Delete scene/.ipynb_checkpoints

scene/.ipynb_checkpoints/__init__-checkpoint.py

@@ -1,41 +0,0 @@
-###
-# Copyright (C) 2023, Computer Vision Lab, Seoul National University, https://cv.snu.ac.kr
-# For permission requests, please contact robot0321@snu.ac.kr, esw0116@snu.ac.kr, namhj28@gmail.com, jarin.lee@gmail.com.
-# All rights reserved.
-###
-import os
-import random
-
-from arguments import GSParams
-from utils.system import searchForMaxIteration
-from scene.dataset_readers import readDataInfo
-from scene.gaussian_model import GaussianModel
-
-
-class Scene:
-    gaussians: GaussianModel
-
-    def __init__(self, traindata, gaussians: GaussianModel, opt: GSParams):
-        self.traindata = traindata
-        self.gaussians = gaussians
-        
-        info = readDataInfo(traindata, opt.white_background)
-        random.shuffle(info.train_cameras)  # Multi-res consistent random shuffling
-        self.cameras_extent = info.nerf_normalization["radius"]
-
-        print("Loading Training Cameras")
-        self.train_cameras = info.train_cameras        
-        print("Loading Preset Cameras")
-        self.preset_cameras = {}
-        for campath in info.preset_cameras.keys():
-            self.preset_cameras[campath] = info.preset_cameras[campath]
-
-        self.gaussians.create_from_pcd(info.point_cloud, self.cameras_extent)
-        self.gaussians.training_setup(opt)
-
-    def getTrainCameras(self):
-        return self.train_cameras
-    
-    def getPresetCameras(self, preset):
-        assert preset in self.preset_cameras
-        return self.preset_cameras[preset]

scene/.ipynb_checkpoints/cameras-checkpoint.py

@@ -1,76 +0,0 @@
-#
-# Copyright (C) 2023, Inria
-# GRAPHDECO research group, https://team.inria.fr/graphdeco
-# All rights reserved.
-#
-# This software is free for non-commercial, research and evaluation use 
-# under the terms of the LICENSE.md file.
-#
-# For inquiries contact  george.drettakis@inria.fr
-#
-import numpy as np
-
-import torch
-from torch import nn
-
-from utils.graphics import getWorld2View2, getProjectionMatrix
-from utils.loss import image2canny
-
-
-class Camera(nn.Module):
-    def __init__(self, colmap_id, R, T, FoVx, FoVy, image, gt_alpha_mask,
-                 image_name, uid,
-                 trans=np.array([0.0, 0.0, 0.0]), scale=1.0, data_device = "cuda"
-                 ):
-        super(Camera, self).__init__()
-
-        self.uid = uid
-        self.colmap_id = colmap_id
-        self.R = R
-        self.T = T
-        self.FoVx = FoVx
-        self.FoVy = FoVy
-        self.image_name = image_name
-
-        try:
-            self.data_device = torch.device(data_device)
-        except Exception as e:
-            print(e)
-            print(f"[Warning] Custom device {data_device} failed, fallback to default cuda device" )
-            self.data_device = torch.device("cuda")
-
-        self.original_image = image.clamp(0.0, 1.0).to(self.data_device)
-        self.canny_mask = image2canny(self.original_image.permute(1,2,0), 50, 150, isEdge1=False).detach().to(self.data_device)
-        self.image_width = self.original_image.shape[2]
-        self.image_height = self.original_image.shape[1]
-
-        if gt_alpha_mask is not None:
-            self.original_image *= gt_alpha_mask.to(self.data_device)
-        else:
-            self.original_image *= torch.ones((1, self.image_height, self.image_width), device=self.data_device)
-
-        self.zfar = 100.0
-        self.znear = 0.01
-
-        self.trans = trans
-        self.scale = scale
-
-        self.world_view_transform = torch.tensor(getWorld2View2(R, T, trans, scale)).transpose(0, 1).cuda()
-        self.projection_matrix = getProjectionMatrix(znear=self.znear, zfar=self.zfar, fovX=self.FoVx, fovY=self.FoVy).transpose(0,1).cuda()
-        self.full_proj_transform = (self.world_view_transform.unsqueeze(0).bmm(self.projection_matrix.unsqueeze(0))).squeeze(0)
-        self.camera_center = self.world_view_transform.inverse()[3, :3]
-
-
-class MiniCam:
-    def __init__(self, width, height, fovy, fovx, znear, zfar, world_view_transform, full_proj_transform):
-        self.image_width = width
-        self.image_height = height    
-        self.FoVy = fovy
-        self.FoVx = fovx
-        self.znear = znear
-        self.zfar = zfar
-        self.world_view_transform = world_view_transform
-        self.full_proj_transform = full_proj_transform
-        view_inv = torch.inverse(self.world_view_transform)
-        self.camera_center = view_inv[3][:3]
-

scene/.ipynb_checkpoints/colmap_loader-checkpoint.py

@@ -1,301 +0,0 @@
-#
-# Copyright (C) 2023, Inria
-# GRAPHDECO research group, https://team.inria.fr/graphdeco
-# All rights reserved.
-#
-# This software is free for non-commercial, research and evaluation use 
-# under the terms of the LICENSE.md file.
-#
-# For inquiries contact  george.drettakis@inria.fr
-#
-import numpy as np
-import collections
-import struct
-
-
-CameraModel = collections.namedtuple(
-    "CameraModel", ["model_id", "model_name", "num_params"])
-Camera = collections.namedtuple(
-    "Camera", ["id", "model", "width", "height", "params"])
-BaseImage = collections.namedtuple(
-    "Image", ["id", "qvec", "tvec", "camera_id", "name", "xys", "point3D_ids"])
-Point3D = collections.namedtuple(
-    "Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"])
-CAMERA_MODELS = {
-    CameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3),
-    CameraModel(model_id=1, model_name="PINHOLE", num_params=4),
-    CameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4),
-    CameraModel(model_id=3, model_name="RADIAL", num_params=5),
-    CameraModel(model_id=4, model_name="OPENCV", num_params=8),
-    CameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8),
-    CameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12),
-    CameraModel(model_id=7, model_name="FOV", num_params=5),
-    CameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4),
-    CameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5),
-    CameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12)
-}
-CAMERA_MODEL_IDS = dict([(camera_model.model_id, camera_model)
-                         for camera_model in CAMERA_MODELS])
-CAMERA_MODEL_NAMES = dict([(camera_model.model_name, camera_model)
-                           for camera_model in CAMERA_MODELS])
-
-
-def qvec2rotmat(qvec):
-    return np.array([
-        [1 - 2 * qvec[2]**2 - 2 * qvec[3]**2,
-         2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3],
-         2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2]],
-        [2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3],
-         1 - 2 * qvec[1]**2 - 2 * qvec[3]**2,
-         2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1]],
-        [2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2],
-         2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1],
-         1 - 2 * qvec[1]**2 - 2 * qvec[2]**2]])
-
-
-def rotmat2qvec(R):
-    Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat
-    K = np.array([
-        [Rxx - Ryy - Rzz, 0, 0, 0],
-        [Ryx + Rxy, Ryy - Rxx - Rzz, 0, 0],
-        [Rzx + Rxz, Rzy + Ryz, Rzz - Rxx - Ryy, 0],
-        [Ryz - Rzy, Rzx - Rxz, Rxy - Ryx, Rxx + Ryy + Rzz]]) / 3.0
-    eigvals, eigvecs = np.linalg.eigh(K)
-    qvec = eigvecs[[3, 0, 1, 2], np.argmax(eigvals)]
-    if qvec[0] < 0:
-        qvec *= -1
-    return qvec
-
-
-class Image(BaseImage):
-    def qvec2rotmat(self):
-        return qvec2rotmat(self.qvec)
-
-
-def read_next_bytes(fid, num_bytes, format_char_sequence, endian_character="<"):
-    """Read and unpack the next bytes from a binary file.
