o }oi@spddlmZmZddlmZddlZddlZGdddeZGdddeZ Gdd d eZ Gd d d eZ dS) )ABCabstractmethod)ListNc @sJeZdZdZddededejddfdd Zedd d Z edd d Z dS)Cameraz0 Abstract base class for Camera models. cudawidthheightdevicereturnNcCs||_||_||_dS)a- Initializes the Camera instance with given dimensions and device. Parameters: width: int - Width of the camera frame. height: int - Height of the camera frame. device: torch.device - The device where tensor computations will be performed. N)rrr )selfrrr r a/home/ubuntu/.local/lib/python3.10/site-packages/nemo/collections/multimodal/data/nerf/cameras.py__init__s  zCamera.__init__cCdS)z? Abstract method to compute camera intrinsics. Nr r r r r compute_intrinsics(zCamera.compute_intrinsicscCr)zC Abstract method to compute the projection matrix. Nr rr r r compute_projection_matrix/rz Camera.compute_projection_matrixr)r N) __name__ __module__ __qualname____doc__inttorchr rrrrr r r r rs rc@s eZdZdZdejfddZdS)OrthographicCameraz/ Class for Orthographic Camera models. r cCsJtjd|jdddgdd|jddggdgdgtj|jdd}|S)z Computes the projection matrix for an Orthographic camera. Returns: torch.Tensor: The projection matrix. rrrr)rrrdtyper )rtensorrrfloat32r unsqueeze)r projectionr r r r<s.z,OrthographicCamera.compute_projection_matrixN)rrrrrTensorrr r r r r7src sneZdZdZddededededejdd f fd d Zd ed ede j fddZ dededej fddZ ZS) PinholeCameraz* Class for Pinhole Camera models. rrrnearfarr r Ncs t|||||_||_dS)a Initializes the Pinhole Camera instance with given parameters. Parameters: width: int - Width of the camera frame. height: int - Height of the camera frame. near: float - Near clipping plane. far: float - Far clipping plane. device: torch.device - The device where tensor computations will be performed. N)superrr)r*r rrr)r*r  __class__r r rPs  zPinholeCamera.__init__fovxfovycCsd|jdtt|d}|jdtt|d}|jd|jd}}t||||gS)a Computes the intrinsic matrix for the camera based on field of views. Parameters: fovx: float - Field of view in X direction. fovy: float - Field of view in Y direction. Returns: np.ndarray: The intrinsic matrix. r)rnptandeg2radrarray)r r/r0focal_xfocal_ycxcyr r r r_s z PinholeCamera.compute_intrinsicsr5r6c Cstjd||jdddgdd||jddgdd|j|j |j|jd|j|j |j|jggdgtj|jdd}|S)a  Computes the projection matrix for the camera. Parameters: focal_x: float - Focal length in X direction. focal_y: float - Focal length in Y direction. Returns: torch.Tensor: The projection matrix. rrrrr!) rr#rrr*r)r$r r%)r r5r6r&r r r ros   z'PinholeCamera.compute_projection_matrixr)rrrrrfloatrr rr1ndarrayrr'r __classcell__r r r-r r(Ks * r(c @s`eZdZdZ ddedededed ejd d f d d Zd e e j fddZ d e ej fddZd S) CubeCamerazQ Class for Cube Camera models, which is essentially six pinhole cameras. {Gz?rrrr)r*r r NcCs"||_||_||_||_||_dS)a Initializes the Cube Camera instance with given parameters. Parameters: width: int - Width of each camera face. height: int - Height of each camera face. near: float - Near clipping plane. far: float - Far clipping plane. device: torch.device - The device where tensor computations will be performed. Nrrr)r*r r,r r r rs   zCubeCamera.__init__cfddtdDS)z Computes the intrinsic matrices for the six faces of the cube using a Pinhole camera model. Returns: List[np.ndarray]: List of 6 intrinsic matrices, one for each face. c 0g|]}tjjjjjdddqS)r?Z)r(rrr)r*r r.0_rr r z1CubeCamera.compute_intrinsics..rangerr rr r zCubeCamera.compute_intrinsicscr@)z Computes the projection matrices for the six faces of the cube using a Pinhole camera model. Returns: List[torch.Tensor]: List of 6 projection matrices, one for each face. c rA)r?r )r(rrr)r*r rrCrr r rFrGz8CubeCamera.compute_projection_matrix..rHrIrr rr rrKz$CubeCamera.compute_projection_matrix)r=r>r)rrrrrr9rr rrr1r:rr'rr r r r r<s$ r<) abcrrtypingrnumpyr1rrrr(r<r r r r s !A