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pr changes #237

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merged 2 commits into from
Jul 9, 2024
Merged

pr changes #237

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4d87903
pr changes
beckyfeng08 Jul 8, 2024
9709316
nit
brentyi Jul 9, 2024
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26 changes: 12 additions & 14 deletions examples/24_gaussian_splats.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@

from __future__ import annotations

import sys
import time
from pathlib import Path
from typing import TypedDict
Expand Down Expand Up @@ -44,23 +43,22 @@ def load_splat_file(splat_path: Path, center: bool = False) -> SplatFile:
)
assert len(splat_buffer) % bytes_per_gaussian == 0
num_gaussians = len(splat_buffer) // bytes_per_gaussian
print(f"{num_gaussians=}")
print("Number of gaussians to render: ", f"{num_gaussians=}")

# Reinterpret cast to dtypes that we want to extract.
splat_uint8 = onp.frombuffer(splat_buffer, dtype=onp.uint8).reshape(
(num_gaussians, bytes_per_gaussian)
)
scales = splat_uint8[:, 12:24].copy().view(onp.float32)
wxyzs = splat_uint8[:, 28:32] / 255.0 * 2.0 - 1.0
print(onp.shape(wxyzs))
Rs = onp.array([tf.SO3(wxyz).as_matrix() for wxyz in wxyzs])
covariances = onp.einsum(
"nij,njk,nlk->nil", Rs, onp.eye(3)[None, :, :] * scales[:, None, :] ** 2, Rs
)
centers = splat_uint8[:, 0:12].copy().view(onp.float32)
if center:
centers -= onp.mean(centers, axis=0, keepdims=True)
print("loaded")
print("Splat file loaded")
return {
"centers": centers,
# Colors should have shape (N, 3).
Expand All @@ -78,11 +76,13 @@ def load_ply_file(ply_file_path: Path, center: bool = False) -> SplatFile:
-onp.exp(vert["scale_0"] + vert["scale_1"] + vert["scale_2"])
/ (1 + onp.exp(-vert["opacity"]))
)
colors = onp.zeros((len(sorted_indices), 3))
opacities = onp.zeros((len(sorted_indices), 1))
positions = onp.zeros((len(sorted_indices), 3))
wxyzs = onp.zeros((len(sorted_indices), 4))
scales = onp.zeros((len(sorted_indices), 3))
numgaussians = len(vert)
print("Number of gaussians to render: ", numgaussians)
colors = onp.zeros((numgaussians, 3))
opacities = onp.zeros((numgaussians, 1))
positions = onp.zeros((numgaussians, 3))
wxyzs = onp.zeros((numgaussians, 4))
scales = onp.zeros((numgaussians, 3))
for idx in sorted_indices:
v = plydata["vertex"][idx]
position = onp.array([v["x"], v["y"], v["z"]], dtype=onp.float32)
Expand All @@ -102,9 +102,7 @@ def load_ply_file(ply_file_path: Path, center: bool = False) -> SplatFile:
]
)
opacity = 1 / (1 + onp.exp(-v["opacity"]))
wxyz = ((rot / onp.linalg.norm(rot)) * 128 + 128).clip(0, 255).astype(
onp.uint8
) / 255.0 * 2.0 - 1.0
wxyz = rot / onp.linalg.norm(rot) # normalize
scales[idx] = scale
colors[idx] = color
opacities[idx] = onp.array([opacity])
Expand All @@ -117,7 +115,7 @@ def load_ply_file(ply_file_path: Path, center: bool = False) -> SplatFile:
)
if center:
positions -= onp.mean(positions, axis=0, keepdims=True)
print("loaded")
print("PLY file loaded")
return {
"centers": positions,
# Colors should have shape (N, 3).
Expand Down Expand Up @@ -150,7 +148,7 @@ def _(event: viser.GuiEvent) -> None:
elif splat_path.suffix == ".ply":
splat_data = load_ply_file(splat_path, center=True)
else:
sys.exit("Please provide a filepath to a .splat or .ply file.")
raise SystemExit("Please provide a filepath to a .splat or .ply file.")

server.scene.add_transform_controls(f"/{i}")
server.scene.add_gaussian_splats(
Expand Down