Spaces:
Running
on
L40S
Running
on
L40S
File size: 2,167 Bytes
ef198e0 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 |
# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
import torch
from . import Camera
import numpy as np
def projection(x=0.1, n=1.0, f=50.0, near_plane=None):
if near_plane is None:
near_plane = n
return np.array(
[[n / x, 0, 0, 0],
[0, n / -x, 0, 0],
[0, 0, -(f + near_plane) / (f - near_plane), -(2 * f * near_plane) / (f - near_plane)],
[0, 0, -1, 0]]).astype(np.float32)
def ortho_projection(n=1.0, f=50.0):
return np.array(
[[1, 0, 0, 0],
[0, -1, 0, 0],
[0, 0, -2 / (f - n), -(f + n) / (f - n)],
[0, 0, 0, 1]]).astype(np.float32)
class PerspectiveCamera(Camera):
def __init__(self, fovy=49.0, device='cuda'):
super(PerspectiveCamera, self).__init__()
self.device = device
focal = np.tan(fovy / 180.0 * np.pi * 0.5)
self.proj_mtx = torch.from_numpy(projection(x=focal, f=1000.0, n=1.0, near_plane=0.1)).to(self.device).unsqueeze(dim=0)
def project(self, points_bxnx4):
out = torch.matmul(
points_bxnx4,
torch.transpose(self.proj_mtx, 1, 2))
return out
class OrthogonalCamera(Camera):
def __init__(self, device='cuda'):
super(OrthogonalCamera, self).__init__()
self.device = device
self.proj_mtx = torch.from_numpy(ortho_projection(f=1000.0, n=0.1)).to(self.device).unsqueeze(dim=0)
def project(self, points_bxnx4, ortho_scales_bx1):
out = torch.matmul(
points_bxnx4,
torch.transpose(self.proj_mtx, 1, 2))
# print(ortho_scales_bx1)
out[:, :, 0] = out[:, :, 0] / ortho_scales_bx1[..., None] * 2.
out[:, :, 1] = out[:, :, 1] / ortho_scales_bx1[..., None] * 2.
return out
|