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dvgo.py
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dvgo.py
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import os
import time
import functools
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
import math
from torch_scatter import segment_coo
from . import grid
from torch.utils.cpp_extension import load
parent_dir = os.path.dirname(os.path.abspath(__file__))
render_utils_cuda = load(
name='render_utils_cuda',
sources=[
os.path.join(parent_dir, path)
for path in ['cuda/render_utils.cpp', 'cuda/render_utils_kernel.cu']],
verbose=True)
# Replace this file in the lib of the DVGO: https://github.com/sunset1995/DirectVoxGO.
# Set the iteration number of fine train 25000 to reproduce the paper results.
class Fourier_reparam_linear(nn.Module):
def __init__(self,in_features,out_features,high_freq_num=64,low_freq_num=64,phi_num=64,alpha=0.05):
super(Fourier_reparam_linear,self).__init__()
self.in_features = in_features
self.out_features = out_features
self.high_freq_num =high_freq_num
self.low_freq_num = low_freq_num
self.phi_num = phi_num
self.alpha=alpha
self.bases=self.init_bases()
self.lamb=self.init_lamb()
self.bias=nn.Parameter(torch.Tensor(self.out_features,1),requires_grad=True)
self.init_bias()
def init_bases(self):
phi_set=np.array([2*math.pi*i/self.phi_num for i in range(self.phi_num)])
high_freq=np.array([i+1 for i in range(self.high_freq_num)])
low_freq=np.array([(i+1)/self.low_freq_num for i in range(self.low_freq_num)])
if len(low_freq)!=0:
T_max=2*math.pi/low_freq[0]
else:
T_max=2*math.pi/min(high_freq) # 取最大周期作为取点区间
points=np.linspace(-T_max/2,T_max/2,self.in_features)
bases=torch.Tensor((self.high_freq_num+self.low_freq_num)*self.phi_num,self.in_features)
i=0
for freq in low_freq:
for phi in phi_set:
base=torch.tensor([math.cos(freq*x+phi) for x in points])
bases[i,:]=base
i+=1
for freq in high_freq:
for phi in phi_set:
base=torch.tensor([math.cos(freq*x+phi) for x in points])
bases[i,:]=base
i+=1
bases=self.alpha*bases
bases=nn.Parameter(bases,requires_grad=False)
return bases
def init_lamb(self):
self.lamb=torch.Tensor(self.out_features,(self.high_freq_num+self.low_freq_num)*self.phi_num)
with torch.no_grad():
m=(self.low_freq_num+self.high_freq_num)*self.phi_num
for i in range(m):
dominator=torch.norm(self.bases[i,:],p=2)
self.lamb[:,i]=nn.init.uniform_(self.lamb[:,i],-np.sqrt(6/m)/dominator,np.sqrt(6/m)/dominator)
self.lamb=nn.Parameter(self.lamb,requires_grad=True)
return self.lamb
def init_bias(self):
with torch.no_grad():
nn.init.zeros_(self.bias)
def forward(self,x):
weight=torch.matmul(self.lamb,self.bases)
output=torch.matmul(x,weight.transpose(0,1))
output=output+self.bias.T
return output
'''Model'''
class DirectVoxGO(torch.nn.Module):
def __init__(self, xyz_min, xyz_max,
num_voxels=0, num_voxels_base=0,
alpha_init=None,
mask_cache_path=None, mask_cache_thres=1e-3, mask_cache_world_size=None,
fast_color_thres=0,
density_type='DenseGrid', k0_type='DenseGrid',
density_config={}, k0_config={},
rgbnet_dim=0, rgbnet_direct=False, rgbnet_full_implicit=False,
rgbnet_depth=3, rgbnet_width=128,
viewbase_pe=4,
**kwargs):
super(DirectVoxGO, self).__init__()
self.register_buffer('xyz_min', torch.Tensor(xyz_min))
self.register_buffer('xyz_max', torch.Tensor(xyz_max))
self.fast_color_thres = fast_color_thres
