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CD22104
2025-06-11 17:24:09 +08:00
parent 6e977e1181
commit b1afff1728
133 changed files with 954 additions and 9 deletions

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dchen/camera_adapter.py Normal file
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import torch
import torch.nn as nn
class SimpleAdapter(nn.Module):
def __init__(self, in_dim, out_dim, kernel_size, stride, num_residual_blocks=1):
super(SimpleAdapter, self).__init__()
# Pixel Unshuffle: reduce spatial dimensions by a factor of 8
self.pixel_unshuffle = nn.PixelUnshuffle(downscale_factor=8)
# Convolution: reduce spatial dimensions by a factor
# of 2 (without overlap)
self.conv = nn.Conv2d(in_dim * 64, out_dim, kernel_size=kernel_size, stride=stride, padding=0)
# Residual blocks for feature extraction
self.residual_blocks = nn.Sequential(
*[ResidualBlock(out_dim) for _ in range(num_residual_blocks)]
)
def forward(self, x):
# Reshape to merge the frame dimension into batch
bs, c, f, h, w = x.size()
x = x.permute(0, 2, 1, 3, 4).contiguous().view(bs * f, c, h, w)
# Pixel Unshuffle operation
x_unshuffled = self.pixel_unshuffle(x)
# Convolution operation
x_conv = self.conv(x_unshuffled)
# Feature extraction with residual blocks
out = self.residual_blocks(x_conv)
# Reshape to restore original bf dimension
out = out.view(bs, f, out.size(1), out.size(2), out.size(3))
# Permute dimensions to reorder (if needed), e.g., swap channels and feature frames
out = out.permute(0, 2, 1, 3, 4)
return out
class ResidualBlock(nn.Module):
def __init__(self, dim):
super(ResidualBlock, self).__init__()
self.conv1 = nn.Conv2d(dim, dim, kernel_size=3, padding=1)
self.relu = nn.ReLU(inplace=True)
self.conv2 = nn.Conv2d(dim, dim, kernel_size=3, padding=1)
def forward(self, x):
residual = x
out = self.relu(self.conv1(x))
out = self.conv2(out)
out += residual
return out
# Example usage
# in_dim = 3
# out_dim = 64
# adapter = SimpleAdapterWithReshape(in_dim, out_dim)
# x = torch.randn(1, in_dim, 4, 64, 64) # e.g., batch size = 1, channels = 3, frames/features = 4
# output = adapter(x)
# print(output.shape) # Should reflect transformed dimensions

