(w, h, k, w2c, near=0.01, far=100)
| 2 | from diff_gaussian_rasterization import GaussianRasterizationSettings as Camera |
| 3 | |
| 4 | def setup_camera(w, h, k, w2c, near=0.01, far=100): |
| 5 | fx, fy, cx, cy = k[0][0], k[1][1], k[0][2], k[1][2] |
| 6 | w2c = torch.tensor(w2c).cuda().float() |
| 7 | cam_center = torch.inverse(w2c)[:3, 3] |
| 8 | w2c = w2c.unsqueeze(0).transpose(1, 2) |
| 9 | opengl_proj = torch.tensor([[2 * fx / w, 0.0, -(w - 2 * cx) / w, 0.0], |
| 10 | [0.0, 2 * fy / h, -(h - 2 * cy) / h, 0.0], |
| 11 | [0.0, 0.0, far / (far - near), -(far * near) / (far - near)], |
| 12 | [0.0, 0.0, 1.0, 0.0]]).cuda().float().unsqueeze(0).transpose(1, 2) |
| 13 | full_proj = w2c.bmm(opengl_proj) |
| 14 | cam = Camera( |
| 15 | image_height=h, |
| 16 | image_width=w, |
| 17 | tanfovx=w / (2 * fx), |
| 18 | tanfovy=h / (2 * fy), |
| 19 | # change: rgb和depth合成一个channel输入，这里需要修改，不然在cuda算子里面加起来会报错 |
| 20 | bg=torch.tensor([0, 0, 0, 0, 0, 0], dtype=torch.float32, device="cuda"), |
| 21 | scale_modifier=1.0, |
| 22 | viewmatrix=w2c, |
| 23 | projmatrix=full_proj, |
| 24 | sh_degree=0, |
| 25 | campos=cam_center, |
| 26 | prefiltered=False |
| 27 | ) |
| 28 | return cam |
no outgoing calls
no test coverage detected