda") | |
| self.zfar = 100.0 | |
| self.znear = 0.01 | |
| self.trans = trans.float() | |
| self.scale = scale | |
| self.world_view_transform = getWorld2View2_tensor(R, T).transpose(0, 1).float().cuda() | |
| self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy).transpose(0,1).float().cuda() | |
| self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0).float() | |
| self.camera_center = self.world_view_transform.inverse()[3, :3].float() | |
| # print('self.camera_center',self.camera_center) | |
| class MiniCam: | |
| def __init__(self, width, height, fovy, fovx, znear, zfar, world_view_transform, full_proj_transform): | |
| self.image_width = width | |
| self.image_height = height | |
| self.FoVy = fovy | |
| self.FoVx = fovx | |
| self.znear = znear | |
| self.zfar = zfar | |
| self.world_view_transform = world_view_transform | |
| self.full_proj_transform = full_proj_transform | |
| view_inv = torch.inverse(self.world_view_transform) | |
| self.camera_center = view_inv[3][:3] | |