Method render

examples/simple_viewer_dyn.py:109–154

(self, cameraHandle, timestamp=0, render_mode="RGB")

        return means_motion, rotations, self.scales, opacity, colors_precomp
    
    def render(self, cameraHandle, timestamp=0, render_mode="RGB"):
        means_t, quats_t, scales_t, opa_t, colors_t = self.slice_dyngs_to_3dgs(timestamp)

        c2w = get_c2w(cameraHandle)
        c2w = torch.from_numpy(c2w).float().to(self.device)
        viewmat = c2w.inverse()

        # W = 1920
        # H = int(W/cameraHandle.aspect)
        # focal_x = W/2/np.tan(cameraHandle.fov/2)
        # focal_y = H/2/np.tan(cameraHandle.fov/2)

        W, H = 1920, 1080
        focal_length = H / 2.0 / np.tan(cameraHandle.fov / 2.0)
        focal_x = focal_length
        focal_y = focal_length
        K = np.array(
                [
                    [focal_x, 0.0, W / 2.0],
                    [0.0, focal_y, H / 2.0],
                    [0.0, 0.0, 1.0],
                ]
            )
        K = torch.from_numpy(K).float().to(self.device)

        render_colors, render_alphas, meta = self.rasterization_fn(
            means_t,  # [N, 3]
            quats_t,  # [N, 4]
            scales_t,  # [N, 3]
            opa_t,  # [N]
            colors_t,  # [N, S, 3]
            viewmat[None],  # [1, 4, 4]
            K[None],  # [1, 3, 3]
            W,
            H,
            # sh_degree=sh_degree,
            render_mode="RGB+ED",
            # this is to speedup large-scale rendering by skipping far-away Gaussians.
            # radius_clip=3,
        )

        if render_mode == "RGB":
            render = render_colors[0, ..., 0:3].cpu().numpy()
        elif render_mode == "ED":
            render = 1 / render_colors[0, ..., 3:].repeat_interleave(3, dim=-1).cpu().numpy()
        return render

class ViserViewer:
    def __init__(self, port):