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# SPDX-FileCopyrightText: Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: LicenseRef-NvidiaProprietary
#
# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
# property and proprietary rights in and to this material, related
# documentation and any modifications thereto. Any use, reproduction,
# disclosure or distribution of this material and related documentation
# without an express license agreement from NVIDIA CORPORATION or
# its affiliates is strictly prohibited.
"""
The ray sampler is a module that takes in camera matrices and resolution and batches of rays.
Expects cam2world matrices that use the OpenCV camera coordinate system conventions.
"""
import torch
class RaySampler(torch.nn.Module):
def __init__(self):
super().__init__()
self.ray_origins_h, self.ray_directions, self.depths, self.image_coords, self.rendering_options = None, None, None, None, None
def forward(self, cam2world_matrix, intrinsics, resolution):
"""
Create batches of rays and return origins and directions.
cam2world_matrix: (N, 4, 4)
intrinsics: (N, 3, 3)
resolution: int
ray_origins: (N, M, 3)
ray_dirs: (N, M, 2)
"""
N, M = cam2world_matrix.shape[0], resolution**2
cam_locs_world = cam2world_matrix[:, :3, 3]
fx = intrinsics[:, 0, 0]
fy = intrinsics[:, 1, 1]
cx = intrinsics[:, 0, 2]
cy = intrinsics[:, 1, 2]
sk = intrinsics[:, 0, 1]
uv = torch.stack(torch.meshgrid(torch.arange(resolution, dtype=torch.float32, device=cam2world_matrix.device),
torch.arange(resolution, dtype=torch.float32, device=cam2world_matrix.device), indexing='ij')) * (1./resolution) + (0.5/resolution)
uv = uv.flip(0).reshape(2, -1).transpose(1, 0)
uv = uv.unsqueeze(0).repeat(cam2world_matrix.shape[0], 1, 1)
x_cam = uv[:, :, 0].view(N, -1)
y_cam = uv[:, :, 1].view(N, -1)
z_cam = torch.ones((N, M), device=cam2world_matrix.device)
x_lift = (x_cam - cx.unsqueeze(-1) + cy.unsqueeze(-1)*sk.unsqueeze(-1)/fy.unsqueeze(-1) - sk.unsqueeze(-1)*y_cam/fy.unsqueeze(-1)) / fx.unsqueeze(-1) * z_cam
y_lift = (y_cam - cy.unsqueeze(-1)) / fy.unsqueeze(-1) * z_cam
cam_rel_points = torch.stack((x_lift, y_lift, z_cam, torch.ones_like(z_cam)), dim=-1)
world_rel_points = torch.bmm(cam2world_matrix, cam_rel_points.permute(0, 2, 1)).permute(0, 2, 1)[:, :, :3]
ray_dirs = world_rel_points - cam_locs_world[:, None, :]
ray_dirs = torch.nn.functional.normalize(ray_dirs, dim=2)
ray_origins = cam_locs_world.unsqueeze(1).repeat(1, ray_dirs.shape[1], 1)
return ray_origins, ray_dirs
class RaySampler_zxc(torch.nn.Module):
def __init__(self):
super().__init__()
self.ray_origins_h, self.ray_directions, self.depths, self.image_coords, self.rendering_options = None, None, None, None, None
def forward(self, cam2world_matrix, cam_K, resolution, normalize=True):
"""
Create batches of rays and return origins and directions.
cam2world_matrix: (N, 4, 4)
intrinsics: (N, 3, 3)
resolution: int
ray_origins: (N, M, 3)
ray_dirs: (N, M, 2)
"""
N, M = cam2world_matrix.shape[0], resolution**2
intrinsics = cam_K.clone()
intrinsics[:, :2] *= resolution
ray_origins, ray_dirs = [], []
for n in range(N):
# K_inv = torch.from_numpy(np.linalg.inv(K)).to(c2w.device)
K_inv = torch.linalg.inv(intrinsics[n])
c2w = cam2world_matrix[n]
i, j = torch.meshgrid(torch.linspace(0, resolution - 1, resolution, device=intrinsics.device),
torch.linspace(0, resolution - 1, resolution, device=intrinsics.device)) # pytorch's meshgrid has indexing='ij'
i = i.t()
j = j.t()
homo_indices = torch.stack((i, j, torch.ones_like(i)), -1) # [H, W, 3]
dirs = (K_inv[None, ...] @ homo_indices[..., None])[:, :, :, 0]
# Rotate ray directions from camera frame to the world frame
rays_d = (c2w[None, :3, :3] @ dirs[..., None])[:, :, :, 0] # [H, W, 3]
if normalize:
rays_d = torch.nn.functional.normalize(rays_d, dim=-1)
# Translate camera frame's origin to the world frame. It is the origin of all rays.
rays_o = c2w[:3, -1]
rays_o = rays_o.expand(rays_d.shape)
ray_dirs.append(rays_d.reshape(-1, 3))
ray_origins.append(rays_o.reshape(-1, 3))
return torch.stack(ray_origins, dim=0), torch.stack(ray_dirs, dim=0) |