init keyframe value capture for image embeddings

nerfstudio/viewer/render_panel.py

@@ -20,6 +20,8 @@
 import json
 import threading
 import time
+import torch
+
 from pathlib import Path
 from typing import TYPE_CHECKING, Dict, List, Literal, Optional, Tuple, Union
 
@@ -30,7 +32,10 @@
 import viser.transforms as tf
 from scipy import interpolate
 
+from nerfstudio.cameras.cameras import Cameras, CameraType, RayBundle
+from nerfstudio.cameras.camera_utils import quaternion_matrix
 from nerfstudio.models.base_model import Model
+from nerfstudio.utils import colormaps
 from nerfstudio.viewer.control_panel import ControlPanel
 
 if TYPE_CHECKING:
@@ -66,9 +71,14 @@ def from_camera(camera: viser.CameraHandle, aspect: float) -> Keyframe:
 
 class CameraPath:
     def __init__(
-        self, server: viser.ViserServer, duration_element: viser.GuiInputHandle[float], time_enabled: bool = False
+        self, 
+        server: viser.ViserServer, 
+        duration_element: viser.GuiInputHandle[float], 
+        viewer_model: Model,
+        time_enabled: bool = False
     ):
         self._server = server
+        self._model = viewer_model
         self._keyframes: Dict[int, Tuple[Keyframe, viser.CameraFrustumHandle]] = {}
         self._keyframe_counter: int = 0
         self._spline_nodes: List[viser.SceneNodeHandle] = []
@@ -167,6 +177,7 @@ def _(_) -> None:
 
                 delete_button = server.gui.add_button("Delete", color="red", icon=viser.Icon.TRASH)
                 go_to_button = server.gui.add_button("Go to")
+                capture_button = server.gui.add_button("Capture")
                 close_button = server.gui.add_button("Close")
 
             @override_fov.on_update
@@ -232,6 +243,42 @@ def _(event: viser.GuiEvent) -> None:
                         client.camera.wxyz = T_world_set.rotation().wxyz
                         client.camera.position = T_world_set.translation()
                     time.sleep(1.0 / 30.0)
+
+            @capture_button.on_click
+            def _(event: viser.GuiEvent) -> None:
+                R = quaternion_matrix(keyframe.wxyz)
+                forward_vector = np.array([0, 0, 1, 1])
+                direction = R @ forward_vector
+                direction = [direction[:3]]
+
+                image_height = 607.0
+                image_width = 1060.0
+
+                from nerfstudio.viewer.viewer import VISER_NERFSTUDIO_SCALE_RATIO
+
+                c2w = tf.SE3.from_rotation_and_translation(
+                            tf.SO3(keyframe.wxyz) @ tf.SO3.from_x_radians(np.pi),
+                            keyframe.position / VISER_NERFSTUDIO_SCALE_RATIO,
+                        ).as_matrix()
+                c2w = torch.tensor(c2w[:3])
+
+                camera = Cameras(
+                            fx=image_width / 2,
+                            fy=image_height,
+                            cx=image_width / 2,
+                            cy=image_height / 2,
+                            camera_to_worlds=c2w,
+                            camera_type=CameraType.PERSPECTIVE,
+                            times=None,
+                        )
+
+                self._model.training = False
+                outputs = self._model.get_outputs_for_camera(camera)
+
+                from PIL import Image 
+                _im = outputs['rgb'].detach().numpy()
+                im = Image.fromarray((_im * 255).astype(np.uint8))
+                im.save("capture.png")
 
             @close_button.on_click
             def _(_) -> None:
@@ -1169,9 +1216,9 @@ def _(_) -> None:
                 modal.close()
 
     if control_panel is not None:
-        camera_path = CameraPath(server, duration_number, control_panel._time_enabled)
+        camera_path = CameraPath(server, duration_number, viewer_model, control_panel._time_enabled)
     else:
-        camera_path = CameraPath(server, duration_number)
+        camera_path = CameraPath(server, duration_number, viewer_model)
     camera_path.tension = tension_slider.value
     camera_path.default_fov = fov_degrees.value / 180.0 * np.pi
     camera_path.default_transition_sec = transition_sec_number.value