-    :param fid:
-    :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc.
-    :param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}.
-    :param endian_character: Any of {@, =, <, >, !}
-    :return: Tuple of read and unpacked values.
-    """
-    data = fid.read(num_bytes)
-    return struct.unpack(endian_character + format_char_sequence, data)
-
-
-def read_points3D_text(path):
-    """
-    see: src/base/reconstruction.cc
-        void Reconstruction::ReadPoints3DText(const std::string& path)
-        void Reconstruction::WritePoints3DText(const std::string& path)
-    """
-    xyzs = None
-    rgbs = None
-    errors = None
-    num_points = 0
-    with open(path, "r") as fid:
-        while True:
-            line = fid.readline()
-            if not line:
-                break
-            line = line.strip()
-            if len(line) > 0 and line[0] != "#":
-                num_points += 1
-
-
-    xyzs = np.empty((num_points, 3))
-    rgbs = np.empty((num_points, 3))
-    errors = np.empty((num_points, 1))
-    count = 0
-    with open(path, "r") as fid:
-        while True:
-            line = fid.readline()
-            if not line:
-                break
-            line = line.strip()
-            if len(line) > 0 and line[0] != "#":
-                elems = line.split()
-                xyz = np.array(tuple(map(float, elems[1:4])))
-                rgb = np.array(tuple(map(int, elems[4:7])))
-                error = np.array(float(elems[7]))
-                xyzs[count] = xyz
-                rgbs[count] = rgb
-                errors[count] = error
-                count += 1
-
-    return xyzs, rgbs, errors
-
-
-def read_points3D_binary(path_to_model_file):
-    """
-    see: src/base/reconstruction.cc
-        void Reconstruction::ReadPoints3DBinary(const std::string& path)
-        void Reconstruction::WritePoints3DBinary(const std::string& path)
-    """
-
-
-    with open(path_to_model_file, "rb") as fid:
-        num_points = read_next_bytes(fid, 8, "Q")[0]
-
-        xyzs = np.empty((num_points, 3))
-        rgbs = np.empty((num_points, 3))
-        errors = np.empty((num_points, 1))
-
-        for p_id in range(num_points):
-            binary_point_line_properties = read_next_bytes(
-                fid, num_bytes=43, format_char_sequence="QdddBBBd")
-            xyz = np.array(binary_point_line_properties[1:4])
-            rgb = np.array(binary_point_line_properties[4:7])
-            error = np.array(binary_point_line_properties[7])
-            track_length = read_next_bytes(
-                fid, num_bytes=8, format_char_sequence="Q")[0]
-            track_elems = read_next_bytes(
-                fid, num_bytes=8*track_length,
-                format_char_sequence="ii"*track_length)
-            xyzs[p_id] = xyz
-            rgbs[p_id] = rgb
-            errors[p_id] = error
-    return xyzs, rgbs, errors
-
-
-def read_intrinsics_text(path):
-    """
-    Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_write_model.py
-    """
-    cameras = {}
-    with open(path, "r") as fid:
-        while True:
-            line = fid.readline()
-            if not line:
-                break
-            line = line.strip()
-            if len(line) > 0 and line[0] != "#":
-                elems = line.split()
-                camera_id = int(elems[0])
-                model = elems[1]
-                assert model == "PINHOLE", "While the loader support other types, the rest of the code assumes PINHOLE"
-                width = int(elems[2])
-                height = int(elems[3])
-                params = np.array(tuple(map(float, elems[4:])))
-                cameras[camera_id] = Camera(id=camera_id, model=model,
-                                            width=width, height=height,
-                                            params=params)
-    return cameras
-
-
-def read_extrinsics_binary(path_to_model_file):
-    """
-    see: src/base/reconstruction.cc
-        void Reconstruction::ReadImagesBinary(const std::string& path)
-        void Reconstruction::WriteImagesBinary(const std::string& path)
-    """
-    images = {}
-    with open(path_to_model_file, "rb") as fid:
-        num_reg_images = read_next_bytes(fid, 8, "Q")[0]
-        for _ in range(num_reg_images):
-            binary_image_properties = read_next_bytes(
-                fid, num_bytes=64, format_char_sequence="idddddddi")
-            image_id = binary_image_properties[0]
-            qvec = np.array(binary_image_properties[1:5])
-            tvec = np.array(binary_image_properties[5:8])
-            camera_id = binary_image_properties[8]
-            image_name = ""
-            current_char = read_next_bytes(fid, 1, "c")[0]
-            while current_char != b"\x00":   # look for the ASCII 0 entry
-                image_name += current_char.decode("utf-8")
-                current_char = read_next_bytes(fid, 1, "c")[0]
-            num_points2D = read_next_bytes(fid, num_bytes=8,
-                                           format_char_sequence="Q")[0]
-            x_y_id_s = read_next_bytes(fid, num_bytes=24*num_points2D,
-                                       format_char_sequence="ddq"*num_points2D)
-            xys = np.column_stack([tuple(map(float, x_y_id_s[0::3])),
-                                   tuple(map(float, x_y_id_s[1::3]))])
-            point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3])))
-            images[image_id] = Image(
-                id=image_id, qvec=qvec, tvec=tvec,
-                camera_id=camera_id, name=image_name,
-                xys=xys, point3D_ids=point3D_ids)
-    return images
-
-
-def read_intrinsics_binary(path_to_model_file):
-    """
-    see: src/base/reconstruction.cc
-        void Reconstruction::WriteCamerasBinary(const std::string& path)
-        void Reconstruction::ReadCamerasBinary(const std::string& path)
-    """
-    cameras = {}
-    with open(path_to_model_file, "rb") as fid:
-        num_cameras = read_next_bytes(fid, 8, "Q")[0]
-        for _ in range(num_cameras):
-            camera_properties = read_next_bytes(
-                fid, num_bytes=24, format_char_sequence="iiQQ")
-            camera_id = camera_properties[0]
-            model_id = camera_properties[1]
-            model_name = CAMERA_MODEL_IDS[camera_properties[1]].model_name
-            width = camera_properties[2]
-            height = camera_properties[3]
-            num_params = CAMERA_MODEL_IDS[model_id].num_params
-            params = read_next_bytes(fid, num_bytes=8*num_params,
-                                     format_char_sequence="d"*num_params)
-            cameras[camera_id] = Camera(id=camera_id,
-                                        model=model_name,
-                                        width=width,
-                                        height=height,
-                                        params=np.array(params))
-        assert len(cameras) == num_cameras
-    return cameras
-
-
-def read_extrinsics_text(path):
-    """
-    Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_write_model.py
-    """
-    images = {}
-    with open(path, "r") as fid:
-        while True:
-            line = fid.readline()
-            if not line:
-                break
-            line = line.strip()
-            if len(line) > 0 and line[0] != "#":
-                elems = line.split()
-                image_id = int(elems[0])
-                qvec = np.array(tuple(map(float, elems[1:5])))
-                tvec = np.array(tuple(map(float, elems[5:8])))
-                camera_id = int(elems[8])
-                image_name = elems[9]
-                elems = fid.readline().split()
-                xys = np.column_stack([tuple(map(float, elems[0::3])),
-                                       tuple(map(float, elems[1::3]))])
-                point3D_ids = np.array(tuple(map(int, elems[2::3])))
-                images[image_id] = Image(
-                    id=image_id, qvec=qvec, tvec=tvec,
-                    camera_id=camera_id, name=image_name,
-                    xys=xys, point3D_ids=point3D_ids)
-    return images
-
-
-def read_colmap_bin_array(path):
-    """
-    Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_dense.py
-
-    :param path: path to the colmap binary file.