# determine based grid resolution
self.num_voxels_base = num_voxels_base
self.voxel_size_base = ((self.xyz_max - self.xyz_min).prod() / self.num_voxels_base).pow(1/3)
# determine the density bias shift
self.alpha_init = alpha_init
self.register_buffer('act_shift', torch.FloatTensor([np.log(1/(1-alpha_init) - 1)]))
print('dvgo: set density bias shift to', self.act_shift)
# determine init grid resolution
self._set_grid_resolution(num_voxels)
# init density voxel grid
self.density_type = density_type
self.density_config = density_config
self.density = grid.create_grid(
density_type, channels=1, world_size=self.world_size,
xyz_min=self.xyz_min, xyz_max=self.xyz_max,
config=self.density_config)
# init color representation
self.rgbnet_kwargs = {
'rgbnet_dim': rgbnet_dim, 'rgbnet_direct': rgbnet_direct,
'rgbnet_full_implicit': rgbnet_full_implicit,
'rgbnet_depth': rgbnet_depth, 'rgbnet_width': rgbnet_width,
'viewbase_pe': viewbase_pe,
}
self.k0_type = k0_type
self.k0_config = k0_config
self.rgbnet_full_implicit = rgbnet_full_implicit
if rgbnet_dim <= 0:
# color voxel grid (coarse stage)
self.k0_dim = 3
self.k0 = grid.create_grid(
k0_type, channels=self.k0_dim, world_size=self.world_size,
xyz_min=self.xyz_min, xyz_max=self.xyz_max,
config=self.k0_config)
self.rgbnet = None
else:
# feature voxel grid + shallow MLP (fine stage)
if self.rgbnet_full_implicit:
self.k0_dim = 0
else:
self.k0_dim = rgbnet_dim
self.k0 = grid.create_grid(
k0_type, channels=self.k0_dim, world_size=self.world_size,
xyz_min=self.xyz_min, xyz_max=self.xyz_max,
config=self.k0_config)
self.rgbnet_direct = rgbnet_direct
self.register_buffer('viewfreq', torch.FloatTensor([(2**i) for i in range(viewbase_pe)]))
dim0 = (3+3*viewbase_pe*2)
if self.rgbnet_full_implicit:
pass
elif rgbnet_direct:
dim0 += self.k0_dim
else:
dim0 += self.k0_dim-3
# self.rgbnet = nn.Sequential(
# nn.Linear(dim0, rgbnet_width), nn.ReLU(inplace=True),
# *[
# nn.Sequential(nn.Linear(rgbnet_width, rgbnet_width), nn.ReLU(inplace=True))
# for _ in range(rgbnet_depth-2)
# ],
# nn.Linear(rgbnet_width, 3),
# )
self.rgbnet = nn.Sequential(
nn.Linear(dim0, rgbnet_width), nn.ReLU(inplace=True),
*[
nn.Sequential(Fourier_reparam_linear(rgbnet_width, rgbnet_width), nn.ReLU(inplace=True))
for _ in range(rgbnet_depth-2)
],
nn.Linear(rgbnet_width, 3),
)
nn.init.constant_(self.rgbnet[-1].bias, 0)
print('dvgo: feature voxel grid', self.k0)
print('dvgo: mlp', self.rgbnet)
# Using the coarse geometry if provided (used to determine known free space and unknown space)
# Re-implement as occupancy grid (2021/1/31)
self.mask_cache_path = mask_cache_path
self.mask_cache_thres = mask_cache_thres
if mask_cache_world_size is None:
mask_cache_world_size = self.world_size
if mask_cache_path is not None and mask_cache_path:
mask_cache = grid.MaskGrid(
path=mask_cache_path,
mask_cache_thres=mask_cache_thres).to(self.xyz_min.device)
self_grid_xyz = torch.stack(torch.meshgrid(
torch.linspace(self.xyz_min[0], self.xyz_max[0], mask_cache_world_size[0]),
torch.linspace(self.xyz_min[1], self.xyz_max[1], mask_cache_world_size[1]),
torch.linspace(self.xyz_min[2], self.xyz_max[2], mask_cache_world_size[2]),
), -1)
mask = mask_cache(self_grid_xyz)
else:
mask = torch.ones(list(mask_cache_world_size), dtype=torch.bool)
self.mask_cache = grid.MaskGrid(
path=None, mask=mask,
