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data_utils.py
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data_utils.py
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from pytorch3d.renderer import (
PerspectiveCameras,
look_at_view_transform
)
import numpy as np
import torch
# Basic data loading
def dataset_from_config(
cfg,
):
dataset = []
for cam_idx, cam_key in enumerate(cfg.cameras.keys()):
cam_cfg = cfg.cameras[cam_key]
# Create camera parameters
R, T = look_at_view_transform(
eye=(cam_cfg.eye,),
at=(cam_cfg.scene_center,),
up=(cam_cfg.up,),
)
focal = torch.tensor([cam_cfg.focal])[None]
principal_point = torch.tensor(cam_cfg.principal_point)[None]
# Assemble the dataset
image = None
if 'image' in cam_cfg and cam_cfg.image is not None:
image = torch.tensor(np.load(cam_cfg.image))[None]
dataset.append(
{
"image": image,
"camera": PerspectiveCameras(
focal_length=focal,
principal_point=principal_point,
R=R,
T=T,
),
"camera_idx": cam_idx,
}
)
return dataset
# Spiral cameras looking at the origin
def create_surround_cameras(radius, n_poses=20, up=(0.0, 1.0, 0.0), focal_length=1.0):
cameras = []
for theta in np.linspace(0, 2 * np.pi, n_poses + 1)[:-1]:
if np.abs(up[1]) > 0:
eye = [np.cos(theta + np.pi / 2) * radius, 0, -np.sin(theta + np.pi / 2) * radius]
else:
eye = [np.cos(theta + np.pi / 2) * radius, np.sin(theta + np.pi / 2) * radius, 2.0]
R, T = look_at_view_transform(
eye=(eye,),
at=([0.0, 0.0, 0.0],),
up=(up,),
)
cameras.append(
PerspectiveCameras(
focal_length=torch.tensor([focal_length])[None],
principal_point=torch.tensor([0.0, 0.0])[None],
R=R,
T=T,
)
)
return cameras
def vis_grid(xy_grid, image_size):
xy_vis = (xy_grid + 1) / 2.001
xy_vis = torch.cat([xy_vis, torch.zeros_like(xy_vis[..., :1])], -1)
xy_vis = xy_vis.view(image_size[1], image_size[0], 3)
xy_vis = np.array(xy_vis.detach().cpu())
return xy_vis
def vis_rays(ray_bundle, image_size):
rays = torch.abs(ray_bundle.directions)
rays = rays.view(image_size[1], image_size[0], 3)
rays = np.array(rays.detach().cpu())
return rays