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Add per frame intrinsic support to nerfstudio data #1049

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merged 2 commits into from
Nov 29, 2022
Merged

Add per frame intrinsic support to nerfstudio data #1049

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6210c04
Add per frame intrinsic support to nerfstudio data
tancik Nov 29, 2022
54ef770
Merge branch 'main' into tancik/nerfstudio_data_custom_int
tancik Nov 29, 2022
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94 changes: 77 additions & 17 deletions nerfstudio/data/dataparsers/nerfstudio_dataparser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,14 +80,64 @@ def _generate_dataparser_outputs(self, split="train"):
poses = []
num_skipped_image_filenames = 0

fx_fixed = "fl_x" in meta
fy_fixed = "fl_y" in meta
cx_fixed = "cx" in meta
cy_fixed = "cy" in meta
height_fixed = "h" in meta
width_fixed = "w" in meta
distort_fixed = False
for distort_key in ["k1", "k2", "k3", "p1", "p2"]:
if distort_key in meta:
distort_fixed = True
break
fx = []
fy = []
cx = []
cy = []
height = []
width = []
distort = []

for frame in meta["frames"]:
filepath = PurePath(frame["file_path"])
fname = self._get_fname(filepath)
if not fname.exists():
num_skipped_image_filenames += 1
else:
image_filenames.append(fname)
poses.append(np.array(frame["transform_matrix"]))
continue

if not fx_fixed:
assert "fl_x" in frame, "fx not specified in frame"
fx.append(float(frame["fl_x"]))
if not fy_fixed:
assert "fl_y" in frame, "fy not specified in frame"
fy.append(float(frame["fl_y"]))
if not cx_fixed:
assert "cx" in frame, "cx not specified in frame"
cx.append(float(frame["cx"]))
if not cy_fixed:
assert "cy" in frame, "cy not specified in frame"
cy.append(float(frame["cy"]))
if not height_fixed:
assert "h" in frame, "height not specified in frame"
height.append(int(frame["h"]))
if not width_fixed:
assert "w" in frame, "width not specified in frame"
width.append(int(frame["w"]))
if not distort_fixed:
distort.append(
camera_utils.get_distortion_params(
k1=float(meta["k1"]) if "k1" in meta else 0.0,
k2=float(meta["k2"]) if "k2" in meta else 0.0,
k3=float(meta["k3"]) if "k3" in meta else 0.0,
k4=float(meta["k4"]) if "k4" in meta else 0.0,
p1=float(meta["p1"]) if "p1" in meta else 0.0,
p2=float(meta["p2"]) if "p2" in meta else 0.0,
)
)

image_filenames.append(fname)
poses.append(np.array(frame["transform_matrix"]))
if "mask_path" in frame:
mask_filepath = PurePath(frame["mask_path"])
mask_fname = self._get_fname(mask_filepath, downsample_folder_prefix="masks_")
Expand Down Expand Up @@ -162,23 +212,33 @@ def _generate_dataparser_outputs(self, split="train"):
else:
camera_type = CameraType.PERSPECTIVE

distortion_params = camera_utils.get_distortion_params(
k1=float(meta["k1"]) if "k1" in meta else 0.0,
k2=float(meta["k2"]) if "k2" in meta else 0.0,
k3=float(meta["k3"]) if "k3" in meta else 0.0,
k4=float(meta["k4"]) if "k4" in meta else 0.0,
p1=float(meta["p1"]) if "p1" in meta else 0.0,
p2=float(meta["p2"]) if "p2" in meta else 0.0,
)
idx_tensor = torch.tensor(indices)
fx = float(meta["fl_x"]) if fx_fixed else torch.tensor(fx, dtype=torch.float32)[idx_tensor]
fy = float(meta["fl_y"]) if fy_fixed else torch.tensor(fy, dtype=torch.float32)[idx_tensor]
cx = float(meta["cx"]) if cx_fixed else torch.tensor(cx, dtype=torch.float32)[idx_tensor]
cy = float(meta["cy"]) if cy_fixed else torch.tensor(cy, dtype=torch.float32)[idx_tensor]
height = int(meta["h"]) if height_fixed else torch.tensor(height, dtype=torch.int32)[idx_tensor]
width = int(meta["w"]) if width_fixed else torch.tensor(width, dtype=torch.int32)[idx_tensor]
if distort_fixed:
distortion_params = camera_utils.get_distortion_params(
k1=float(meta["k1"]) if "k1" in meta else 0.0,
k2=float(meta["k2"]) if "k2" in meta else 0.0,
k3=float(meta["k3"]) if "k3" in meta else 0.0,
k4=float(meta["k4"]) if "k4" in meta else 0.0,
p1=float(meta["p1"]) if "p1" in meta else 0.0,
p2=float(meta["p2"]) if "p2" in meta else 0.0,
)
else:
distortion_params = torch.stack(distort, dim=0)[idx_tensor]

cameras = Cameras(
fx=float(meta["fl_x"]),
fy=float(meta["fl_y"]),
cx=float(meta["cx"]),
cy=float(meta["cy"]),
fx=fx,
fy=fy,
cx=cx,
cy=cy,
distortion_params=distortion_params,
height=int(meta["h"]),
width=int(meta["w"]),
height=height,
width=width,
camera_to_worlds=poses[:, :3, :4],
camera_type=camera_type,
)
Expand Down