xyz_min=self.xyz_min, xyz_max=self.xyz_max)
def _set_grid_resolution(self, num_voxels):
# Determine grid resolution
self.num_voxels = num_voxels
self.voxel_size = ((self.xyz_max - self.xyz_min).prod() / num_voxels).pow(1/3)
self.world_size = ((self.xyz_max - self.xyz_min) / self.voxel_size).long()
self.voxel_size_ratio = self.voxel_size / self.voxel_size_base
print('dvgo: voxel_size ', self.voxel_size)
print('dvgo: world_size ', self.world_size)
print('dvgo: voxel_size_base ', self.voxel_size_base)
print('dvgo: voxel_size_ratio', self.voxel_size_ratio)
def get_kwargs(self):
return {
'xyz_min': self.xyz_min.cpu().numpy(),
'xyz_max': self.xyz_max.cpu().numpy(),
'num_voxels': self.num_voxels,
'num_voxels_base': self.num_voxels_base,
'alpha_init': self.alpha_init,
'voxel_size_ratio': self.voxel_size_ratio,
'mask_cache_path': self.mask_cache_path,
'mask_cache_thres': self.mask_cache_thres,
'mask_cache_world_size': list(self.mask_cache.mask.shape),
'fast_color_thres': self.fast_color_thres,
'density_type': self.density_type,
'k0_type': self.k0_type,
'density_config': self.density_config,
'k0_config': self.k0_config,
**self.rgbnet_kwargs,
}
@torch.no_grad()
def maskout_near_cam_vox(self, cam_o, near_clip):
# maskout grid points that between cameras and their near planes
self_grid_xyz = torch.stack(torch.meshgrid(
torch.linspace(self.xyz_min[0], self.xyz_max[0], self.world_size[0]),
torch.linspace(self.xyz_min[1], self.xyz_max[1], self.world_size[1]),
torch.linspace(self.xyz_min[2], self.xyz_max[2], self.world_size[2]),
), -1)
nearest_dist = torch.stack([
(self_grid_xyz.unsqueeze(-2) - co).pow(2).sum(-1).sqrt().amin(-1)
for co in cam_o.split(100) # for memory saving
]).amin(0)
self.density.grid[nearest_dist[None,None] <= near_clip] = -100
@torch.no_grad()
def scale_volume_grid(self, num_voxels):
print('dvgo: scale_volume_grid start')
ori_world_size = self.world_size
self._set_grid_resolution(num_voxels)
print('dvgo: scale_volume_grid scale world_size from', ori_world_size.tolist(), 'to', self.world_size.tolist())
self.density.scale_volume_grid(self.world_size)
self.k0.scale_volume_grid(self.world_size)
if np.prod(self.world_size.tolist()) <= 256**3:
self_grid_xyz = torch.stack(torch.meshgrid(
torch.linspace(self.xyz_min[0], self.xyz_max[0], self.world_size[0]),
torch.linspace(self.xyz_min[1], self.xyz_max[1], self.world_size[1]),
torch.linspace(self.xyz_min[2], self.xyz_max[2], self.world_size[2]),
), -1)
self_alpha = F.max_pool3d(self.activate_density(self.density.get_dense_grid()), kernel_size=3, padding=1, stride=1)[0,0]
self.mask_cache = grid.MaskGrid(
path=None, mask=self.mask_cache(self_grid_xyz) & (self_alpha>self.fast_color_thres),
xyz_min=self.xyz_min, xyz_max=self.xyz_max)
print('dvgo: scale_volume_grid finish')
@torch.no_grad()
def update_occupancy_cache(self):
cache_grid_xyz = torch.stack(torch.meshgrid(
torch.linspace(self.xyz_min[0], self.xyz_max[0], self.mask_cache.mask.shape[0]),
torch.linspace(self.xyz_min[1], self.xyz_max[1], self.mask_cache.mask.shape[1]),
torch.linspace(self.xyz_min[2], self.xyz_max[2], self.mask_cache.mask.shape[2]),
), -1)
cache_grid_density = self.density(cache_grid_xyz)[None,None]
cache_grid_alpha = self.activate_density(cache_grid_density)
cache_grid_alpha = F.max_pool3d(cache_grid_alpha, kernel_size=3, padding=1, stride=1)[0,0]
