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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()
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