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- import torch
- import math
- import numpy as np
- from typing import NamedTuple
- class BasicPointCloud(NamedTuple):
- points : np.array
- colors : np.array
- normals : np.array
- def geom_transform_points(points, transf_matrix):
- P, _ = points.shape
- ones = torch.ones(P, 1, dtype=points.dtype, device=points.device)
- points_hom = torch.cat([points, ones], dim=1)
- points_out = torch.matmul(points_hom, transf_matrix.unsqueeze(0))
- denom = points_out[..., 3:] + 0.0000001
- return (points_out[..., :3] / denom).squeeze(dim=0)
- def getWorld2View(R, t):
- Rt = np.zeros((4, 4))
- Rt[:3, :3] = R.transpose()
- Rt[:3, 3] = t
- Rt[3, 3] = 1.0
- return np.float32(Rt)
- def getWorld2View2(R, t, translate=np.array([.0, .0, .0]), scale=1.0):
- Rt = np.zeros((4, 4))
- Rt[:3, :3] = R.transpose()
- Rt[:3, 3] = t
- Rt[3, 3] = 1.0
- C2W = np.linalg.inv(Rt)
- cam_center = C2W[:3, 3]
- cam_center = (cam_center + translate) * scale
- C2W[:3, 3] = cam_center
- Rt = np.linalg.inv(C2W)
- return np.float32(Rt)
- def getProjectionMatrix(znear, zfar, fovX, fovY):
- tanHalfFovY = math.tan((fovY / 2))
- tanHalfFovX = math.tan((fovX / 2))
- top = tanHalfFovY * znear
- bottom = -top
- right = tanHalfFovX * znear
- left = -right
- 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))
- def focal2fov(focal, pixels):
- return 2*math.atan(pixels/(2*focal))
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