Camera model that focuses on point.
| 269 | |
| 270 | |
| 271 | class PinholeCameraModel: |
| 272 | """Camera model that focuses on point.""" |
| 273 | |
| 274 | def __init__( |
| 275 | self, |
| 276 | scene: Gaussians3D, |
| 277 | screen_extrinsics: torch.Tensor, |
| 278 | screen_intrinsics: torch.Tensor, |
| 279 | screen_resolution_px: tuple[int, int], |
| 280 | focus_depth_quantile: float = 0.1, |
| 281 | min_depth_focus: float = 2.0, |
| 282 | lookat_point: tuple[float, float, float] | None = None, |
| 283 | lookat_mode: LookAtMode = "point", |
| 284 | ) -> None: |
| 285 | """Initialize GeneralPinholeCameraModel. |
| 286 | |
| 287 | Args: |
| 288 | scene: The scene to display. |
| 289 | screen_extrinsics: Extrinsics of the default position. |
| 290 | screen_intrinsics: Intrinsics to use for rendering. |
| 291 | screen_resolution_px: Width and height to render. |
| 292 | focus_depth_quantile: Where inside the depth range to focus on. |
| 293 | min_depth_focus: Depth to focus at. |
| 294 | lookat_point: a point that the camera's Z axis directs towards. |
| 295 | lookat_mode: "point" to look at a fixed point, |
| 296 | "ahead" to look straight ahead. |
| 297 | """ |
| 298 | self.scene = scene |
| 299 | self.screen_extrinsics = screen_extrinsics |
| 300 | self.screen_intrinsics = screen_intrinsics |
| 301 | self.screen_resolution_px = screen_resolution_px |
| 302 | |
| 303 | self.focus_depth_quantile = focus_depth_quantile |
| 304 | self.min_depth_focus = min_depth_focus |
| 305 | self.lookat_point = lookat_point |
| 306 | self.lookat_mode = lookat_mode |
| 307 | |
| 308 | scene_points = scene.mean_vectors |
| 309 | if scene_points.ndim == 3: |
| 310 | scene_points = scene_points[0] |
| 311 | elif scene_points.ndim != 2: |
| 312 | raise ValueError("Unsupported dimensionality of scene points.") |
| 313 | self._scene_points = scene_points.cpu() |
| 314 | |
| 315 | self.depth_quantiles = _compute_depth_quantiles( |
| 316 | self._scene_points, |
| 317 | self.screen_extrinsics, |
| 318 | q_focus=self.focus_depth_quantile, |
| 319 | ) |
| 320 | |
| 321 | def compute(self, eye_pos: torch.Tensor) -> CameraInfo: |
| 322 | """Compute camera for eye position.""" |
| 323 | extrinsics = self.screen_extrinsics.clone() |
| 324 | |
| 325 | origin = eye_pos if self.lookat_mode == "ahead" else torch.zeros(3) |
| 326 | |
| 327 | if self.lookat_point is None: |
| 328 | depth_focus = max(self.min_depth_focus, self.depth_quantiles.focus) |
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