mirror of
https://github.com/nerfstudio-project/nerfstudio.git
synced 2026-11-11 10:34:29 +08:00
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
23 lines
639 B
Python
23 lines
639 B
Python
"""
|
|
Code to test the occupancy grid.
|
|
"""
|
|
|
|
import torch
|
|
from mattport.nerf.occupancy_grid import OccupancyGrid
|
|
|
|
|
|
def test_occupancy_grid():
|
|
"""For testing the occupancy grid."""
|
|
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
|
|
num_cascades = 1
|
|
resolution = 128
|
|
aabb = torch.tensor([[-1, -1, -1], [1, 1, 1]], dtype=torch.float32).to(device)
|
|
grid = OccupancyGrid(num_cascades, resolution, aabb)
|
|
grid.to(device)
|
|
density_fn = lambda x: x[..., 0:1] # xyz (..., 3) => density (...,)
|
|
grid.update_occupancy_grid(density_fn=density_fn)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
test_occupancy_grid()
|