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Add supportment for non-centralized pinhole cameras data #74

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Add supportment for non-centralized pinhole cameras data #74

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12 changes: 6 additions & 6 deletions scene/cameras.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
# GRAPHDECO research group, https://team.inria.fr/graphdeco
# All rights reserved.
#
# This software is free for non-commercial, research and evaluation use
# This software is free for non-commercial, research and evaluation use
# under the terms of the LICENSE.md file.
#
# For inquiries contact george.drettakis@inria.fr
Expand All @@ -12,11 +12,11 @@
import torch
from torch import nn
import numpy as np
from utils.graphics_utils import getWorld2View2, getProjectionMatrix
from utils.graphics_utils import getWorld2View2, getProjectionMatrixShift

class Camera(nn.Module):
def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask,
image_name, uid,
image_name, uid, principal_point_ndc,
trans=np.array([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda"
):
super(Camera, self).__init__()
Expand Down Expand Up @@ -46,22 +46,22 @@ def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask,
else:
self.original_image *= torch.ones((1, self.image_height, self.image_width), device=self.data_device)
self.gt_alpha_mask = None

self.zfar = 100.0
self.znear = 0.01

self.trans = trans
self.scale = scale

self.world_view_transform = torch.tensor(getWorld2View2(R, T, trans, scale)).transpose(0, 1).cuda()
self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy).transpose(0,1).cuda()
self.projection_matrix = getProjectionMatrixShift(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy, width=self.image_width, height=self.image_height, principal_point_ndc=principal_point_ndc).transpose(0,1).cuda()
self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0)
self.camera_center = self.world_view_transform.inverse()[3, :3]

class MiniCam:
def __init__(self, width, height, fovy, fovx, znear, zfar, world_view_transform, full_proj_transform):
self.image_width = width
self.image_height = height
self.image_height = height
self.FoVy = fovy
self.FoVx = fovx
self.znear = znear
Expand Down
22 changes: 15 additions & 7 deletions scene/dataset_readers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
# GRAPHDECO research group, https://team.inria.fr/graphdeco
# All rights reserved.
#
# This software is free for non-commercial, research and evaluation use
# This software is free for non-commercial, research and evaluation use
# under the terms of the LICENSE.md file.
#
# For inquiries contact george.drettakis@inria.fr
Expand Down Expand Up @@ -34,6 +34,7 @@ class CameraInfo(NamedTuple):
image_name: str
width: int
height: int
principal_point_ndc: np.array

class SceneInfo(NamedTuple):
point_cloud: BasicPointCloud
Expand Down Expand Up @@ -84,22 +85,29 @@ def readColmapCameras(cam_extrinsics, cam_intrinsics, images_folder):

if intr.model=="SIMPLE_PINHOLE":
focal_length_x = intr.params[0]
cx = intr.params[1]
cy = intr.params[2]
FovY = focal2fov(focal_length_x, height)
FovX = focal2fov(focal_length_x, width)
elif intr.model=="PINHOLE":
focal_length_x = intr.params[0]
focal_length_y = intr.params[1]
cx = intr.params[2]
cy = intr.params[3]
FovY = focal2fov(focal_length_y, height)
FovX = focal2fov(focal_length_x, width)
else:
assert False, "Colmap camera model not handled: only undistorted datasets (PINHOLE or SIMPLE_PINHOLE cameras) supported!"

principal_point_ndc = np.array([cx / width, cy / height])

image_path = os.path.join(images_folder, os.path.basename(extr.name))
image_name = os.path.basename(image_path).split(".")[0]
image = Image.open(image_path)

cam_info = CameraInfo(uid=uid, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
image_path=image_path, image_name=image_name, width=width, height=height)
image_path=image_path, image_name=image_name, width=width, height=height,
principal_point_ndc=principal_point_ndc)
cam_infos.append(cam_info)
sys.stdout.write('\n')
return cam_infos
Expand All @@ -117,7 +125,7 @@ def storePly(path, xyz, rgb):
dtype = [('x', 'f4'), ('y', 'f4'), ('z', 'f4'),
('nx', 'f4'), ('ny', 'f4'), ('nz', 'f4'),
('red', 'u1'), ('green', 'u1'), ('blue', 'u1')]

normals = np.zeros_like(xyz)

elements = np.empty(xyz.shape[0], dtype=dtype)
Expand Down Expand Up @@ -210,20 +218,20 @@ def readCamerasFromTransforms(path, transformsfile, white_background, extension=
image = Image.fromarray(np.array(arr*255.0, dtype=np.byte), "RGB")