-    :return: nd array with the floating point values in the value
-    """
-    with open(path, "rb") as fid:
-        width, height, channels = np.genfromtxt(fid, delimiter="&", max_rows=1,
-                                                usecols=(0, 1, 2), dtype=int)
-        fid.seek(0)
-        num_delimiter = 0
-        byte = fid.read(1)
-        while True:
-            if byte == b"&":
-                num_delimiter += 1
-                if num_delimiter >= 3:
-                    break
-            byte = fid.read(1)
-        array = np.fromfile(fid, np.float32)
-    array = array.reshape((width, height, channels), order="F")
-    return np.transpose(array, (1, 0, 2)).squeeze()

scene/.ipynb_checkpoints/dataset_readers-checkpoint.py

@@ -1,434 +0,0 @@
-#
-# Copyright (C) 2023, Inria
-# GRAPHDECO research group, https://team.inria.fr/graphdeco
-# All rights reserved.
-#
-# This software is free for non-commercial, research and evaluation use 
-# under the terms of the LICENSE.md file.
-#
-# For inquiries contact  george.drettakis@inria.fr
-#
-import os
-import sys
-import json
-from typing import NamedTuple
-from pathlib import Path
-
-import imageio
-import torch
-import numpy as np
-from PIL import Image
-from plyfile import PlyData, PlyElement
-
-from scene.gaussian_model import BasicPointCloud
-from scene.cameras import MiniCam, Camera
-from scene.colmap_loader import read_extrinsics_text, read_intrinsics_text, qvec2rotmat, \
-    read_extrinsics_binary, read_intrinsics_binary, read_points3D_binary, read_points3D_text
-from utils.graphics import getWorld2View2, focal2fov, fov2focal
-from utils.graphics import getProjectionMatrix
-from utils.trajectory import get_camerapaths
-from utils.sh import SH2RGB
-
-
-class CameraInfo(NamedTuple):
-    uid: int
-    R: np.array
-    T: np.array
-    FovY: np.array
-    FovX: np.array
-    image: np.array
-    image_path: str
-    image_name: str
-    width: int
-    height: int
-
-
-class SceneInfo(NamedTuple):
-    point_cloud: BasicPointCloud
-    train_cameras: list
-    test_cameras: list
-    preset_cameras: list
-    nerf_normalization: dict
-    ply_path: str
-
-
-def getNerfppNorm(cam_info):
-    def get_center_and_diag(cam_centers):
-        cam_centers = np.hstack(cam_centers)
-        avg_cam_center = np.mean(cam_centers, axis=1, keepdims=True)
-        center = avg_cam_center
-        dist = np.linalg.norm(cam_centers - center, axis=0, keepdims=True)
-        diagonal = np.max(dist)
-        return center.flatten(), diagonal
-
-    cam_centers = []
-
-    for cam in cam_info:
-        W2C = getWorld2View2(cam.R, cam.T)
-        C2W = np.linalg.inv(W2C)
-        cam_centers.append(C2W[:3, 3:4])
-
-    center, diagonal = get_center_and_diag(cam_centers)
-    radius = diagonal * 1.1
-
-    translate = -center
-
-    return {"translate": translate, "radius": radius}
-
-
-def readColmapCameras(cam_extrinsics, cam_intrinsics, images_folder):
-    cam_infos = []
-    for idx, key in enumerate(cam_extrinsics):
-        sys.stdout.write('\r')
-        # the exact output you're looking for:
-        sys.stdout.write("Reading camera {}/{}".format(idx+1, len(cam_extrinsics)))
-        sys.stdout.flush()
-
-        extr = cam_extrinsics[key]
-        intr = cam_intrinsics[extr.camera_id]
-        height = intr.height
-        width = intr.width
-
-        uid = intr.id
-        R = np.transpose(qvec2rotmat(extr.qvec))
-        T = np.array(extr.tvec)
-
-        if intr.model=="SIMPLE_PINHOLE":
-            focal_length_x = intr.params[0]
-            FovY = focal2fov(focal_length_x, height)
-            FovX = focal2fov(focal_length_x, width)
-        elif intr.model=="PINHOLE":
-            focal_length_x = intr.params[0]
-            focal_length_y = intr.params[1]
-            FovY = focal2fov(focal_length_y, height)
-            FovX = focal2fov(focal_length_x, width)
-        else:
-            assert False, "Colmap camera model not handled: only undistorted datasets (PINHOLE or SIMPLE_PINHOLE cameras) supported!"
