| 237 | debug : bool |
| 238 | |
| 239 | class GaussianRasterizer(nn.Module): |
| 240 | def __init__(self, raster_settings): |
| 241 | super().__init__() |
| 242 | self.raster_settings = raster_settings |
| 243 | |
| 244 | def markVisible(self, positions): |
| 245 | # Mark visible points (based on frustum culling for camera) with a boolean |
| 246 | with torch.no_grad(): |
| 247 | raster_settings = self.raster_settings |
| 248 | visible = _C.mark_visible( |
| 249 | positions, |
| 250 | raster_settings.viewmatrix, |
| 251 | raster_settings.projmatrix) |
| 252 | |
| 253 | return visible |
| 254 | |
| 255 | def forward(self, means3D, means2D, opacities, shs = None, colors_precomp = None, flow_2d = None, ts=None, |
| 256 | scales = None, scales_t=None, |
| 257 | rotations = None, rotations_r=None, |
| 258 | cov3D_precomp = None): |
| 259 | |
| 260 | raster_settings = self.raster_settings |
| 261 | |
| 262 | if (shs is None and colors_precomp is None) or (shs is not None and colors_precomp is not None): |
| 263 | raise Exception('Please provide excatly one of either SHs or precomputed colors!') |
| 264 | |
| 265 | if ((scales is None or rotations is None) and cov3D_precomp is None) or ((scales is not None or rotations is not None) and cov3D_precomp is not None): |
| 266 | raise Exception('Please provide exactly one of either scale/rotation pair or precomputed 3D covariance!') |
| 267 | |
| 268 | if self.raster_settings.rot_4d and cov3D_precomp is None and ( |
| 269 | rotations_r is None or scales_t is None or ts is None): |
| 270 | raise Exception( |
| 271 | 'Please provide exactly rotations_r and scales_t and ts if rot_4d and cov3D_precomp is None!') |
| 272 | |
| 273 | if shs is None: |
| 274 | shs = torch.Tensor([]) |
| 275 | if colors_precomp is None: |
| 276 | colors_precomp = torch.Tensor([]) |
| 277 | if flow_2d is None: |
| 278 | flow_2d = torch.Tensor([]) |
| 279 | |
| 280 | if ts is None: |
| 281 | ts = torch.Tensor([]) |
| 282 | if scales is None: |
| 283 | scales = torch.Tensor([]) |
| 284 | if scales_t is None: |
| 285 | scales_t = torch.Tensor([]) |
| 286 | if rotations is None: |
| 287 | rotations = torch.Tensor([]) |
| 288 | if rotations_r is None: |
| 289 | rotations_r = torch.Tensor([]) |
| 290 | if cov3D_precomp is None: |
| 291 | cov3D_precomp = torch.Tensor([]) |
| 292 | |
| 293 | # Invoke C++/CUDA rasterization routine |
| 294 | return rasterize_gaussians( |
| 295 | means3D, |
| 296 | means2D, |