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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);
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++){
for
(
size_t
i =
0
; i <
4
; i++){
for
(
size_t
j =
0
; j <
4
; j++){
poses[c][i][j] = t.
frames
[c].
transformMatrix
[i][j];
}
}
}
return
poses;
}
InputData
inputDataFromNerfStudio
(
const
std::string &projectRoot){
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
"
);
PointSet *pSet =
readPointSet
((nsRoot / t.
plyFilePath
).
string
());
torch::Tensor unorientedPoses =
posesFromTransforms
(t);
auto
r =
autoScaleAndCenterPoses
(unorientedPoses);
torch::Tensor poses = std::get<
0
>(r);
ret.
translation
= std::get<
1
>(r);
ret.
scale
= std::get<
2
>(r);
//
aabbScale = [[-1.0, -1.0, -1.0], [1.0, 1.0, 1.0]]
for
(
size_t
i =
0
; i < t.
frames
.
size
(); i++){
Frame f = t.
frames
[i];
ret.
cameras
.
emplace_back
(
Camera
(f.
width
, f.
height
,
static_cast
<
float
>(f.
fx
),
static_cast
<
float
>(f.
fy
),
static_cast
<
float
>(f.
cx
),
static_cast
<
float
>(f.
cy
),
static_cast
<
float
>(f.
k1
),
static_cast
<
float
>(f.
k2
),
static_cast
<
float
>(f.
k3
),
static_cast
<
float
>(f.
p1
),
static_cast
<
float
>(f.
p2
),
poses[i], (nsRoot / f.
filePath
).
string
()));
}
torch::Tensor points = pSet->
pointsTensor
().
clone
();
ret.
points
.
xyz
= (points - ret.
translation
) * ret.
scale
;
ret.
points
.
rgb
= pSet->
colorsTensor
().
clone
();
RELEASE_POINTSET
(pSet);
return
ret;
}
}
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