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Running
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Zero
File size: 7,442 Bytes
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import torch
import torch.nn as nn
import numpy as np
from einops import rearrange
import os
from typing_extensions import Literal
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
def process_camera_coordinates(
self,
direction: Literal["Left", "Right", "Up", "Down", "LeftUp", "LeftDown", "RightUp", "RightDown"],
length: int,
height: int,
width: int,
speed: float = 1/54,
origin=(0, 0.532139961, 0.946026558, 0.5, 0.5, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
):
if origin is None:
origin = (0, 0.532139961, 0.946026558, 0.5, 0.5, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
coordinates = generate_camera_coordinates(direction, length, speed, origin)
plucker_embedding = process_pose_file(coordinates, width, height)
return plucker_embedding
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
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 custom_meshgrid(*args):
# torch>=2.0.0 only
return torch.meshgrid(*args, indexing='ij')
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.linalg.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 process_pose_file(cam_params, width=672, height=384, original_pose_width=1280, original_pose_height=720, device='cpu', return_poses=False):
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 generate_camera_coordinates(
direction: Literal["Left", "Right", "Up", "Down", "LeftUp", "LeftDown", "RightUp", "RightDown"],
length: int,
speed: float = 1/54,
origin=(0, 0.532139961, 0.946026558, 0.5, 0.5, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0)
):
coordinates = [list(origin)]
while len(coordinates) < length:
coor = coordinates[-1].copy()
if "Left" in direction:
coor[9] += speed
if "Right" in direction:
coor[9] -= speed
if "Up" in direction:
coor[13] += speed
if "Down" in direction:
coor[13] -= speed
coordinates.append(coor)
return coordinates
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