self.mask_cache.mask &= (cache_grid_alpha > self.fast_color_thres)
def voxel_count_views(self, rays_o_tr, rays_d_tr, imsz, near, far, stepsize, downrate=1, irregular_shape=False):
print('dvgo: voxel_count_views start')
far = 1e9 # the given far can be too small while rays stop when hitting scene bbox
eps_time = time.time()
N_samples = int(np.linalg.norm(np.array(self.world_size.cpu())+1) / stepsize) + 1
rng = torch.arange(N_samples)[None].float()
count = torch.zeros_like(self.density.get_dense_grid())
device = rng.device
for rays_o_, rays_d_ in zip(rays_o_tr.split(imsz), rays_d_tr.split(imsz)):
ones = grid.DenseGrid(1, self.world_size, self.xyz_min, self.xyz_max)
if irregular_shape:
rays_o_ = rays_o_.split(10000)
rays_d_ = rays_d_.split(10000)
else:
rays_o_ = rays_o_[::downrate, ::downrate].to(device).flatten(0,-2).split(10000)
rays_d_ = rays_d_[::downrate, ::downrate].to(device).flatten(0,-2).split(10000)
for rays_o, rays_d in zip(rays_o_, rays_d_):
vec = torch.where(rays_d==0, torch.full_like(rays_d, 1e-6), rays_d)
rate_a = (self.xyz_max - rays_o) / vec
rate_b = (self.xyz_min - rays_o) / vec
t_min = torch.minimum(rate_a, rate_b).amax(-1).clamp(min=near, max=far)
t_max = torch.maximum(rate_a, rate_b).amin(-1).clamp(min=near, max=far)
step = stepsize * self.voxel_size * rng
interpx = (t_min[...,None] + step/rays_d.norm(dim=-1,keepdim=True))
rays_pts = rays_o[...,None,:] + rays_d[...,None,:] * interpx[...,None]
ones(rays_pts).sum().backward()
with torch.no_grad():
count += (ones.grid.grad > 1)
eps_time = time.time() - eps_time
print('dvgo: voxel_count_views finish (eps time:', eps_time, 'sec)')
return count
def density_total_variation_add_grad(self, weight, dense_mode):
w = weight * self.world_size.max() / 128
self.density.total_variation_add_grad(w, w, w, dense_mode)
def k0_total_variation_add_grad(self, weight, dense_mode):
w = weight * self.world_size.max() / 128
self.k0.total_variation_add_grad(w, w, w, dense_mode)
def activate_density(self, density, interval=None):
interval = interval if interval is not None else self.voxel_size_ratio
shape = density.shape
return Raw2Alpha.apply(density.flatten(), self.act_shift, interval).reshape(shape)
def hit_coarse_geo(self, rays_o, rays_d, near, far, stepsize, **render_kwargs):
'''Check whether the rays hit the solved coarse geometry or not'''
far = 1e9 # the given far can be too small while rays stop when hitting scene bbox
shape = rays_o.shape[:-1]
rays_o = rays_o.reshape(-1, 3).contiguous()
rays_d = rays_d.reshape(-1, 3).contiguous()
stepdist = stepsize * self.voxel_size
ray_pts, mask_outbbox, ray_id = render_utils_cuda.sample_pts_on_rays(
rays_o, rays_d, self.xyz_min, self.xyz_max, near, far, stepdist)[:3]
mask_inbbox = ~mask_outbbox
hit = torch.zeros([len(rays_o)], dtype=torch.bool)
hit[ray_id[mask_inbbox][self.mask_cache(ray_pts[mask_inbbox])]] = 1
return hit.reshape(shape)
def sample_ray(self, rays_o, rays_d, near, far, stepsize, **render_kwargs):
'''Sample query points on rays.
All the output points are sorted from near to far.
Input:
rays_o, rayd_d: both in [N, 3] indicating ray configurations.
near, far: the near and far distance of the rays.
stepsize: the number of voxels of each sample step.
Output:
ray_pts: [M, 3] storing all the sampled points.
ray_id: [M] the index of the ray of each point.
step_id: [M] the i'th step on a ray of each point.