-
-        image_path = os.path.join(images_folder, os.path.basename(extr.name))
-        image_name = os.path.basename(image_path).split(".")[0]
-        image = Image.open(image_path)
-
-        cam_info = CameraInfo(uid=uid, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
-                              image_path=image_path, image_name=image_name, width=width, height=height)
-        cam_infos.append(cam_info)
-    sys.stdout.write('\n')
-    return cam_infos
-
-
-def fetchPly(path):
-    plydata = PlyData.read(path)
-    vertices = plydata['vertex']
-    idx = np.random.choice(len(vertices['x']),size=(min(len(vertices['x']), 100_000),),replace=False)
-    positions = np.vstack([vertices['x'][idx], vertices['y'][idx], vertices['z'][idx]]).T               if 'x' in vertices else None
-    colors = np.vstack([vertices['red'][idx], vertices['green'][idx], vertices['blue'][idx]]).T / 255.0 if 'red' in vertices else None
-    normals = np.vstack([vertices['nx'][idx], vertices['ny'][idx], vertices['nz'][idx]]).T              if 'nx' in vertices else None
-    return BasicPointCloud(points=positions, colors=colors, normals=normals)
-
-
-def storePly(path, xyz, rgb):
-    # Define the dtype for the structured array
-    dtype = [('x', 'f4'), ('y', 'f4'), ('z', 'f4'),
-            ('nx', 'f4'), ('ny', 'f4'), ('nz', 'f4'),
-            ('red', 'u1'), ('green', 'u1'), ('blue', 'u1')]
-    
-    normals = np.zeros_like(xyz)
-
-    elements = np.empty(xyz.shape[0], dtype=dtype)
-    attributes = np.concatenate((xyz, normals, rgb), axis=1)
-    elements[:] = list(map(tuple, attributes))
-
-    # Create the PlyData object and write to file
-    vertex_element = PlyElement.describe(elements, 'vertex')
-    ply_data = PlyData([vertex_element])
-    ply_data.write(path)
-
-
-def readColmapSceneInfo(path, images, eval, preset=None, llffhold=8):
-    try:
-        cameras_extrinsic_file = os.path.join(path, "sparse/0", "images.bin")
-        cameras_intrinsic_file = os.path.join(path, "sparse/0", "cameras.bin")
-        cam_extrinsics = read_extrinsics_binary(cameras_extrinsic_file)
-        cam_intrinsics = read_intrinsics_binary(cameras_intrinsic_file)
-    except:
-        cameras_extrinsic_file = os.path.join(path, "sparse/0", "images.txt")
-        cameras_intrinsic_file = os.path.join(path, "sparse/0", "cameras.txt")
-        cam_extrinsics = read_extrinsics_text(cameras_extrinsic_file)
-        cam_intrinsics = read_intrinsics_text(cameras_intrinsic_file)
-
-    reading_dir = "images" if images == None else images
-    cam_infos_unsorted = readColmapCameras(cam_extrinsics=cam_extrinsics, cam_intrinsics=cam_intrinsics, images_folder=os.path.join(path, reading_dir))
-    cam_infos = sorted(cam_infos_unsorted.copy(), key = lambda x : x.image_name)
-
-    if eval:
-        # train_cam_infos = [c for idx, c in enumerate(cam_infos) if idx % llffhold != 0]
-        # test_cam_infos = [c for idx, c in enumerate(cam_infos) if idx % llffhold == 0]
-        train_cam_infos = [c for idx, c in enumerate(cam_infos) if idx % 5 == 2 or idx % 5 == 0]
-        test_cam_infos  = [c for idx, c in enumerate(cam_infos) if not (idx % 5 == 2 or idx % 5 == 0)]
-    else:
-        train_cam_infos = cam_infos
-        test_cam_infos = []
-
-    nerf_normalization = getNerfppNorm(train_cam_infos)
-
-    ply_path = os.path.join(path, "sparse/0/points3D.ply")
-    bin_path = os.path.join(path, "sparse/0/points3D.bin")
-    txt_path = os.path.join(path, "sparse/0/points3D.txt")
-    if not os.path.exists(ply_path):
-        print("Converting point3d.bin to .ply, will happen only the first time you open the scene.")
-        try:
-            xyz, rgb, _ = read_points3D_binary(bin_path)
-        except:
-            xyz, rgb, _ = read_points3D_text(txt_path)
-        storePly(ply_path, xyz, rgb)
-    try:
-        pcd = fetchPly(ply_path)
-    except:
-        pcd = None
-
-    if preset:
-        preset_cam_infos = readCamerasFromPreset('/home/chung/workspace/gaussian-splatting/poses_supplementary', f"{preset}.json")
-    else:
-        preset_cam_infos = None
-
-    scene_info = SceneInfo(point_cloud=pcd,
-                           train_cameras=train_cam_infos,
-                           test_cameras=test_cam_infos,
-                           preset_cameras=preset_cam_infos,
-                           nerf_normalization=nerf_normalization,
-                           ply_path=ply_path)
-    return scene_info
-
-
-def readCamerasFromTransforms(path, transformsfile, white_background, extension=".png"):
-    cam_infos = []
-
-    with open(os.path.join(path, transformsfile)) as json_file:
-        contents = json.load(json_file)
-        fovx = contents["camera_angle_x"]
-
-        frames = contents["frames"]
-        for idx, frame in enumerate(frames):
-            cam_name = os.path.join(path, frame["file_path"] + extension)
-
-            # NeRF 'transform_matrix' is a camera-to-world transform
-            c2w = np.array(frame["transform_matrix"])
-            # change from OpenGL/Blender camera axes (Y up, Z back) to COLMAP (Y down, Z forward)
-            c2w[:3, 1:3] *= -1
-
-            # get the world-to-camera transform and set R, T
-            w2c = np.linalg.inv(c2w)
-            R = np.transpose(w2c[:3,:3])  # R is stored transposed due to 'glm' in CUDA code
-            T = w2c[:3, 3]
-
-            image_path = os.path.join(path, cam_name)
-            image_name = Path(cam_name).stem
-            image = Image.open(image_path)
-            
-            # if os.path.exists(os.path.join(path, frame["file_path"].replace("/train/", "/depths_train/")+'.npy')):
-            #     depth = np.load(os.path.join(path, frame["file_path"].replace("/train/", "/depths_train/")+'.npy'))
-            #     if os.path.exists(os.path.join(path, frame["file_path"].replace("/train/", "/masks_train/")+'.png')):
-            #         mask = imageio.v3.imread(os.path.join(path, frame["file_path"].replace("/train/", "/masks_train/")+'.png'))[:,:,0]/255.
-            #     else:
-            #         mask = np.ones_like(depth)
-            #     final_depth = depth*mask
-            # else:
-            #     final_depth = None
-                
-            im_data = np.array(image.convert("RGBA"))
-
-            bg = np.array([1,1,1]) if white_background else np.array([0, 0, 0])
-
-            norm_data = im_data / 255.0
-            arr = norm_data[:,:,:3] * norm_data[:, :, 3:4] + bg * (1 - norm_data[:, :, 3:4])
-            image = Image.fromarray(np.array(arr*255.0, dtype=np.byte), "RGB")
-
-            fovy = focal2fov(fov2focal(fovx, image.size[1]), image.size[0])
-            FovY = fovy 
-            FovX = fovx
-
-            cam_infos.append(CameraInfo(uid=idx, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
-                            image_path=image_path, image_name=image_name, width=image.size[0], height=image.size[1]))
-            
-    return cam_infos
-
-
-def readCamerasFromPreset(path, transformsfile):
-    cam_infos = []
-
-    with open(os.path.join(path, transformsfile)) as json_file:
-        contents = json.load(json_file)
-        FOV = contents["camera_angle_x"]*1.2
-
-        frames = contents["frames"]
-        for idx, frame in enumerate(frames):
-            # NeRF 'transform_matrix' is a camera-to-world transform
-            c2w = np.array(frame["transform_matrix"])
-            # change from OpenGL/Blender camera axes (Y up, Z back) to COLMAP (Y down, Z forward)
-            c2w[:3, 1:3] *= -1
-
-            # get the world-to-camera transform and set R, T
-            w2c = np.linalg.inv(np.concatenate((c2w, np.array([0,0,0,1]).reshape(1,4)), axis=0))
-            R = np.transpose(w2c[:3,:3])  # R is stored transposed due to 'glm' in CUDA code
-            T = w2c[:3, 3]
-            # R = c2w[:3,:3]
-            # T = - np.transpose(R).dot(c2w[:3,3])
-
-            image = Image.fromarray(np.zeros((512,512)), "RGB")
-            FovY = focal2fov(fov2focal(FOV, 512), image.size[0]) 
-            FovX = focal2fov(fov2focal(FOV, 512), image.size[1]) 
-            # FovX, FovY = contents["camera_angle_x"], contents["camera_angle_x"]
-
-            cam_infos.append(CameraInfo(uid=idx, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
-                            image_path='None', image_name='None', width=image.size[1], height=image.size[0]))
-
-    return cam_infos
-
-
-def readNerfSyntheticInfo(path, white_background, eval, preset=None, extension=".png"):
-    print("Reading Training Transforms")
-    train_cam_infos = readCamerasFromTransforms(path, "transforms_train.json", white_background, extension)
-    print("Reading Test Transforms")
-    test_cam_infos = readCamerasFromTransforms(path, "transforms_test.json", white_background, extension)
-    
-    if preset:
-        preset_cam_infos = readCamerasFromPreset('/home/chung/workspace/gaussian-splatting/poses_supplementary', f"{preset}.json")
-    else:
-        preset_cam_infos = None
-    
-    if not eval:
-        train_cam_infos.extend(test_cam_infos)
-        test_cam_infos = []
-
-    nerf_normalization = getNerfppNorm(train_cam_infos)
-
-    ply_path = os.path.join(path, "points3d.ply")
-    if not os.path.exists(ply_path):
-        # Since this data set has no colmap data, we start with random points
-        num_pts = 100_000
-        print(f"Generating random point cloud ({num_pts})...")
