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| import json | |
| import numpy as np | |
| from numpy.linalg import inv | |
| from pathlib import Path | |
| import imageio | |
| import open3d as o3d | |
| from hc3d.vis import CameraCone | |
| from hc3d.render import compute_intrinsics, unproject | |
| from hc3d.utils import batch_img_resize | |
| from fabric.utils.seed import seed_everything | |
| def get_K(H=500, W=500, fov=60): | |
| K = compute_intrinsics(W / H, fov, H) | |
| return K | |
| def shoot_rays(K, pose): | |
| h = 200 | |
| pixs = np.array([ | |
| [10, h], | |
| [200, h], | |
| [400, h] | |
| ]) | |
| pts = unproject(K, pixs, depth=1.0) | |
| pts = np.concatenate([ | |
| pts, | |
| np.array([0, 0, 0, 1]).reshape(1, -1), | |
| ], axis=0) # origin, followed by 4 img corners | |
| pts = pts @ pose.T | |
| pts = pts[:, :3] | |
| pts = pts.astype(np.float32) | |
| n = len(pixs) | |
| lines = np.array([ | |
| [i, n] for i in range(n) | |
| ], dtype=np.int32) | |
| color = [1, 1, 0] | |
| colors = np.array([color] * len(lines), dtype=np.float32) | |
| lset = o3d.t.geometry.LineSet() | |
| lset.point['positions'] = pts | |
| lset.line['indices'] = lines | |
| lset.line['colors'] = colors | |
| return lset | |
| def test_rays(H, W, K): | |
| xs, ys = np.meshgrid( | |
| np.arange(W, dtype=np.float32), | |
| np.arange(H, dtype=np.float32), indexing='xy' | |
| ) | |
| xys = np.stack([xs, ys], axis=-1) | |
| my_rays = unproject(K, xys.reshape(-1, 2)) | |
| my_rays = my_rays.reshape(int(H), int(W), 4)[:, :, :3] | |
| return | |
| def plot_inward_facing_views(): | |
| # from run_sjc import get_train_poses | |
| from math import pi | |
| from pose import Poser | |
| H, W = 64, 64 | |
| poser = Poser(H, W, FoV=60, R=4) | |
| # K, poses = poser.sample_test(100) | |
| K, poses, _ = poser.sample_train(1000) | |
| K = K[0] | |
| cam_locs = poses[:, :3, -1] | |
| # radius = np.linalg.norm(cam_locs, axis=1) | |
| # print(f"scene radius {radius}") | |
| # test_rays(H, W, K) | |
| # K = get_K(H, W, 50) | |
| # NeRF blender actually follows OpenGL camera convention (except top-left corner); nice | |
| # but its world coordinate is z up. I find it strange. | |
| def generate_cam(po, color, im=None): | |
| cone = CameraCone(K, po, W, H, scale=0.1, | |
| top_left_corner=(0, 0), color=color) | |
| lset = cone.as_line_set() | |
| if im is None: | |
| return [lset] | |
| else: | |
| # o3d img tsr requires contiguous array | |
| im = np.ascontiguousarray(im) | |
| view_plane = cone.as_view_plane(im) | |
| return [lset, view_plane] | |
| cones = [] | |
| for i in range(len(poses)): | |
| po = poses[i] | |
| geom = generate_cam(po, [1, 0, 0]) | |
| cones.extend(geom) | |
| # rays = shoot_rays(K, po) | |
| # cones.extend([rays]) | |
| o3d.visualization.draw(cones, show_skybox=False) | |
| def blend_rgba(img): | |
| img = img[..., :3] * img[..., -1:] + (1. - img[..., -1:]) # blend A to RGB | |
| return img | |
| def compare(): | |
| import math | |
| import matplotlib.pyplot as plt | |
| vs = np.linspace(1e-5, math.pi - 1e-5, 500) | |
| phi = np.arccos(1 - 2 * (vs / math.pi)) | |
| plt.plot(vs, phi) | |
| plt.show() | |
| if __name__ == "__main__": | |
| seed_everything(0) | |
| plot_inward_facing_views() | |
| # compare() | |