'''
far = 1e9 # the given far can be too small while rays stop when hitting scene bbox
rays_o = rays_o.contiguous()
rays_d = rays_d.contiguous()
stepdist = stepsize * self.voxel_size
ray_pts, mask_outbbox, ray_id, step_id, N_steps, t_min, t_max = render_utils_cuda.sample_pts_on_rays(
rays_o, rays_d, self.xyz_min, self.xyz_max, near, far, stepdist)
mask_inbbox = ~mask_outbbox
ray_pts = ray_pts[mask_inbbox]
ray_id = ray_id[mask_inbbox]
step_id = step_id[mask_inbbox]
return ray_pts, ray_id, step_id
def forward(self, rays_o, rays_d, viewdirs, global_step=None, **render_kwargs):
'''Volume rendering
@rays_o: [N, 3] the starting point of the N shooting rays.
@rays_d: [N, 3] the shooting direction of the N rays.
@viewdirs: [N, 3] viewing direction to compute positional embedding for MLP.
'''
assert len(rays_o.shape)==2 and rays_o.shape[-1]==3, 'Only suuport point queries in [N, 3] format'
ret_dict = {}
N = len(rays_o)
# sample points on rays
ray_pts, ray_id, step_id = self.sample_ray(
rays_o=rays_o, rays_d=rays_d, **render_kwargs)
interval = render_kwargs['stepsize'] * self.voxel_size_ratio
# skip known free space
if self.mask_cache is not None:
mask = self.mask_cache(ray_pts)
ray_pts = ray_pts[mask]
ray_id = ray_id[mask]
step_id = step_id[mask]
# query for alpha w/ post-activation
density = self.density(ray_pts)
alpha = self.activate_density(density, interval)
if self.fast_color_thres > 0:
mask = (alpha > self.fast_color_thres)
ray_pts = ray_pts[mask]
ray_id = ray_id[mask]
step_id = step_id[mask]
density = density[mask]
alpha = alpha[mask]
# compute accumulated transmittance
weights, alphainv_last = Alphas2Weights.apply(alpha, ray_id, N)
if self.fast_color_thres > 0:
mask = (weights > self.fast_color_thres)
weights = weights[mask]
alpha = alpha[mask]
ray_pts = ray_pts[mask]
ray_id = ray_id[mask]
step_id = step_id[mask]
# query for color
if self.rgbnet_full_implicit:
pass
else:
k0 = self.k0(ray_pts)
if self.rgbnet is None:
# no view-depend effect
rgb = torch.sigmoid(k0)
else:
# view-dependent color emission
if self.rgbnet_direct:
k0_view = k0
else:
k0_view = k0[:, 3:]
k0_diffuse = k0[:, :3]
viewdirs_emb = (viewdirs.unsqueeze(-1) * self.viewfreq).flatten(-2)
viewdirs_emb = torch.cat([viewdirs, viewdirs_emb.sin(), viewdirs_emb.cos()], -1)
viewdirs_emb = viewdirs_emb.flatten(0,-2)[ray_id]
rgb_feat = torch.cat([k0_view, viewdirs_emb], -1)
rgb_logit = self.rgbnet(rgb_feat)
if self.rgbnet_direct:
rgb = torch.sigmoid(rgb_logit)
else:
rgb = torch.sigmoid(rgb_logit + k0_diffuse)
# Ray marching
rgb_marched = segment_coo(
src=(weights.unsqueeze(-1) * rgb),
index=ray_id,
out=torch.zeros([N, 3]),
reduce='sum')
rgb_marched += (alphainv_last.unsqueeze(-1) * render_kwargs['bg'])
ret_dict.update({
'alphainv_last': alphainv_last,
'weights': weights,
'rgb_marched': rgb_marched,
'raw_alpha': alpha,
'raw_rgb': rgb,
'ray_id': ray_id,
})
if render_kwargs.get('render_depth', False):
with torch.no_grad():
depth = segment_coo(
src=(weights * step_id),
index=ray_id,
out=torch.zeros([N]),
reduce='sum')