-        
-        # We create random points inside the bounds of the synthetic Blender scenes
-        xyz = np.random.random((num_pts, 3)) * 2.6 - 1.3
-        shs = np.random.random((num_pts, 3)) / 255.0
-        pcd = BasicPointCloud(points=xyz, colors=SH2RGB(shs), normals=np.zeros((num_pts, 3)))
-
-        storePly(ply_path, xyz, SH2RGB(shs) * 255)
-    
-    try:
-        pcd = fetchPly(ply_path)
-    except:
-        pcd = None
-    
-    scene_info = SceneInfo(point_cloud=pcd,
-                           train_cameras=train_cam_infos,
-                           test_cameras=test_cam_infos,
-                           preset_cameras=preset_cam_infos,
-                           nerf_normalization=nerf_normalization,
-                           ply_path=ply_path)
-    return scene_info
-
-
-def loadCamerasFromData(traindata, white_background):
-    cameras = []
-
-    fovx = traindata["camera_angle_x"]
-    frames = traindata["frames"]
-    for idx, frame in enumerate(frames):
-        # NeRF 'transform_matrix' is a camera-to-world transform
-        c2w = np.array(frame["transform_matrix"])
-        # change from OpenGL/Blender camera axes (Y up, Z back) to COLMAP (Y down, Z forward)
-        c2w[:3, 1:3] *= -1
-
-        # get the world-to-camera transform and set R, T
-        w2c = np.linalg.inv(c2w)
-        R = np.transpose(w2c[:3,:3])  # R is stored transposed due to 'glm' in CUDA code
-        T = w2c[:3, 3]
-
-        image = frame["image"] if "image" in frame else None
-        im_data = np.array(image.convert("RGBA"))
-
-        bg = np.array([1,1,1]) if white_background else np.array([0, 0, 0])
-
-        norm_data = im_data / 255.0
-        arr = norm_data[:,:,:3] * norm_data[:, :, 3:4] + bg * (1 - norm_data[:, :, 3:4])
-        image = Image.fromarray(np.array(arr*255.0, dtype=np.byte), "RGB")
-        loaded_mask = np.ones_like(norm_data[:, :, 3:4])
-
-        fovy = focal2fov(fov2focal(fovx, image.size[1]), image.size[0])
-        FovY = fovy 
-        FovX = fovx
-
-        image = torch.Tensor(arr).permute(2,0,1)
-        loaded_mask = None #torch.Tensor(loaded_mask).permute(2,0,1)
-        
-        ### torch로 바꿔야함 
-        cameras.append(Camera(colmap_id=idx, R=R, T=T, FoVx=FovX, FoVy=FovY, image=image, 
-                                gt_alpha_mask=loaded_mask, image_name='', uid=idx, data_device='cuda'))
-            
-    return cameras
-
-
-def loadCameraPreset(traindata, presetdata):
-    cam_infos = {}
-    ## camera setting (for H, W and focal)
-    fovx = traindata["camera_angle_x"] * 1.2
-    W, H = traindata["frames"][0]["image"].size
-    # W, H = traindata["W"], traindata["H"]
-
-    for camkey in presetdata:
-        cam_infos[camkey] = []
-        for idx, frame in enumerate(presetdata[camkey]["frames"]):
-            # NeRF 'transform_matrix' is a camera-to-world transform
-            c2w = np.array(frame["transform_matrix"])
-            # change from OpenGL/Blender camera axes (Y up, Z back) to COLMAP (Y down, Z forward)
-            c2w[:3, 1:3] *= -1
-
-            # get the world-to-camera transform and set R, T
-            w2c = np.linalg.inv(c2w)
-            R = np.transpose(w2c[:3,:3])  # R is stored transposed due to 'glm' in CUDA code
-            T = w2c[:3, 3]
-
-            fovy = focal2fov(fov2focal(fovx, W), H)
-            FovY = fovy 
-            FovX = fovx
-        
-            znear, zfar = 0.01, 100
-            world_view_transform = torch.tensor(getWorld2View2(R, T, np.array([0.0, 0.0, 0.0]), 1.0)).transpose(0, 1).cuda()
-            projection_matrix = getProjectionMatrix(znear=znear, zfar=zfar, fovX=FovX, fovY=FovY).transpose(0,1).cuda()
-            full_proj_transform = (world_view_transform.unsqueeze(0).bmm(projection_matrix.unsqueeze(0))).squeeze(0)
-
-            cam_infos[camkey].append(MiniCam(width=W, height=H, fovy=FovY, fovx=FovX, znear=znear, zfar=zfar,
-                                          world_view_transform=world_view_transform, full_proj_transform=full_proj_transform))
-            
-    return cam_infos
-
-
-def readDataInfo(traindata, white_background):
-    print("Reading Training Transforms")
-    
-    train_cameras = loadCamerasFromData(traindata, white_background)
-    preset_minicams = loadCameraPreset(traindata, presetdata=get_camerapaths())
-    
-    # if not eval:
-    #     train_cam_infos.extend(test_cam_infos)
-    #     test_cam_infos = []
-
-    nerf_normalization = getNerfppNorm(train_cameras)
-
-    pcd = BasicPointCloud(points=traindata['pcd_points'].T, colors=traindata['pcd_colors'], normals=None)
-
-    
-    scene_info = SceneInfo(point_cloud=pcd,
-                           train_cameras=train_cameras,
-                           test_cameras=[],
-                           preset_cameras=preset_minicams,
-                           nerf_normalization=nerf_normalization,
-                           ply_path='')
-    return scene_info
-
-
-sceneLoadTypeCallbacks = {
-    "Colmap": readColmapSceneInfo,
-    "Blender" : readNerfSyntheticInfo
-}

scene/.ipynb_checkpoints/gaussian_model-checkpoint.py

@@ -1,407 +0,0 @@
-#
-# Copyright (C) 2023, Inria
-# GRAPHDECO research group, https://team.inria.fr/graphdeco
-# All rights reserved.
