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- import torch
- from torch import nn
- import numpy as np
- from utils.graphics_utils import getWorld2View2, getProjectionMatrix
- class Camera(nn.Module):
- def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask,
- image_name, uid,
- trans=np.array([0.0, 0.0, 0.0]), scale=1.0
- ):
- super(Camera, self).__init__()
- self.uid = uid
- self.colmap_id = colmap_id
- self.R = R
- self.T = T
- self.FoVx = FoVx
- self.FoVy = FoVy
- self.image_name = image_name
- self.original_image = image.clamp(0.0, 1.0).cuda()
- self.image_width = self.original_image.shape[2]
- self.image_height = self.original_image.shape[1]
- if gt_alpha_mask is not None:
- self.original_image *= gt_alpha_mask.cuda()
- else:
- self.original_image *= torch.ones((1, self.image_height, self.image_width), device="cuda")
- 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.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.FoVy = fovy
- self.FoVx = fovx
- self.znear = znear
- self.zfar = zfar
- self.world_view_transform = world_view_transform
- self.full_proj_transform = full_proj_transform
- view_inv = torch.inverse(self.world_view_transform)
- self.camera_center = view_inv[3][:3]
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