mirror of
https://github.com/nerfstudio-project/nerfstudio.git
synced 2026-11-12 02:45:34 +08:00
Ethan Weber
fb440fedf3
* occupancy grid in progress * visualizing occupancy grid. currently restructing field and renderer head outputs * black and pylint. broke nerfw and semantic nerf but it's okay * get_project_root
52 lines
1.9 KiB
Python
52 lines
1.9 KiB
Python
"""
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Base class for the graphs.
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"""
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from abc import abstractmethod
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from torch import nn
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from mattport.structures.rays import PointSamples, RaySamples
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class Field(nn.Module):
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"""Base class for fields."""
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def __init__(self) -> None:
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super().__init__()
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# minimum weight for it to be valid. used to skip querying the field
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# TODO(ethan): avoid the hardcoding
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self.weights_threshold = 1e-4
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def density_fn(self, positions):
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"""Returns only the density. Used primarily with the occupancy grid."""
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point_samples = PointSamples(positions=positions)
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density, _ = self.get_density(point_samples)
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return density
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@abstractmethod
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def get_density(self, point_samples: PointSamples, valid_mask=None):
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"""Computes and returns the densities."""
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@abstractmethod
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def get_outputs(self, point_samples: PointSamples, density_embedding=None, valid_mask=None):
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"""Computes and returns the colors."""
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def forward(self, point_samples: PointSamples, valid_mask_density=None):
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"""Evaluates the field at points along the ray."""
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density, density_embedding = self.get_density(point_samples, valid_mask=valid_mask_density)
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field_outputs = self.get_outputs(point_samples, density_embedding=density_embedding)
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field_outputs["density"] = density
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return field_outputs
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def forward_with_weight_pruning(self, ray_samples: RaySamples, valid_mask_density=None):
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"""Forward but with pruning based on weights, from the densities."""
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density, density_embedding = self.get_density(ray_samples, valid_mask=valid_mask_density)
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weights = ray_samples.get_weights(density)
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valid_mask_outputs = weights >= self.weights_threshold
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field_outputs = self.get_outputs(
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ray_samples, density_embedding=density_embedding, valid_mask=valid_mask_outputs
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)
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field_outputs["density"] = density
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return field_outputs
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