-#
-# This software is free for non-commercial, research and evaluation use 
-# under the terms of the LICENSE.md file.
-#
-# For inquiries contact  george.drettakis@inria.fr
-#
-import os
-
-import numpy as np
-from plyfile import PlyData, PlyElement
-
-import torch
-from torch import nn
-
-from simple_knn._C import distCUDA2
-from utils.general import inverse_sigmoid, get_expon_lr_func, build_rotation
-from utils.system import mkdir_p
-from utils.sh import RGB2SH
-from utils.graphics import BasicPointCloud
-from utils.general import strip_symmetric, build_scaling_rotation
-
-
-class GaussianModel:
-    def setup_functions(self):
-        def build_covariance_from_scaling_rotation(scaling, scaling_modifier, rotation):
-            L = build_scaling_rotation(scaling_modifier * scaling, rotation)
-            actual_covariance = L @ L.transpose(1, 2)
-            symm = strip_symmetric(actual_covariance)
-            return symm
-        
-        self.scaling_activation = torch.exp
-        self.scaling_inverse_activation = torch.log
-
-        self.covariance_activation = build_covariance_from_scaling_rotation
-
-        self.opacity_activation = torch.sigmoid
-        self.inverse_opacity_activation = inverse_sigmoid
-
-        self.rotation_activation = torch.nn.functional.normalize
-
-
-    def __init__(self, sh_degree : int):
-        self.active_sh_degree = 0
-        self.max_sh_degree = sh_degree  
-        self._xyz = torch.empty(0)
-        self._features_dc = torch.empty(0)
-        self._features_rest = torch.empty(0)
-        self._scaling = torch.empty(0)
-        self._rotation = torch.empty(0)
-        self._opacity = torch.empty(0)
-        self.max_radii2D = torch.empty(0)
-        self.xyz_gradient_accum = torch.empty(0)
-        self.denom = torch.empty(0)
-        self.optimizer = None
-        self.percent_dense = 0
-        self.spatial_lr_scale = 0
-        self.setup_functions()
-
-    def capture(self):
-        return (
-            self.active_sh_degree,
-            self._xyz,
-            self._features_dc,
-            self._features_rest,
-            self._scaling,
-            self._rotation,
-            self._opacity,
-            self.max_radii2D,
-            self.xyz_gradient_accum,
-            self.denom,
-            self.optimizer.state_dict(),
-            self.spatial_lr_scale,
-        )
-    
-    def restore(self, model_args, training_args):
-        (self.active_sh_degree, 
-        self._xyz, 
-        self._features_dc, 
-        self._features_rest,
-        self._scaling, 
-        self._rotation, 
-        self._opacity,
-        self.max_radii2D, 
-        xyz_gradient_accum, 
-        denom,
-        opt_dict, 
-        self.spatial_lr_scale) = model_args
-        self.training_setup(training_args)
-        self.xyz_gradient_accum = xyz_gradient_accum
-        self.denom = denom
-        self.optimizer.load_state_dict(opt_dict)
-
-    @property
-    def get_scaling(self):
-        return self.scaling_activation(self._scaling)
-    
-    @property
-    def get_rotation(self):
-        return self.rotation_activation(self._rotation)
-    
-    @property
-    def get_xyz(self):
-        return self._xyz
-    
-    @property
-    def get_features(self):
-        features_dc = self._features_dc
-        features_rest = self._features_rest
-        return torch.cat((features_dc, features_rest), dim=1)
-    
-    @property
-    def get_opacity(self):
-        return self.opacity_activation(self._opacity)
-    
-    def get_covariance(self, scaling_modifier = 1):
-        return self.covariance_activation(self.get_scaling, scaling_modifier, self._rotation)
-
-    def oneupSHdegree(self):
-        if self.active_sh_degree < self.max_sh_degree:
-            self.active_sh_degree += 1
-
-    def create_from_pcd(self, pcd : BasicPointCloud, spatial_lr_scale : float):
-        self.spatial_lr_scale = spatial_lr_scale
-        fused_point_cloud = torch.tensor(np.asarray(pcd.points)).float().cuda()
-        fused_color = RGB2SH(torch.tensor(np.asarray(pcd.colors)).float().cuda())
-        features = torch.zeros((fused_color.shape[0], 3, (self.max_sh_degree + 1) ** 2)).float().cuda()
-        features[:, :3, 0 ] = fused_color
-        features[:, 3:, 1:] = 0.0
-
-        print("Number of points at initialisation : ", fused_point_cloud.shape[0])
-
-        dist2 = torch.clamp_min(distCUDA2(torch.from_numpy(np.asarray(pcd.points)).float().cuda()), 0.0000001)
-        scales = torch.log(torch.sqrt(dist2))[...,None].repeat(1, 3)
-        rots = torch.zeros((fused_point_cloud.shape[0], 4), device="cuda")
-        rots[:, 0] = 1
-
-        opacities = inverse_sigmoid(0.1 * torch.ones((fused_point_cloud.shape[0], 1), dtype=torch.float, device="cuda"))
-
-        self._xyz = nn.Parameter(fused_point_cloud.requires_grad_(True))
-        self._features_dc = nn.Parameter(features[:,:,0:1].transpose(1, 2).contiguous().requires_grad_(True))
-        self._features_rest = nn.Parameter(features[:,:,1:].transpose(1, 2).contiguous().requires_grad_(True))
-        self._scaling = nn.Parameter(scales.requires_grad_(True))
-        self._rotation = nn.Parameter(rots.requires_grad_(True))
-        self._opacity = nn.Parameter(opacities.requires_grad_(True))
-        self.max_radii2D = torch.zeros((self.get_xyz.shape[0]), device="cuda")
-
-    def training_setup(self, training_args):
-        self.percent_dense = training_args.percent_dense
-        self.xyz_gradient_accum = torch.zeros((self.get_xyz.shape[0], 1), device="cuda")
-        self.denom = torch.zeros((self.get_xyz.shape[0], 1), device="cuda")
-
-        l = [
-            {'params': [self._xyz], 'lr': training_args.position_lr_init * self.spatial_lr_scale, "name": "xyz"},
-            {'params': [self._features_dc], 'lr': training_args.feature_lr, "name": "f_dc"},
-            {'params': [self._features_rest], 'lr': training_args.feature_lr / 20.0, "name": "f_rest"},
-            {'params': [self._opacity], 'lr': training_args.opacity_lr, "name": "opacity"},
-            {'params': [self._scaling], 'lr': training_args.scaling_lr, "name": "scaling"},
-            {'params': [self._rotation], 'lr': training_args.rotation_lr, "name": "rotation"}
-        ]
-
-        self.optimizer = torch.optim.Adam(l, lr=0.0, eps=1e-15)
-        self.xyz_scheduler_args = get_expon_lr_func(lr_init=training_args.position_lr_init*self.spatial_lr_scale,
-                                                    lr_final=training_args.position_lr_final*self.spatial_lr_scale,
-                                                    lr_delay_mult=training_args.position_lr_delay_mult,