ret_dict.update({'depth': depth})
return ret_dict
''' Misc
'''
class Raw2Alpha(torch.autograd.Function):
@staticmethod
def forward(ctx, density, shift, interval):
'''
alpha = 1 - exp(-softplus(density + shift) * interval)
= 1 - exp(-log(1 + exp(density + shift)) * interval)
= 1 - exp(log(1 + exp(density + shift)) ^ (-interval))
= 1 - (1 + exp(density + shift)) ^ (-interval)
'''
exp, alpha = render_utils_cuda.raw2alpha(density, shift, interval)
if density.requires_grad:
ctx.save_for_backward(exp)
ctx.interval = interval
return alpha
@staticmethod
@torch.autograd.function.once_differentiable
def backward(ctx, grad_back):
'''
alpha' = interval * ((1 + exp(density + shift)) ^ (-interval-1)) * exp(density + shift)'
= interval * ((1 + exp(density + shift)) ^ (-interval-1)) * exp(density + shift)
'''
exp = ctx.saved_tensors[0]
interval = ctx.interval
return render_utils_cuda.raw2alpha_backward(exp, grad_back.contiguous(), interval), None, None
class Raw2Alpha_nonuni(torch.autograd.Function):
@staticmethod
def forward(ctx, density, shift, interval):
exp, alpha = render_utils_cuda.raw2alpha_nonuni(density, shift, interval)
if density.requires_grad:
ctx.save_for_backward(exp)
ctx.interval = interval
return alpha
@staticmethod
@torch.autograd.function.once_differentiable
def backward(ctx, grad_back):
exp = ctx.saved_tensors[0]
interval = ctx.interval
return render_utils_cuda.raw2alpha_nonuni_backward(exp, grad_back.contiguous(), interval), None, None
class Alphas2Weights(torch.autograd.Function):
@staticmethod
def forward(ctx, alpha, ray_id, N):
weights, T, alphainv_last, i_start, i_end = render_utils_cuda.alpha2weight(alpha, ray_id, N)
if alpha.requires_grad:
ctx.save_for_backward(alpha, weights, T, alphainv_last, i_start, i_end)
ctx.n_rays = N
return weights, alphainv_last
@staticmethod
@torch.autograd.function.once_differentiable
def backward(ctx, grad_weights, grad_last):
alpha, weights, T, alphainv_last, i_start, i_end = ctx.saved_tensors
grad = render_utils_cuda.alpha2weight_backward(
alpha, weights, T, alphainv_last,
i_start, i_end, ctx.n_rays, grad_weights, grad_last)
return grad, None, None
''' Ray and batch
'''
def get_rays(H, W, K, c2w, inverse_y, flip_x, flip_y, mode='center'):
i, j = torch.meshgrid(
torch.linspace(0, W-1, W, device=c2w.device),
torch.linspace(0, H-1, H, device=c2w.device)) # pytorch's meshgrid has indexing='ij'
i = i.t().float()
j = j.t().float()
if mode == 'lefttop':
pass
elif mode == 'center':
i, j = i+0.5, j+0.5
elif mode == 'random':
i = i+torch.rand_like(i)
j = j+torch.rand_like(j)
else:
raise NotImplementedError
if flip_x:
i = i.flip((1,))
if flip_y:
j = j.flip((0,))
if inverse_y:
dirs = torch.stack([(i-K[0][2])/K[0][0], (j-K[1][2])/K[1][1], torch.ones_like(i)], -1)
else:
dirs = torch.stack([(i-K[0][2])/K[0][0], -(j-K[1][2])/K[1][1], -torch.ones_like(i)], -1)
# Rotate ray directions from camera frame to the world frame
rays_d = torch.sum(dirs[..., np.newaxis, :] * c2w[:3,:3], -1) # dot product, equals to: [c2w.dot(dir) for dir in dirs]
