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bugfix: handle multiple camera types in a single batch #3415

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merged 3 commits into from
Sep 10, 2024
Merged

bugfix: handle multiple camera types in a single batch #3415

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c2ad294
bugfix: handle multiple camera types in a single batch
decrispell Sep 5, 2024
4a00448
Merge branch 'main' into mixedcam_bugfix
decrispell Sep 5, 2024
4da56ac
Merge branch 'main' into mixedcam_bugfix
decrispell Sep 10, 2024
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18 changes: 9 additions & 9 deletions nerfstudio/cameras/cameras.py
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Original file line number Diff line number Diff line change
Expand Up @@ -778,15 +778,15 @@ def _compute_rays_for_vr180(

return vr180_origins, directions_stack

for cam in cam_types:
if CameraType.PERSPECTIVE.value in cam_types:
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As an alternative fix, would it make sense to:

  • Remove the for cam in cam_types
  • De-dent all of the contents
  • Change all of the if to elif?

I went through this file history and it seems like that's how these conditions were originally set up:

nerfstudio/nerfstudio/cameras/cameras.py

Lines 646 to 681 in d413ca4

if CameraType.PERSPECTIVE.value in cam_types:
mask = (self.camera_type[true_indices] == CameraType.PERSPECTIVE.value).squeeze(-1) # (num_rays)
mask = torch.stack([mask, mask, mask], dim=0)
directions_stack[..., 0][mask] = torch.masked_select(coord_stack[..., 0], mask).float()
directions_stack[..., 1][mask] = torch.masked_select(coord_stack[..., 1], mask).float()
directions_stack[..., 2][mask] = -1.0
if CameraType.FISHEYE.value in cam_types:
mask = (self.camera_type[true_indices] == CameraType.FISHEYE.value).squeeze(-1) # (num_rays)
mask = torch.stack([mask, mask, mask], dim=0)
theta = torch.sqrt(torch.sum(coord_stack**2, dim=-1))
theta = torch.clip(theta, 0.0, math.pi)
sin_theta = torch.sin(theta)
directions_stack[..., 0][mask] = torch.masked_select(coord_stack[..., 0] * sin_theta / theta, mask).float()
directions_stack[..., 1][mask] = torch.masked_select(coord_stack[..., 1] * sin_theta / theta, mask).float()
directions_stack[..., 2][mask] = -torch.masked_select(torch.cos(theta), mask).float()
if CameraType.EQUIRECTANGULAR.value in cam_types:
mask = (self.camera_type[true_indices] == CameraType.EQUIRECTANGULAR.value).squeeze(-1) # (num_rays)
mask = torch.stack([mask, mask, mask], dim=0)
# For equirect, fx = fy = height = width/2
# Then coord[..., 0] goes from -1 to 1 and coord[..., 1] goes from -1/2 to 1/2
theta = -torch.pi * coord_stack[..., 0] # minus sign for right-handed
phi = torch.pi * (0.5 - coord_stack[..., 1])
# use spherical in local camera coordinates (+y up, x=0 and z<0 is theta=0)
directions_stack[..., 0][mask] = torch.masked_select(-torch.sin(theta) * torch.sin(phi), mask).float()
directions_stack[..., 1][mask] = torch.masked_select(torch.cos(phi), mask).float()
directions_stack[..., 2][mask] = torch.masked_select(-torch.cos(theta) * torch.sin(phi), mask).float()
for value in cam_types:
if value not in [CameraType.PERSPECTIVE.value, CameraType.FISHEYE.value, CameraType.EQUIRECTANGULAR.value]:
raise ValueError(f"Camera type {value} not supported.")

Which makes sense to me. The current fix also seems fine though!

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That's actually the way I originally wrote the fix, but decided to fix the loop instead since it seemed more in line with the intentions of the original author.

I don't have a strong opinion on which way is better, but I don't have a way to test anything other than fisheye and perspective cases so I figured the smaller change was safer.

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makes sense, thanks @decrispell!

for cam_type in cam_types:
if CameraType.PERSPECTIVE.value == cam_type:
mask = (self.camera_type[true_indices] == CameraType.PERSPECTIVE.value).squeeze(-1) # (num_rays)
mask = torch.stack([mask, mask, mask], dim=0)
directions_stack[..., 0][mask] = torch.masked_select(coord_stack[..., 0], mask).float()
directions_stack[..., 1][mask] = torch.masked_select(coord_stack[..., 1], mask).float()
directions_stack[..., 2][mask] = -1.0

elif CameraType.FISHEYE.value in cam_types:
elif CameraType.FISHEYE.value == cam_type:
mask = (self.camera_type[true_indices] == CameraType.FISHEYE.value).squeeze(-1) # (num_rays)
mask = torch.stack([mask, mask, mask], dim=0)

Expand All @@ -803,7 +803,7 @@ def _compute_rays_for_vr180(
).float()
directions_stack[..., 2][mask] = -torch.masked_select(torch.cos(theta), mask).float()

elif CameraType.EQUIRECTANGULAR.value in cam_types:
elif CameraType.EQUIRECTANGULAR.value == cam_type:
mask = (self.camera_type[true_indices] == CameraType.EQUIRECTANGULAR.value).squeeze(-1) # (num_rays)
mask = torch.stack([mask, mask, mask], dim=0)

Expand All @@ -816,22 +816,22 @@ def _compute_rays_for_vr180(
directions_stack[..., 1][mask] = torch.masked_select(torch.cos(phi), mask).float()
directions_stack[..., 2][mask] = torch.masked_select(-torch.cos(theta) * torch.sin(phi), mask).float()

elif CameraType.OMNIDIRECTIONALSTEREO_L.value in cam_types:
elif CameraType.OMNIDIRECTIONALSTEREO_L.value == cam_type:
ods_origins_circle, directions_stack = _compute_rays_for_omnidirectional_stereo("left")
# assign final camera origins
c2w[..., :3, 3] = ods_origins_circle

elif CameraType.OMNIDIRECTIONALSTEREO_R.value in cam_types:
elif CameraType.OMNIDIRECTIONALSTEREO_R.value == cam_type:
ods_origins_circle, directions_stack = _compute_rays_for_omnidirectional_stereo("right")
# assign final camera origins
c2w[..., :3, 3] = ods_origins_circle

elif CameraType.VR180_L.value in cam_types:
elif CameraType.VR180_L.value == cam_type:
vr180_origins, directions_stack = _compute_rays_for_vr180("left")
# assign final camera origins
c2w[..., :3, 3] = vr180_origins

elif CameraType.VR180_R.value in cam_types:
elif CameraType.VR180_R.value == cam_type:
vr180_origins, directions_stack = _compute_rays_for_vr180("right")
# assign final camera origins
c2w[..., :3, 3] = vr180_origins
Expand Down Expand Up @@ -880,7 +880,7 @@ def _compute_rays_for_vr180(
directions_stack[coord_mask] = camera_utils.fisheye624_unproject(masked_coords, camera_params)

else:
raise ValueError(f"Camera type {cam} not supported.")
raise ValueError(f"Camera type {cam_type} not supported.")

assert directions_stack.shape == (3,) + num_rays_shape + (3,)

Expand Down
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