-                                                    max_steps=training_args.position_lr_max_steps)
-
-    def update_learning_rate(self, iteration):
-        ''' Learning rate scheduling per step '''
-        for param_group in self.optimizer.param_groups:
-            if param_group["name"] == "xyz":
-                lr = self.xyz_scheduler_args(iteration)
-                param_group['lr'] = lr
-                return lr
-
-    def construct_list_of_attributes(self):
-        l = ['x', 'y', 'z', 'nx', 'ny', 'nz']
-        # All channels except the 3 DC
-        for i in range(self._features_dc.shape[1]*self._features_dc.shape[2]):
-            l.append('f_dc_{}'.format(i))
-        for i in range(self._features_rest.shape[1]*self._features_rest.shape[2]):
-            l.append('f_rest_{}'.format(i))
-        l.append('opacity')
-        for i in range(self._scaling.shape[1]):
-            l.append('scale_{}'.format(i))
-        for i in range(self._rotation.shape[1]):
-            l.append('rot_{}'.format(i))
-        return l
-
-    def save_ply(self, filepath):
-        xyz = self._xyz.detach().cpu().numpy()
-        normals = np.zeros_like(xyz)
-        f_dc = self._features_dc.detach().transpose(1, 2).flatten(start_dim=1).contiguous().cpu().numpy()
-        f_rest = self._features_rest.detach().transpose(1, 2).flatten(start_dim=1).contiguous().cpu().numpy()
-        opacities = self._opacity.detach().cpu().numpy()
-        scale = self._scaling.detach().cpu().numpy()
-        rotation = self._rotation.detach().cpu().numpy()
-
-        dtype_full = [(attribute, 'f4') for attribute in self.construct_list_of_attributes()]
-
-        elements = np.empty(xyz.shape[0], dtype=dtype_full)
-        attributes = np.concatenate((xyz, normals, f_dc, f_rest, opacities, scale, rotation), axis=1)
-        elements[:] = list(map(tuple, attributes))
-        el = PlyElement.describe(elements, 'vertex')
-        PlyData([el]).write(filepath)
-        
-    def reset_opacity(self):
-        opacities_new = inverse_sigmoid(torch.min(self.get_opacity, torch.ones_like(self.get_opacity)*0.01))
-        optimizable_tensors = self.replace_tensor_to_optimizer(opacities_new, "opacity")
-        self._opacity = optimizable_tensors["opacity"]
-
-    def load_ply(self, path):
-        plydata = PlyData.read(path)
-
-        xyz = np.stack((np.asarray(plydata.elements[0]["x"]),
-                        np.asarray(plydata.elements[0]["y"]),
-                        np.asarray(plydata.elements[0]["z"])),  axis=1)
-        opacities = np.asarray(plydata.elements[0]["opacity"])[..., np.newaxis]
-
-        features_dc = np.zeros((xyz.shape[0], 3, 1))
-        features_dc[:, 0, 0] = np.asarray(plydata.elements[0]["f_dc_0"])
-        features_dc[:, 1, 0] = np.asarray(plydata.elements[0]["f_dc_1"])
-        features_dc[:, 2, 0] = np.asarray(plydata.elements[0]["f_dc_2"])
-
-        extra_f_names = [p.name for p in plydata.elements[0].properties if p.name.startswith("f_rest_")]
-        extra_f_names = sorted(extra_f_names, key = lambda x: int(x.split('_')[-1]))
-        assert len(extra_f_names)==3*(self.max_sh_degree + 1) ** 2 - 3
-        features_extra = np.zeros((xyz.shape[0], len(extra_f_names)))
-        for idx, attr_name in enumerate(extra_f_names):
-            features_extra[:, idx] = np.asarray(plydata.elements[0][attr_name])
-        # Reshape (P,F*SH_coeffs) to (P, F, SH_coeffs except DC)
-        features_extra = features_extra.reshape((features_extra.shape[0], 3, (self.max_sh_degree + 1) ** 2 - 1))
-
-        scale_names = [p.name for p in plydata.elements[0].properties if p.name.startswith("scale_")]
-        scale_names = sorted(scale_names, key = lambda x: int(x.split('_')[-1]))
-        scales = np.zeros((xyz.shape[0], len(scale_names)))
-        for idx, attr_name in enumerate(scale_names):
-            scales[:, idx] = np.asarray(plydata.elements[0][attr_name])
-
-        rot_names = [p.name for p in plydata.elements[0].properties if p.name.startswith("rot")]
-        rot_names = sorted(rot_names, key = lambda x: int(x.split('_')[-1]))
-        rots = np.zeros((xyz.shape[0], len(rot_names)))
-        for idx, attr_name in enumerate(rot_names):
-            rots[:, idx] = np.asarray(plydata.elements[0][attr_name])
-
-        self._xyz = nn.Parameter(torch.tensor(xyz, dtype=torch.float, device="cuda").requires_grad_(True))
-        self._features_dc = nn.Parameter(torch.tensor(features_dc, dtype=torch.float, device="cuda").transpose(1, 2).contiguous().requires_grad_(True))
-        self._features_rest = nn.Parameter(torch.tensor(features_extra, dtype=torch.float, device="cuda").transpose(1, 2).contiguous().requires_grad_(True))
-        self._opacity = nn.Parameter(torch.tensor(opacities, dtype=torch.float, device="cuda").requires_grad_(True))
-        self._scaling = nn.Parameter(torch.tensor(scales, dtype=torch.float, device="cuda").requires_grad_(True))
-        self._rotation = nn.Parameter(torch.tensor(rots, dtype=torch.float, device="cuda").requires_grad_(True))
-
-        self.active_sh_degree = self.max_sh_degree
-
-    def replace_tensor_to_optimizer(self, tensor, name):
-        optimizable_tensors = {}
-        for group in self.optimizer.param_groups:
-            if group["name"] == name:
-                stored_state = self.optimizer.state.get(group['params'][0], None)
-                stored_state["exp_avg"] = torch.zeros_like(tensor)
-                stored_state["exp_avg_sq"] = torch.zeros_like(tensor)
-
-                del self.optimizer.state[group['params'][0]]
-                group["params"][0] = nn.Parameter(tensor.requires_grad_(True))
-                self.optimizer.state[group['params'][0]] = stored_state
-
-                optimizable_tensors[group["name"]] = group["params"][0]
-        return optimizable_tensors
-
-    def _prune_optimizer(self, mask):
-        optimizable_tensors = {}
-        for group in self.optimizer.param_groups:
-            stored_state = self.optimizer.state.get(group['params'][0], None)
-            if stored_state is not None:
-                stored_state["exp_avg"] = stored_state["exp_avg"][mask]
-                stored_state["exp_avg_sq"] = stored_state["exp_avg_sq"][mask]
-
-                del self.optimizer.state[group['params'][0]]
-                group["params"][0] = nn.Parameter((group["params"][0][mask].requires_grad_(True)))
-                self.optimizer.state[group['params'][0]] = stored_state
-
-                optimizable_tensors[group["name"]] = group["params"][0]
-            else:
