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| import math | |
| import torch | |
| from dust3r.utils.geometry import inv | |
| from src.utils.cuda_splatting import DummyCamera | |
| def get_scaled_camera(ref_camera_extrinsics, target_camera_extrinsics, target_camera_intrinsics, scale, image_shape): | |
| """ | |
| get a scaled camera from a reference camera to a target camera | |
| """ | |
| # get extrinsics(target_camera to ref_camera) | |
| target_camera_extrinsics = inv(ref_camera_extrinsics) @ target_camera_extrinsics | |
| # scale translation | |
| target_camera_extrinsics[:3, 3] = target_camera_extrinsics[:3, 3] * scale | |
| # invert extrinsics(ref_camera to target_camera) | |
| target_camera_extrinsics_inv = inv(target_camera_extrinsics) | |
| # calculate fov | |
| fovx = 2 * math.atan(image_shape[1] / (2 * target_camera_intrinsics[0, 0])) | |
| fovy = 2 * math.atan(image_shape[0] / (2 * target_camera_intrinsics[1, 1])) | |
| # return camera(numpy) | |
| R = target_camera_extrinsics_inv[:3, :3].cpu().numpy().transpose() # R.transpose() : ref_camera_2_target_camera | |
| T = target_camera_extrinsics_inv[:3, 3].cpu().numpy() # T : ref_camera_2_target_camera | |
| image_shape = image_shape.cpu().numpy() | |
| return DummyCamera(R, T, fovx, fovy, image_shape[1], image_shape[0]) | |
| def move_c2w_along_z(extrinsics: torch.Tensor, distance: float) -> torch.Tensor: | |
| """ | |
| 向后移动多个 Camera-to-World (C2W) 矩阵，使相机沿各自 Z 轴方向远离原点。 | |
| 参数: | |
| extrinsics (torch.Tensor): 形状为 [N, 4, 4] 的张量，包含 N 个 C2W 矩阵。 | |
| distance (float): 向后移动的距离。 | |
| 返回: | |
| torch.Tensor: 更新后的 C2W 矩阵，形状与输入相同。 | |
| """ | |
| # 确保输入是一个四维矩阵，且最后一维是 4x4 | |
| assert extrinsics.dim() == 3 and extrinsics.shape[1:] == (4, 4), \ | |
| "输入的 extrinsics 必须是形状为 [N, 4, 4] 的张量" | |
| # 创建一个拷贝以免修改原矩阵 | |
| updated_extrinsics = extrinsics.clone() | |
| # 遍历每个 C2W 矩阵 | |
| for i in range(updated_extrinsics.shape[0]): | |
| # 提取旋转矩阵 R 和平移向量 t | |
| R = updated_extrinsics[i, :3, :3] # 形状为 [3, 3] | |
| t = updated_extrinsics[i, :3, 3] # 形状为 [3] | |
| # 获取相机的 Z 轴方向（第三列） | |
| z_axis = R[:, 2] # 形状为 [3] | |
| # 计算新的平移向量，沿 Z 轴方向向后移动 | |
| t_new = t - distance * z_axis | |
| # 更新 C2W 矩阵的平移部分 | |
| updated_extrinsics[i, :3, 3] = t_new | |
| return updated_extrinsics | |