fovy = focal2fov(fov2focal(fovx, image.size[0]), image.size[1])
FovY = fovy
FovY = fovy
FovX = fovx

cam_infos.append(CameraInfo(uid=idx, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
image_path=image_path, image_name=image_name, width=image.size[0], height=image.size[1]))

return cam_infos

def readNerfSyntheticInfo(path, white_background, eval, extension=".png"):
print("Reading Training Transforms")
train_cam_infos = readCamerasFromTransforms(path, "transforms_train.json", white_background, extension)
print("Reading Test Transforms")
test_cam_infos = readCamerasFromTransforms(path, "transforms_test.json", white_background, extension)

if not eval:
train_cam_infos.extend(test_cam_infos)
test_cam_infos = []
Expand All @@ -235,7 +243,7 @@ def readNerfSyntheticInfo(path, white_background, eval, extension=".png"):
# Since this data set has no colmap data, we start with random points
num_pts = 100_000
print(f"Generating random point cloud ({num_pts})...")

# We create random points inside the bounds of the synthetic Blender scenes
xyz = np.random.random((num_pts, 3)) * 2.6 - 1.3
shs = np.random.random((num_pts, 3)) / 255.0
Expand Down
10 changes: 6 additions & 4 deletions utils/camera_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
# GRAPHDECO research group, https://team.inria.fr/graphdeco
# All rights reserved.
#
# This software is free for non-commercial, research and evaluation use
# This software is free for non-commercial, research and evaluation use
# under the terms of the LICENSE.md file.
#
# For inquiries contact george.drettakis@inria.fr
Expand Down Expand Up @@ -48,10 +48,12 @@ def loadCam(args, id, cam_info, resolution_scale):
loaded_mask = None
gt_image = resized_image_rgb

return Camera(colmap_id=cam_info.uid, R=cam_info.R, T=cam_info.T,
FoVx=cam_info.FovX, FoVy=cam_info.FovY,
return Camera(colmap_id=cam_info.uid, R=cam_info.R, T=cam_info.T,
FoVx=cam_info.FovX, FoVy=cam_info.FovY,
image=gt_image, gt_alpha_mask=loaded_mask,
image_name=cam_info.image_name, uid=id, data_device=args.data_device)
image_name=cam_info.image_name, uid=id,
principal_point_ndc=cam_info.principal_point_ndc,
data_device=args.data_device)

def cameraList_from_camInfos(cam_infos, resolution_scale, args):
camera_list = []
Expand Down
40 changes: 39 additions & 1 deletion utils/graphics_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
# GRAPHDECO research group, https://team.inria.fr/graphdeco
# All rights reserved.
#
# This software is free for non-commercial, research and evaluation use
# This software is free for non-commercial, research and evaluation use
# under the terms of the LICENSE.md file.
#
# For inquiries contact george.drettakis@inria.fr
Expand Down Expand Up @@ -70,6 +70,44 @@ def getProjectionMatrix(znear, zfar, fovX, fovY):
P[2, 3] = -(zfar * znear) / (zfar - znear)
return P

def getProjectionMatrixShift(znear, zfar, fovX, fovY, width, height, principal_point_ndc):
tanHalfFovY = math.tan((fovY / 2))
tanHalfFovX = math.tan((fovX / 2))

# the origin at center of image plane
top = tanHalfFovY * znear
bottom = -top
right = tanHalfFovX * znear
left = -right

# shift the frame window due to the non-zero principle point offsets
cx = width * principal_point_ndc[0]
cy = height * principal_point_ndc[1]
focal_x = fov2focal(fovX, width)
focal_y = fov2focal(fovY, height)
offset_x = cx - (width / 2)
offset_x = (offset_x / focal_x) * znear
offset_y = cy - (height / 2)
offset_y = (offset_y / focal_y) * znear

top = top + offset_y
left = left + offset_x
right = right + offset_x
bottom = bottom + offset_y

P = torch.zeros(4, 4)

z_sign = 1.0

P[0, 0] = 2.0 * znear / (right - left)
P[1, 1] = 2.0 * znear / (top - bottom)
P[0, 2] = (right + left) / (right - left)
P[1, 2] = (top + bottom) / (top - bottom)
P[3, 2] = z_sign
P[2, 2] = z_sign * zfar / (zfar - znear)
P[2, 3] = -(zfar * znear) / (zfar - znear)
return P

def fov2focal(fov, pixels):
return pixels / (2 * math.tan(fov / 2))

Expand Down