OpenSplat/nerfstudio.cpp at OpenSplatLibrary · NewChromantics/OpenSplat · GitHub

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#include <filesystem>

#include <cstdlib>

#include <nlohmann/json.hpp>

#include "nerfstudio.hpp"

#include "point_io.hpp"

#include "cv_utils.hpp"

#include "tensor_math.hpp"

namespace fs = std::filesystem;

using json = nlohmann::json;

using namespace torch::indexing;

namespace ns{

void to_json(json &j, const Frame &f){

j = json{ {"file_path", f.filePath },

{"w", f.width },

{"h", f.height },

{"fl_x", f.fx },

{"fl_y", f.fy },

{"cx", f.cx },

{"cy", f.cy },

{"k1", f.k1 },

{"k2", f.k2 },

{"p1", f.p1 },

{"p2", f.p2 },

{"k3", f.k3 },

{"transform_matrix", f.transformMatrix },

};

}

void from_json(const json& j, Frame &f){

j.at("file_path").get_to(f.filePath);

j.at("transform_matrix").get_to(f.transformMatrix);

if (j.contains("w")) j.at("w").get_to(f.width);

if (j.contains("h")) j.at("h").get_to(f.height);

if (j.contains("fl_x")) j.at("fl_x").get_to(f.fx);

if (j.contains("fl_y")) j.at("fl_y").get_to(f.fy);

if (j.contains("cx")) j.at("cx").get_to(f.cx);

if (j.contains("cy")) j.at("cy").get_to(f.cy);

if (j.contains("k1")) j.at("k1").get_to(f.k1);

if (j.contains("k2")) j.at("k2").get_to(f.k2);

if (j.contains("p1")) j.at("p1").get_to(f.p1);

if (j.contains("p2")) j.at("p2").get_to(f.p2);

if (j.contains("k3")) j.at("k3").get_to(f.k3);

}

void to_json(json &j, const Transforms &t){

j = json{ {"camera_model", t.cameraModel },

{"frames", t.frames },

{"ply_file_path", t.plyFilePath },

};

}

void from_json(const json& j, Transforms &t){

j.at("camera_model").get_to(t.cameraModel);

j.at("frames").get_to(t.frames);

if (j.contains("ply_file_path")) j.at("ply_file_path").get_to(t.plyFilePath);

// Globals

int width = 0;

int height = 0;

float fx = 0;

float fy = 0;

float cx = 0;

float cy = 0;

float k1 = 0;

float k2 = 0;

float k3 = 0;

float p1 = 0;

float p2 = 0;

if (j.contains("w")) j.at("w").get_to(width);

if (j.contains("h")) j.at("h").get_to(height);

if (j.contains("fl_x")) j.at("fl_x").get_to(fx);

if (j.contains("fl_y")) j.at("fl_y").get_to(fy);

if (j.contains("cx")) j.at("cx").get_to(cx);

if (j.contains("cy")) j.at("cy").get_to(cy);

if (j.contains("k1")) j.at("k1").get_to(k1);

if (j.contains("k2")) j.at("k2").get_to(k2);

if (j.contains("p1")) j.at("p1").get_to(p1);

if (j.contains("p2")) j.at("p2").get_to(p2);

if (j.contains("k3")) j.at("k3").get_to(k3);

// Assign per-frame intrinsics if missing

for (Frame &f : t.frames){

if (!f.width && width) f.width = width;

if (!f.height && height) f.height = height;

if (!f.fx && fx) f.fx = fx;

if (!f.fy && fy) f.fy = fy;

if (!f.cx && cx) f.cx = cx;

if (!f.cy && cy) f.cy = cy;

if (!f.k1 && k1) f.k1 = k1;

if (!f.k2 && k2) f.k2 = k2;

if (!f.p1 && p1) f.p1 = p1;

if (!f.p2 && p2) f.p2 = p2;

if (!f.k3 && k3) f.k3 = k3;

}

std::sort(t.frames.begin(), t.frames.end(),

[](Frame const &a, Frame const &b) {

return a.filePath < b.filePath;

});

