o oi@sdddlZddlmZddlmZddlmZGdddejjZ Gddde Z Gd d d e Z dS) N)Tensor)KORNIA_CHECK_SHAPE)calc_ray_t_valscsdeZdZdZdZdZddeddffdd Zd ed edefd d Z d edededefddZ Z S)VolumeRendererzBase class for volume rendering. Implementation follows Ben Mildenhall et el. (2020) at https://arxiv.org/abs/2003.08934. g _Bg|=shiftreturnNcst||_dS)zaInitialize the renderer. Args: shift: Size of far-field layer: int N)super__init___shift)selfr __class__O/home/ubuntu/.local/lib/python3.10/site-packages/kornia/nerf/volume_renderer.pyr "s  zVolumeRenderer.__init__alphargbscCs`tjd||jdd}tj||jdd}d|dd|jddf<||}tj||dd}|S)Nrdim)shiftsdims.)torchcumprod_epsrollr sum)r rrtransweights rgbs_renderedrrr_render,s zVolumeRenderer._render densities points_3dcCst)N)NotImplementedError)r rr!r"rrrforward7szVolumeRenderer.forward)r) __name__ __module__ __qualname____doc___hugerintr rr r$ __classcell__rrr rrs " rc@*eZdZdZdedededefddZdS) IrregularRendererz1Renders 3D irregularly sampled points along rays.rr!r"rcCst|}|dddf|dddf}tj|jdd|j|jd|j}tj||dgdd}dt d||d}| ||S) aeRender 3D irregularly sampled points along rays. Args: rgbs: RGB values of points along rays :math:`(*, N, 3)` densities: Volume densities of points along rays :math:`(*, N)` points_3d: 3D points along rays :math:`(*, N, 3)` Returns: Rendered RGB values for each ray :math:`(*, 3)` .rN)sizedtypedevice).Nr) rremptyshaper0r1fill_r)catexpr )r rr!r"t_valsdeltasfarrrrrr$>s  & zIrregularRenderer.forwardNr%r&r'r(rr$rrrrr-;r-c@r,) RegularRendererz/Renders 3D regularly sampled points along rays.rr!r"rcCst|gdt|ddgt|gd|jd}|d|d}|ddd d f|ddd d f}tjj|dd }dtd ||}|||S) acRender 3D regularly sampled points along rays. Args: rgbs: RGB values of points along rays :math:`(*, N, 3)` densities: Volume densities of points along rays :math:`(*, N)` points_3d: 3D points along rays :math:`(*, N, 3)` Returns: Rendered RGB values for each ray :math:`(*, 3)` )*N3r>r?rr.rrNrr2)rr4reshaperlinalgnormr7r )r rr!r"num_ray_pointsdelta_3ddeltarrrrr$Ws  $ zRegularRenderer.forwardNr;rrrrr=Tr<r=) r kornia.corerkornia.core.checkrkornia.nerf.samplersrnnModulerr-r=rrrrs   "