# Translate camera frame's origin to the world frame. It is the origin of all rays.
rays_o = c2w[:3,3].expand(rays_d.shape)
return rays_o, rays_d
def get_rays_np(H, W, K, c2w):
i, j = np.meshgrid(np.arange(W, dtype=np.float32), np.arange(H, dtype=np.float32), indexing='xy')
dirs = np.stack([(i-K[0][2])/K[0][0], -(j-K[1][2])/K[1][1], -np.ones_like(i)], -1)
# Rotate ray directions from camera frame to the world frame
rays_d = np.sum(dirs[..., np.newaxis, :] * c2w[:3,:3], -1) # dot product, equals to: [c2w.dot(dir) for dir in dirs]
# Translate camera frame's origin to the world frame. It is the origin of all rays.
rays_o = np.broadcast_to(c2w[:3,3], np.shape(rays_d))
return rays_o, rays_d
def ndc_rays(H, W, focal, near, rays_o, rays_d):
# Shift ray origins to near plane
t = -(near + rays_o[...,2]) / rays_d[...,2]
rays_o = rays_o + t[...,None] * rays_d
# Projection
o0 = -1./(W/(2.*focal)) * rays_o[...,0] / rays_o[...,2]
o1 = -1./(H/(2.*focal)) * rays_o[...,1] / rays_o[...,2]
o2 = 1. + 2. * near / rays_o[...,2]
d0 = -1./(W/(2.*focal)) * (rays_d[...,0]/rays_d[...,2] - rays_o[...,0]/rays_o[...,2])
d1 = -1./(H/(2.*focal)) * (rays_d[...,1]/rays_d[...,2] - rays_o[...,1]/rays_o[...,2])
d2 = -2. * near / rays_o[...,2]
rays_o = torch.stack([o0,o1,o2], -1)
rays_d = torch.stack([d0,d1,d2], -1)
return rays_o, rays_d
def get_rays_of_a_view(H, W, K, c2w, ndc, inverse_y, flip_x, flip_y, mode='center'):
rays_o, rays_d = get_rays(H, W, K, c2w, inverse_y=inverse_y, flip_x=flip_x, flip_y=flip_y, mode=mode)
viewdirs = rays_d / rays_d.norm(dim=-1, keepdim=True)
if ndc:
rays_o, rays_d = ndc_rays(H, W, K[0][0], 1., rays_o, rays_d)
return rays_o, rays_d, viewdirs
@torch.no_grad()
def get_training_rays(rgb_tr, train_poses, HW, Ks, ndc, inverse_y, flip_x, flip_y):
print('get_training_rays: start')
assert len(np.unique(HW, axis=0)) == 1
assert len(np.unique(Ks.reshape(len(Ks),-1), axis=0)) == 1
assert len(rgb_tr) == len(train_poses) and len(rgb_tr) == len(Ks) and len(rgb_tr) == len(HW)
H, W = HW[0]
K = Ks[0]
eps_time = time.time()
rays_o_tr = torch.zeros([len(rgb_tr), H, W, 3], device=rgb_tr.device)
rays_d_tr = torch.zeros([len(rgb_tr), H, W, 3], device=rgb_tr.device)
viewdirs_tr = torch.zeros([len(rgb_tr), H, W, 3], device=rgb_tr.device)
imsz = [1] * len(rgb_tr)
for i, c2w in enumerate(train_poses):
rays_o, rays_d, viewdirs = get_rays_of_a_view(
H=H, W=W, K=K, c2w=c2w, ndc=ndc, inverse_y=inverse_y, flip_x=flip_x, flip_y=flip_y)
rays_o_tr[i].copy_(rays_o.to(rgb_tr.device))
rays_d_tr[i].copy_(rays_d.to(rgb_tr.device))
viewdirs_tr[i].copy_(viewdirs.to(rgb_tr.device))
del rays_o, rays_d, viewdirs
eps_time = time.time() - eps_time
print('get_training_rays: finish (eps time:', eps_time, 'sec)')
return rgb_tr, rays_o_tr, rays_d_tr, viewdirs_tr, imsz
@torch.no_grad()
def get_training_rays_flatten(rgb_tr_ori, train_poses, HW, Ks, ndc, inverse_y, flip_x, flip_y):
print('get_training_rays_flatten: start')
