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63 lines
2.2 KiB
Python
63 lines
2.2 KiB
Python
# Copyright 2022 The Nerfstudio Team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""
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Ray generator.
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"""
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from torch import nn
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from torchtyping import TensorType
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from nerfstudio.cameras.camera_optimizers import CameraOptimizer
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from nerfstudio.cameras.cameras import Cameras
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from nerfstudio.cameras.rays import RayBundle
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from nerfstudio.utils import profiler
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class RayGenerator(nn.Module):
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"""torch.nn Module for generating rays.
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This class is the interface between the scene's cameras/camera optimizer and the ray sampler.
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Args:
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cameras: Camera objects containing camera info.
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pose_optimizer: pose optimization module, for optimizing noisy camera intrinsics/extrinsics.
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"""
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def __init__(self, cameras: Cameras, pose_optimizer: CameraOptimizer) -> None:
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super().__init__()
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self.cameras = cameras
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self.pose_optimizer = pose_optimizer
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self.register_buffer("image_coords", cameras.get_image_coords(), persistent=False)
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@profiler.time_function
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@profile
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def forward(self, ray_indices: TensorType["num_rays", 3]) -> RayBundle:
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"""Index into the cameras to generate the rays.
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Args:
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ray_indices: Contains camera, row, and col indices for target rays.
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"""
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c = ray_indices[:, 0] # camera indices
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y = ray_indices[:, 1] # row indices
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x = ray_indices[:, 2] # col indices
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coords = self.image_coords[y, x]
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camera_opt_to_camera = self.pose_optimizer(c)
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ray_bundle = self.cameras.generate_rays(
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camera_indices=c.unsqueeze(-1),
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coords=coords,
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camera_opt_to_camera=camera_opt_to_camera,
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)
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return ray_bundle
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