-                group["params"][0] = nn.Parameter(group["params"][0][mask].requires_grad_(True))
-                optimizable_tensors[group["name"]] = group["params"][0]
-        return optimizable_tensors
-
-    def prune_points(self, mask):
-        valid_points_mask = ~mask
-        optimizable_tensors = self._prune_optimizer(valid_points_mask)
-
-        self._xyz = optimizable_tensors["xyz"]
-        self._features_dc = optimizable_tensors["f_dc"]
-        self._features_rest = optimizable_tensors["f_rest"]
-        self._opacity = optimizable_tensors["opacity"]
-        self._scaling = optimizable_tensors["scaling"]
-        self._rotation = optimizable_tensors["rotation"]
-
-        self.xyz_gradient_accum = self.xyz_gradient_accum[valid_points_mask]
-
-        self.denom = self.denom[valid_points_mask]
-        self.max_radii2D = self.max_radii2D[valid_points_mask]
-
-    def cat_tensors_to_optimizer(self, tensors_dict):
-        optimizable_tensors = {}
-        for group in self.optimizer.param_groups:
-            assert len(group["params"]) == 1
-            extension_tensor = tensors_dict[group["name"]]
-            stored_state = self.optimizer.state.get(group['params'][0], None)
-            if stored_state is not None:
-
-                stored_state["exp_avg"] = torch.cat((stored_state["exp_avg"], torch.zeros_like(extension_tensor)), dim=0)
-                stored_state["exp_avg_sq"] = torch.cat((stored_state["exp_avg_sq"], torch.zeros_like(extension_tensor)), dim=0)
-
-                del self.optimizer.state[group['params'][0]]
-                group["params"][0] = nn.Parameter(torch.cat((group["params"][0], extension_tensor), dim=0).requires_grad_(True))
-                self.optimizer.state[group['params'][0]] = stored_state
-
-                optimizable_tensors[group["name"]] = group["params"][0]
-            else:
-                group["params"][0] = nn.Parameter(torch.cat((group["params"][0], extension_tensor), dim=0).requires_grad_(True))
-                optimizable_tensors[group["name"]] = group["params"][0]
-
-        return optimizable_tensors
-
-    def densification_postfix(self, new_xyz, new_features_dc, new_features_rest, new_opacities, new_scaling, new_rotation):
-        d = {"xyz": new_xyz,
-        "f_dc": new_features_dc,
-        "f_rest": new_features_rest,
-        "opacity": new_opacities,
-        "scaling" : new_scaling,
-        "rotation" : new_rotation}
-
-        optimizable_tensors = self.cat_tensors_to_optimizer(d)
-        self._xyz = optimizable_tensors["xyz"]
-        self._features_dc = optimizable_tensors["f_dc"]
-        self._features_rest = optimizable_tensors["f_rest"]
-        self._opacity = optimizable_tensors["opacity"]
-        self._scaling = optimizable_tensors["scaling"]
-        self._rotation = optimizable_tensors["rotation"]
-
-        self.xyz_gradient_accum = torch.zeros((self.get_xyz.shape[0], 1), device="cuda")
-        self.denom = torch.zeros((self.get_xyz.shape[0], 1), device="cuda")
-        self.max_radii2D = torch.zeros((self.get_xyz.shape[0]), device="cuda")
-
-    def densify_and_split(self, grads, grad_threshold, scene_extent, N=2):
-        n_init_points = self.get_xyz.shape[0]
-        # Extract points that satisfy the gradient condition
-        padded_grad = torch.zeros((n_init_points), device="cuda")
-        padded_grad[:grads.shape[0]] = grads.squeeze()
-        selected_pts_mask = torch.where(padded_grad >= grad_threshold, True, False)
-        selected_pts_mask = torch.logical_and(selected_pts_mask,
-                                              torch.max(self.get_scaling, dim=1).values > self.percent_dense*scene_extent)
-
-        stds = self.get_scaling[selected_pts_mask].repeat(N,1)
-        means =torch.zeros((stds.size(0), 3),device="cuda")
-        samples = torch.normal(mean=means, std=stds)
-        rots = build_rotation(self._rotation[selected_pts_mask]).repeat(N,1,1)
-        new_xyz = torch.bmm(rots, samples.unsqueeze(-1)).squeeze(-1) + self.get_xyz[selected_pts_mask].repeat(N, 1)
-        new_scaling = self.scaling_inverse_activation(self.get_scaling[selected_pts_mask].repeat(N,1) / (0.8*N))
-        new_rotation = self._rotation[selected_pts_mask].repeat(N,1)
-        new_features_dc = self._features_dc[selected_pts_mask].repeat(N,1,1)
-        new_features_rest = self._features_rest[selected_pts_mask].repeat(N,1,1)
-        new_opacity = self._opacity[selected_pts_mask].repeat(N,1)
-
-        self.densification_postfix(new_xyz, new_features_dc, new_features_rest, new_opacity, new_scaling, new_rotation)
-
-        prune_filter = torch.cat((selected_pts_mask, torch.zeros(N * selected_pts_mask.sum(), device="cuda", dtype=bool)))
-        self.prune_points(prune_filter)
-
-    def densify_and_clone(self, grads, grad_threshold, scene_extent):
-        # Extract points that satisfy the gradient condition
-        selected_pts_mask = torch.where(torch.norm(grads, dim=-1) >= grad_threshold, True, False)
-        selected_pts_mask = torch.logical_and(selected_pts_mask,
-                                              torch.max(self.get_scaling, dim=1).values <= self.percent_dense*scene_extent)
-        
-        new_xyz = self._xyz[selected_pts_mask]
-        new_features_dc = self._features_dc[selected_pts_mask]
-        new_features_rest = self._features_rest[selected_pts_mask]
-        new_opacities = self._opacity[selected_pts_mask]
-        new_scaling = self._scaling[selected_pts_mask]
-        new_rotation = self._rotation[selected_pts_mask]
-
-        self.densification_postfix(new_xyz, new_features_dc, new_features_rest, new_opacities, new_scaling, new_rotation)
-
-    def densify_and_prune(self, max_grad, min_opacity, extent, max_screen_size):
-        grads = self.xyz_gradient_accum / self.denom
-        grads[grads.isnan()] = 0.0
-
-        self.densify_and_clone(grads, max_grad, extent)
-        self.densify_and_split(grads, max_grad, extent)
-
-        prune_mask = (self.get_opacity < min_opacity).squeeze()
-        if max_screen_size:
-            big_points_vs = self.max_radii2D > max_screen_size
-            big_points_ws = self.get_scaling.max(dim=1).values > 0.1 * extent
-            prune_mask = torch.logical_or(torch.logical_or(prune_mask, big_points_vs), big_points_ws)
-        self.prune_points(prune_mask)
-
-        torch.cuda.empty_cache()
-
-    def add_densification_stats(self, viewspace_point_tensor, update_filter):
-        self.xyz_gradient_accum[update_filter] += torch.norm(viewspace_point_tensor.grad[update_filter,:2], dim=-1, keepdim=True)
-        self.denom[update_filter] += 1