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dchen/camera_compute.py Normal file
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import csv
import gc
import io
import json
import math
import os
import random
from random import shuffle
import albumentations
import cv2
import numpy as np
import torch
import torch.nn.functional as F
import torchvision.transforms as transforms
from decord import VideoReader
from einops import rearrange
from packaging import version as pver
from PIL import Image
from torch.utils.data import BatchSampler, Sampler
from torch.utils.data.dataset import Dataset
class Camera(object):
"""Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py
"""
def __init__(self, entry):
fx, fy, cx, cy = entry[1:5]
self.fx = fx
self.fy = fy
self.cx = cx
self.cy = cy
w2c_mat = np.array(entry[7:]).reshape(3, 4)
w2c_mat_4x4 = np.eye(4)
w2c_mat_4x4[:3, :] = w2c_mat
self.w2c_mat = w2c_mat_4x4
self.c2w_mat = np.linalg.inv(w2c_mat_4x4)
def get_relative_pose(cam_params):
"""Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py
"""
abs_w2cs = [cam_param.w2c_mat for cam_param in cam_params]
abs_c2ws = [cam_param.c2w_mat for cam_param in cam_params]
cam_to_origin = 0
target_cam_c2w = np.array([
[1, 0, 0, 0],
[0, 1, 0, -cam_to_origin],
[0, 0, 1, 0],
[0, 0, 0, 1]
])
abs2rel = target_cam_c2w @ abs_w2cs[0]
ret_poses = [target_cam_c2w, ] + [abs2rel @ abs_c2w for abs_c2w in abs_c2ws[1:]]
ret_poses = np.array(ret_poses, dtype=np.float32)
return ret_poses
def ray_condition(K, c2w, H, W, device):
"""Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py
"""
# c2w: B, V, 4, 4
# K: B, V, 4
B = K.shape[0]
j, i = custom_meshgrid(
torch.linspace(0, H - 1, H, device=device, dtype=c2w.dtype),
torch.linspace(0, W - 1, W, device=device, dtype=c2w.dtype),
)
i = i.reshape([1, 1, H * W]).expand([B, 1, H * W]) + 0.5 # [B, HxW]
j = j.reshape([1, 1, H * W]).expand([B, 1, H * W]) + 0.5 # [B, HxW]
fx, fy, cx, cy = K.chunk(4, dim=-1) # B,V, 1
zs = torch.ones_like(i) # [B, HxW]
xs = (i - cx) / fx * zs
ys = (j - cy) / fy * zs
zs = zs.expand_as(ys)
directions = torch.stack((xs, ys, zs), dim=-1) # B, V, HW, 3
directions = directions / directions.norm(dim=-1, keepdim=True) # B, V, HW, 3
rays_d = directions @ c2w[..., :3, :3].transpose(-1, -2) # B, V, 3, HW
rays_o = c2w[..., :3, 3] # B, V, 3
rays_o = rays_o[:, :, None].expand_as(rays_d) # B, V, 3, HW
# c2w @ dirctions
rays_dxo = torch.cross(rays_o, rays_d)
plucker = torch.cat([rays_dxo, rays_d], dim=-1)
plucker = plucker.reshape(B, c2w.shape[1], H, W, 6) # B, V, H, W, 6
# plucker = plucker.permute(0, 1, 4, 2, 3)
return plucker
def custom_meshgrid(*args):
"""Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py
"""
# ref: https://pytorch.org/docs/stable/generated/torch.meshgrid.html?highlight=meshgrid#torch.meshgrid
if pver.parse(torch.__version__) < pver.parse('1.10'):
return torch.meshgrid(*args)
else:
return torch.meshgrid(*args, indexing='ij')
def process_pose_file(pose_file_path, width=672, height=384, original_pose_width=1280, original_pose_height=720, device='cpu', return_poses=False):
"""Modified from https://github.com/hehao13/CameraCtrl/blob/main/inference.py
"""
with open(pose_file_path, 'r') as f:
poses = f.readlines()
poses = [pose.strip().split(' ') for pose in poses[1:]]
cam_params = [[float(x) for x in pose] for pose in poses]
if return_poses:
return cam_params
else:
cam_params = [Camera(cam_param) for cam_param in cam_params]
sample_wh_ratio = width / height
pose_wh_ratio = original_pose_width / original_pose_height # Assuming placeholder ratios, change as needed
if pose_wh_ratio > sample_wh_ratio:
resized_ori_w = height * pose_wh_ratio
for cam_param in cam_params:
cam_param.fx = resized_ori_w * cam_param.fx / width
else:
resized_ori_h = width / pose_wh_ratio
for cam_param in cam_params:
cam_param.fy = resized_ori_h * cam_param.fy / height
intrinsic = np.asarray([[cam_param.fx * width,
cam_param.fy * height,
cam_param.cx * width,
cam_param.cy * height]
for cam_param in cam_params], dtype=np.float32)
K = torch.as_tensor(intrinsic)[None] # [1, 1, 4]
c2ws = get_relative_pose(cam_params) # Assuming this function is defined elsewhere
c2ws = torch.as_tensor(c2ws)[None] # [1, n_frame, 4, 4]
plucker_embedding = ray_condition(K, c2ws, height, width, device=device)[0].permute(0, 3, 1, 2).contiguous() # V, 6, H, W
plucker_embedding = plucker_embedding[None]
plucker_embedding = rearrange(plucker_embedding, "b f c h w -> b f h w c")[0]
return plucker_embedding
def process_pose_params(cam_params, width=672, height=384, original_pose_width=1280, original_pose_height=720, device='cpu'):
"""Modified from https://github.com/hehao13/CameraCtrl/blob/main/inference.py
"""
cam_params = [Camera(cam_param) for cam_param in cam_params]
sample_wh_ratio = width / height
pose_wh_ratio = original_pose_width / original_pose_height # Assuming placeholder ratios, change as needed
if pose_wh_ratio > sample_wh_ratio:
resized_ori_w = height * pose_wh_ratio
for cam_param in cam_params:
cam_param.fx = resized_ori_w * cam_param.fx / width
else:
resized_ori_h = width / pose_wh_ratio
for cam_param in cam_params:
cam_param.fy = resized_ori_h * cam_param.fy / height
intrinsic = np.asarray([[cam_param.fx * width,
cam_param.fy * height,
cam_param.cx * width,
cam_param.cy * height]
for cam_param in cam_params], dtype=np.float32)
K = torch.as_tensor(intrinsic)[None] # [1, 1, 4]
c2ws = get_relative_pose(cam_params) # Assuming this function is defined elsewhere
c2ws = torch.as_tensor(c2ws)[None] # [1, n_frame, 4, 4]
plucker_embedding = ray_condition(K, c2ws, height, width, device=device)[0].permute(0, 3, 1, 2).contiguous() # V, 6, H, W
plucker_embedding = plucker_embedding[None]
plucker_embedding = rearrange(plucker_embedding, "b f c h w -> b f h w c")[0]
return plucker_embedding

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0 0.532139961 0.946026558 0.5 0.5 0 0 1.0 0.0 0.0 1.4074074074074074 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
0 0.532139961 0.946026558 0.5 0.5 0 0 1.0 0.0 0.0 1.425925925925926 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
0 0.532139961 0.946026558 0.5 0.5 0 0 1.0 0.0 0.0 1.4444444444444444 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
0 0.532139961 0.946026558 0.5 0.5 0 0 1.0 0.0 0.0 1.462962962962963 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0
0 0.532139961 0.946026558 0.5 0.5 0 0 1.0 0.0 0.0 1.4814814814814814 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0