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| from scene.cameras import Camera |
| import numpy as np |
| from utils.general_utils import PILtoTorch |
| from utils.graphics_utils import fov2focal |
|
|
| WARNED = False |
|
|
| def loadCam(args, id, cam_info, resolution_scale): |
| orig_w, orig_h = cam_info.image.size |
|
|
| if args.resolution in [1, 2, 4, 8]: |
| resolution = round(orig_w/(resolution_scale * args.resolution)), round(orig_h/(resolution_scale * args.resolution)) |
| else: |
| if args.resolution == -1: |
| if orig_w > 1600: |
| global WARNED |
| if not WARNED: |
| print("[ INFO ] Encountered quite large input images (>1.6K pixels width), rescaling to 1.6K.\n " |
| "If this is not desired, please explicitly specify '--resolution/-r' as 1") |
| WARNED = True |
| global_down = orig_w / 1600 |
| else: |
| global_down = 1 |
| else: |
| global_down = orig_w / args.resolution |
|
|
| scale = float(global_down) * float(resolution_scale) |
| resolution = (int(orig_w / scale), int(orig_h / scale)) |
|
|
| resized_image_rgb = PILtoTorch(cam_info.image, resolution) |
|
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| gt_image = resized_image_rgb[:3, ...] |
| loaded_mask = None |
|
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| if resized_image_rgb.shape[1] == 4: |
| loaded_mask = resized_image_rgb[3:4, ...] |
|
|
| return Camera(colmap_id=cam_info.uid, R=cam_info.R, T=cam_info.T, |
| FoVx=cam_info.FovX, FoVy=cam_info.FovY, |
| image=gt_image, gt_alpha_mask=loaded_mask, |
| image_name=cam_info.image_name, uid=id, data_device=args.data_device) |
|
|
| def cameraList_from_camInfos(cam_infos, resolution_scale, args): |
| camera_list = [] |
|
|
| for id, c in enumerate(cam_infos): |
| camera_list.append(loadCam(args, id, c, resolution_scale)) |
|
|
| return camera_list |
|
|
| def camera_to_JSON(id, camera : Camera): |
| Rt = np.zeros((4, 4)) |
| Rt[:3, :3] = camera.R.transpose() |
| Rt[:3, 3] = camera.T |
| Rt[3, 3] = 1.0 |
|
|
| W2C = np.linalg.inv(Rt) |
| pos = W2C[:3, 3] |
| rot = W2C[:3, :3] |
| serializable_array_2d = [x.tolist() for x in rot] |
| camera_entry = { |
| 'id' : id, |
| 'img_name' : camera.image_name, |
| 'width' : camera.width, |
| 'height' : camera.height, |
| 'position': pos.tolist(), |
| 'rotation': serializable_array_2d, |
| 'fy' : fov2focal(camera.FovY, camera.height), |
| 'fx' : fov2focal(camera.FovX, camera.width) |
| } |
| return camera_entry |
|
|
