o oi @sddlZddlmZmZmZddlZddlmZmZm Z m Z m Z ddl m Z ddlmZdededed ejd eeee ff d d Zd e deeeefd e fddZd e dededed e f ddZdS)N)ListTupleUnion)DeviceTensorcossinstack) PinholeCamera)quaternion_to_rotation_matrix cameras_path images_pathdevicedtypereturnc"s6t|}dd|D}Wdn1swYGdddfdd|Dt|}dddd |DD}Wdn1sFwYt|}|d krWtd g}g}g} g} |D]f} | d } t| d krutd| tt| dd\} }}}tt| dd\}}}t| dd}| d}|tkrtd|dd|||||| | |||g| |||gqatj | ||d}tj | ||d}t |}tj d||d d  |dd}||ddddddf<||dddddf<tj fdd|D||d}tj fdd|D||d}tj fdd|D||d}tj fdd|D||d}tj d||d d  |dd}||ddd d f<||ddddf<||ddd df<||ddddf<tj fdd|D|d}tj fdd|D|d} t|||| }!||!fS) aParse colmap output to create an PinholeCamera for aligned scene cameras. Args: cameras_path: Path to camera.txt Colmap file with camera intrinsics: str images_path: Path to images.txt Colmap file with camera extrinsics for each image: str device: device for created camera object: Union[str, torch.device] dtype: Intrinsics and extrinsics dtype. Returns: image names: List[str] scene camera object: PinholeCamera cSsg|] }|ds|qS)# startswithstrip.0linerL/home/ubuntu/.local/lib/python3.10/site-packages/kornia/nerf/camera_utils.py .sz'parse_colmap_output..Nc@seZdZdeddfddZdS)z)parse_colmap_output..CameraParamsrrNcSs|d}t|dkrtd||d}|dkrCt|d|_t|d|_t|d|_|j|_t|d |_ t|d |_ dS|d krt|d krTtd |t|d|_t|d|_t|d|_t|d |_t|d |_ t|d|_ dStd|)N zInvalid camera line: SIMPLE_PINHOLEPINHOLEzInvalid PINHOLE camera line: zUnsupported camera model: ) splitlen ValueErrorintwidthheightfloatfxfycxcy)selfr split_linemodelrrr__init__1s*   z2parse_colmap_output..CameraParams.__init__)__name__ __module__ __qualname__strr4rrrr CameraParams0sr9csg|]}|qSrrr)r9rrrIscSsg|] }|dr|qS))jpgpng)endswith)rstrippedrrrrKs css"|] }|ds|VqdS)rNrrrrr Ms z&parse_colmap_output..rz#No valid images found in images.txtr zInvalid image line: rr"r% zInvalid camera index z for image )rrr!r cg|]}|jqSr)r-ricameras_paramsrrrkcrAr)r.rBrDrrrlrFcrAr)r/rBrDrrrmrFcrAr)r0rBrDrrrnrFrcrAr)r+rBrDrrrtrFrcrAr)r*rBrDrrrurF)openr'r(r&mapr,r)appendtorchtensorr eye unsqueezerepeatr )"r r rrflines num_images img_names camera_inds quats_listts_listrr2qwqxqyqztxtytz camera_indimg_namequatstsRs extrinsicsfxsfyscxscys intrinsicsheightswidthscamerasr)r9rErparse_colmap_outputsn          rlrk camera_idscCs6|j|}|j|}|j|}|j|}t||||S)a?Take a PinholeCamera camera and camera indices to create a new PinholeCamera for requested cameras. Args: cameras: Scene camera object: PinholeCamera camera_ids: List of camera indices to copy: List[int] Return: A new PinholeCamera object with a sub-set of cameras: PinholeCamera )rhrcr+r*r )rkrmrhrcr+r*rrrcameras_for_idss   rnrad num_views num_circlescCs|jddd}|jj}tjddtj|||d}t ||}t | |}t d| |} tj |ddt ||| f d} |jdd |d d } |jdd |d d } | } | | d d d d d f<tj|jdg||d}tj|jdg||d}t| | ||S) acCreate a PinholeCamera object with cameras that follow a spiral path. Used for novel view synthesis for face facing models. Args: cameras: Scene cameras used to train the NeRF model: PinholeCamera rad: Spiral radius: float num_views: Number of created cameras: int num_circles: Number of spiral circles: int rFrrGg?)dim)rrTrNr )translation_vectormeansqueezerhrrKlinspacemathpirrrNr permuterOrcrLr+r*r )rkrorprq mean_centerrtcos_tsin_tsin_05trtmean_intrinsicsmean_extrinsicsrcr+r*rrrcreate_spiral_paths  "r)rxtypingrrrrK kornia.corerrrrr kornia.geometry.camerar kornia.geometry.conversionsr r8rrlr)rnr,rrrrrs&   "c"