assert len(rgb_tr_ori) == len(train_poses) and len(rgb_tr_ori) == len(Ks) and len(rgb_tr_ori) == len(HW)
eps_time = time.time()
DEVICE = rgb_tr_ori[0].device
N = sum(im.shape[0] * im.shape[1] for im in rgb_tr_ori)
rgb_tr = torch.zeros([N,3], device=DEVICE)
rays_o_tr = torch.zeros_like(rgb_tr)
rays_d_tr = torch.zeros_like(rgb_tr)
viewdirs_tr = torch.zeros_like(rgb_tr)
imsz = []
top = 0
for c2w, img, (H, W), K in zip(train_poses, rgb_tr_ori, HW, Ks):
assert img.shape[:2] == (H, W)
rays_o, rays_d, viewdirs = get_rays_of_a_view(
H=H, W=W, K=K, c2w=c2w, ndc=ndc,
inverse_y=inverse_y, flip_x=flip_x, flip_y=flip_y)
n = H * W
rgb_tr[top:top+n].copy_(img.flatten(0,1))
rays_o_tr[top:top+n].copy_(rays_o.flatten(0,1).to(DEVICE))
rays_d_tr[top:top+n].copy_(rays_d.flatten(0,1).to(DEVICE))
viewdirs_tr[top:top+n].copy_(viewdirs.flatten(0,1).to(DEVICE))
imsz.append(n)
top += n
assert top == N
eps_time = time.time() - eps_time
print('get_training_rays_flatten: finish (eps time:', eps_time, 'sec)')
return rgb_tr, rays_o_tr, rays_d_tr, viewdirs_tr, imsz
@torch.no_grad()
def get_training_rays_in_maskcache_sampling(rgb_tr_ori, train_poses, HW, Ks, ndc, inverse_y, flip_x, flip_y, model, render_kwargs):
print('get_training_rays_in_maskcache_sampling: start')
assert len(rgb_tr_ori) == len(train_poses) and len(rgb_tr_ori) == len(Ks) and len(rgb_tr_ori) == len(HW)
CHUNK = 64
DEVICE = rgb_tr_ori[0].device
eps_time = time.time()
N = sum(im.shape[0] * im.shape[1] for im in rgb_tr_ori)
rgb_tr = torch.zeros([N,3], device=DEVICE)
rays_o_tr = torch.zeros_like(rgb_tr)
rays_d_tr = torch.zeros_like(rgb_tr)
viewdirs_tr = torch.zeros_like(rgb_tr)
imsz = []
top = 0
for c2w, img, (H, W), K in zip(train_poses, rgb_tr_ori, HW, Ks):
assert img.shape[:2] == (H, W)
rays_o, rays_d, viewdirs = get_rays_of_a_view(
H=H, W=W, K=K, c2w=c2w, ndc=ndc,
inverse_y=inverse_y, flip_x=flip_x, flip_y=flip_y)
mask = torch.empty(img.shape[:2], device=DEVICE, dtype=torch.bool)
for i in range(0, img.shape[0], CHUNK):
mask[i:i+CHUNK] = model.hit_coarse_geo(
rays_o=rays_o[i:i+CHUNK], rays_d=rays_d[i:i+CHUNK], **render_kwargs).to(DEVICE)
n = mask.sum()
rgb_tr[top:top+n].copy_(img[mask])
rays_o_tr[top:top+n].copy_(rays_o[mask].to(DEVICE))
rays_d_tr[top:top+n].copy_(rays_d[mask].to(DEVICE))
viewdirs_tr[top:top+n].copy_(viewdirs[mask].to(DEVICE))
imsz.append(n)
top += n
print('get_training_rays_in_maskcache_sampling: ratio', top / N)
rgb_tr = rgb_tr[:top]
rays_o_tr = rays_o_tr[:top]
rays_d_tr = rays_d_tr[:top]
viewdirs_tr = viewdirs_tr[:top]
eps_time = time.time() - eps_time
print('get_training_rays_in_maskcache_sampling: finish (eps time:', eps_time, 'sec)')
return rgb_tr, rays_o_tr, rays_d_tr, viewdirs_tr, imsz
def batch_indices_generator(N, BS):
# torch.randperm on cuda produce incorrect results in my machine
idx, top = torch.LongTensor(np.random.permutation(N)), 0
while True:
if top + BS > N:
idx, top = torch.LongTensor(np.random.permutation(N)), 0
yield idx[top:top+BS]
top += BS