| 17 | from copy import deepcopy |
| 18 | |
| 19 | class Camera: |
| 20 | def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask, |
| 21 | image_name, uid, |
| 22 | trans=np.array([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda", timestamp = 0.0, |
| 23 | cx=-1, cy=-1, fl_x=-1, fl_y=-1, depth=None, resolution=None, image_path=None, meta_only=False, |
| 24 | ): |
| 25 | |
| 26 | self.uid = uid |
| 27 | self.colmap_id = colmap_id |
| 28 | self.R = R |
| 29 | self.T = T |
| 30 | self.FoVx = FoVx |
| 31 | self.FoVy = FoVy |
| 32 | self.image_name = image_name |
| 33 | self.cx = cx |
| 34 | self.cy = cy |
| 35 | self.fl_x = fl_x |
| 36 | self.fl_y = fl_y |
| 37 | self.resolution = resolution |
| 38 | self.image_path = image_path |
| 39 | self.image = image |
| 40 | self.gt_alpha_mask = gt_alpha_mask |
| 41 | self.meta_only = meta_only |
| 42 | |
| 43 | try: |
| 44 | self.data_device = torch.device(data_device) |
| 45 | except Exception as e: |
| 46 | print(e) |
| 47 | print(f"[Warning] Custom device {data_device} failed, fallback to default cuda device") |
| 48 | self.data_device = torch.device("cuda") |
| 49 | |
| 50 | self.image_width = resolution[0] |
| 51 | self.image_height = resolution[1] |
| 52 | |
| 53 | if not self.meta_only: |
| 54 | if gt_alpha_mask is not None: |
| 55 | self.image *= gt_alpha_mask.to(self.image.device) |
| 56 | else: |
| 57 | self.image *= torch.ones((1, self.image_height, self.image_width), device=self.image.device) |
| 58 | |
| 59 | self.zfar = 100.0 |
| 60 | self.znear = 0.01 |
| 61 | |
| 62 | self.trans = trans |
| 63 | self.scale = scale |
| 64 | |
| 65 | self.world_view_transform = torch.tensor(getWorld2View2(R, T, trans, scale)).transpose(0, 1) |
| 66 | if cx > 0: |
| 67 | self.projection_matrix = getProjectionMatrixCenterShift(self.znear, self.zfar, cx, cy, fl_x, fl_y, self.image_width, self.image_height).transpose(0,1) |
| 68 | else: |
| 69 | self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy).transpose(0,1) |
| 70 | self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0) |
| 71 | self.camera_center = self.world_view_transform.inverse()[3, :3] |
| 72 | |
| 73 | self.timestamp = timestamp |
| 74 | |
| 75 | def get_rays(self): |
| 76 | grid = create_meshgrid(self.image_height, self.image_width, normalized_coordinates=False)[0] + 0.5 |
no outgoing calls
no test coverage detected