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get rid of gsplat legacy dep #3386

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merged 1 commit into from
Aug 26, 2024
Merged

get rid of gsplat legacy dep #3386

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21 changes: 20 additions & 1 deletion nerfstudio/models/splatfacto.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@

import numpy as np
import torch
from gsplat.cuda_legacy._torch_impl import quat_to_rotmat

try:
from gsplat.rendering import rasterization
Expand All @@ -47,6 +46,26 @@
from nerfstudio.utils.rich_utils import CONSOLE


def quat_to_rotmat(quat):
assert quat.shape[-1] == 4, quat.shape
w, x, y, z = torch.unbind(quat, dim=-1)
mat = torch.stack(
[
1 - 2 * (y**2 + z**2),
2 * (x * y - w * z),
2 * (x * z + w * y),
2 * (x * y + w * z),
1 - 2 * (x**2 + z**2),
2 * (y * z - w * x),
2 * (x * z - w * y),
2 * (y * z + w * x),
1 - 2 * (x**2 + y**2),
],
dim=-1,
)
return mat.reshape(quat.shape[:-1] + (3, 3))


def random_quat_tensor(N):
"""
Defines a random quaternion tensor of shape (N, 4)
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