}

Transforms readTransforms(const std::string &filename){

std::ifstream f(filename);

if ( !f.is_open() )

throw std::runtime_error( std::string("Failed to open nerf transforms file ") + filename );

json data = json::parse(f);

f.close();

return data.template get<Transforms>();

}

torch::Tensor posesFromTransforms(const Transforms &t)

{

torch::Tensor poses = torch::zeros({static_cast<long int>(t.frames.size()), 4, 4}, torch::kFloat32);

for (size_t c = 0; c < t.frames.size(); c++)

{

auto& Camera = t.frames[c];

Camera.CopyTransformToPoseInArray( poses, static_cast<int>(c) );

}

return poses;

}

InputData inputDataFromNerfStudio(const std::string &projectRoot,bool CenterAndNormalisePoints,bool AddCameras)

{

InputData ret;

fs::path nsRoot(projectRoot);

fs::path transformsPath = nsRoot / "transforms.json";

if (!fs::exists(transformsPath))

throw std::runtime_error(transformsPath.string() + " does not exist");

Transforms t = readTransforms(transformsPath.string());

if (t.plyFilePath.empty())

throw std::runtime_error("ply_file_path is empty");

auto pSet = readPointSet((nsRoot / t.plyFilePath).string());

torch::Tensor unorientedPoses = posesFromTransforms(t);

torch::Tensor poses;

float3 center;

float normalisingScale = 1;

if ( CenterAndNormalisePoints )

{

auto r = autoScaleAndCenterPoses(unorientedPoses);

poses = std::get<0>(r);

center = std::get<1>(r);

normalisingScale = std::get<2>(r);

}

else

{

// merge together

torch::Tensor origins = unorientedPoses.index({"...", Slice(None, 3), 3});

torch::Tensor transformedPoses = unorientedPoses.clone();

transformedPoses.index_put_({"...", Slice(None, 3), 3}, origins);

poses = transformedPoses;

}

if ( AddCameras )

{

for (size_t i = 0; i < t.frames.size(); i++){

Frame f = t.frames[i];

auto Intrinsics = f.GetIntrinsics();

ret.cameras.emplace_back(Camera(Intrinsics,

poses[i], (nsRoot / f.filePath).string()));

}

torch::Tensor points = pSet->pointsTensor().clone();

ret.points.xyz = points;

ret.points.rgb = pSet->colorsTensor().clone();

ret.TransformPoints( center, normalisingScale );

return ret;

}

CameraIntrinsics ns::Frame::GetIntrinsics() const

{

CameraIntrinsics intrinsics;

intrinsics.imageWidth = width;

intrinsics.imageHeight = height;

intrinsics.fx = static_cast<float>(fx);

intrinsics.fy = static_cast<float>(fy);

intrinsics.cx = static_cast<float>(cx);

intrinsics.cy = static_cast<float>(cy);

intrinsics.k1 = static_cast<float>(k1);

intrinsics.k2 = static_cast<float>(k2);

intrinsics.k3 = static_cast<float>(k3);

intrinsics.p1 = static_cast<float>(p1);

intrinsics.p1 = static_cast<float>(p2);

return intrinsics;

}

void ns::Frame::CopyTransformToPoseInArray(torch::Tensor& Pose4x4s,int PoseIndex) const

{

// validate input data

int RowCount = 4;

int ColumnCount = 4;

if ( transformMatrix.size() != RowCount )

{

std::stringstream Error;

Error << "TransformMatrix in camera/frame " << this->filePath << " has " << transformMatrix.size() << " rows, expected" << RowCount;

throw std::runtime_error(Error.str());

}

for (size_t y=0; y<RowCount; y++)

{

auto& Row = transformMatrix[y];

if ( Row.size() != ColumnCount )

{

std::stringstream Error;

Error << "TransformMatrix row " << y << " in camera/frame " << this->filePath << " has " << Row.size() << " columns, expected" << ColumnCount;

throw std::runtime_error(Error.str());

}

for (size_t x=0; x<ColumnCount; x++)

{

Pose4x4s[PoseIndex][y][x] = Row[x];

}

OpenSplat/nerfstudio.cpp at OpenSplatLibrary · NewChromantics/OpenSplat · GitHub

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