nerf-pytorch/load_llff.py

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Python
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2020-03-20 00:43:48 +01:00
import numpy as np
import os, imageio
########## Slightly modified version of LLFF data loading code
########## see https://github.com/Fyusion/LLFF for original
def _minify(basedir, factors=[], resolutions=[]):
needtoload = False
for r in factors:
imgdir = os.path.join(basedir, 'images_{}'.format(r))
if not os.path.exists(imgdir):
needtoload = True
for r in resolutions:
imgdir = os.path.join(basedir, 'images_{}x{}'.format(r[1], r[0]))
if not os.path.exists(imgdir):
needtoload = True
if not needtoload:
return
from shutil import copy
from subprocess import check_output
imgdir = os.path.join(basedir, 'images')
imgs = [os.path.join(imgdir, f) for f in sorted(os.listdir(imgdir))]
imgs = [f for f in imgs if any([f.endswith(ex) for ex in ['JPG', 'jpg', 'png', 'jpeg', 'PNG']])]
imgdir_orig = imgdir
wd = os.getcwd()
for r in factors + resolutions:
if isinstance(r, int):
name = 'images_{}'.format(r)
resizearg = '{}%'.format(100./r)
else:
name = 'images_{}x{}'.format(r[1], r[0])
resizearg = '{}x{}'.format(r[1], r[0])
imgdir = os.path.join(basedir, name)
if os.path.exists(imgdir):
continue
print('Minifying', r, basedir)
os.makedirs(imgdir)
check_output('cp {}/* {}'.format(imgdir_orig, imgdir), shell=True)
ext = imgs[0].split('.')[-1]
args = ' '.join(['mogrify', '-resize', resizearg, '-format', 'png', '*.{}'.format(ext)])
print(args)
os.chdir(imgdir)
check_output(args, shell=True)
os.chdir(wd)
if ext != 'png':
check_output('rm {}/*.{}'.format(imgdir, ext), shell=True)
print('Removed duplicates')
print('Done')
def _load_data(basedir, factor=None, width=None, height=None, load_imgs=True):
poses_arr = np.load(os.path.join(basedir, 'poses_bounds.npy'))
poses = poses_arr[:, :-2].reshape([-1, 3, 5]).transpose([1,2,0])
bds = poses_arr[:, -2:].transpose([1,0])
img0 = [os.path.join(basedir, 'images', f) for f in sorted(os.listdir(os.path.join(basedir, 'images'))) \
if f.endswith('JPG') or f.endswith('jpg') or f.endswith('png')][0]
sh = imageio.imread(img0).shape
sfx = ''
if factor is not None:
sfx = '_{}'.format(factor)
_minify(basedir, factors=[factor])
factor = factor
elif height is not None:
factor = sh[0] / float(height)
width = int(sh[1] / factor)
_minify(basedir, resolutions=[[height, width]])
sfx = '_{}x{}'.format(width, height)
elif width is not None:
factor = sh[1] / float(width)
height = int(sh[0] / factor)
_minify(basedir, resolutions=[[height, width]])
sfx = '_{}x{}'.format(width, height)
else:
factor = 1
imgdir = os.path.join(basedir, 'images' + sfx)
if not os.path.exists(imgdir):
print( imgdir, 'does not exist, returning' )
return
imgfiles = [os.path.join(imgdir, f) for f in sorted(os.listdir(imgdir)) if f.endswith('JPG') or f.endswith('jpg') or f.endswith('png')]
if poses.shape[-1] != len(imgfiles):
print( 'Mismatch between imgs {} and poses {} !!!!'.format(len(imgfiles), poses.shape[-1]) )
return
sh = imageio.imread(imgfiles[0]).shape
poses[:2, 4, :] = np.array(sh[:2]).reshape([2, 1])
poses[2, 4, :] = poses[2, 4, :] * 1./factor
if not load_imgs:
return poses, bds
def imread(f):
if f.endswith('png'):
return imageio.imread(f, ignoregamma=True)
else:
return imageio.imread(f)
imgs = imgs = [imread(f)[...,:3]/255. for f in imgfiles]
imgs = np.stack(imgs, -1)
print('Loaded image data', imgs.shape, poses[:,-1,0])
return poses, bds, imgs
def normalize(x):
return x / np.linalg.norm(x)
def viewmatrix(z, up, pos):
vec2 = normalize(z)
vec1_avg = up
vec0 = normalize(np.cross(vec1_avg, vec2))
vec1 = normalize(np.cross(vec2, vec0))
m = np.stack([vec0, vec1, vec2, pos], 1)
return m
def ptstocam(pts, c2w):
tt = np.matmul(c2w[:3,:3].T, (pts-c2w[:3,3])[...,np.newaxis])[...,0]
return tt
def poses_avg(poses):
hwf = poses[0, :3, -1:]
center = poses[:, :3, 3].mean(0)
vec2 = normalize(poses[:, :3, 2].sum(0))
up = poses[:, :3, 1].sum(0)
c2w = np.concatenate([viewmatrix(vec2, up, center), hwf], 1)
return c2w
def render_path_spiral(c2w, up, rads, focal, zdelta, zrate, rots, N):
render_poses = []
rads = np.array(list(rads) + [1.])
hwf = c2w[:,4:5]
for theta in np.linspace(0., 2. * np.pi * rots, N+1)[:-1]:
c = np.dot(c2w[:3,:4], np.array([np.cos(theta), -np.sin(theta), -np.sin(theta*zrate), 1.]) * rads)
z = normalize(c - np.dot(c2w[:3,:4], np.array([0,0,-focal, 1.])))
render_poses.append(np.concatenate([viewmatrix(z, up, c), hwf], 1))
return render_poses
def recenter_poses(poses):
poses_ = poses+0
bottom = np.reshape([0,0,0,1.], [1,4])
c2w = poses_avg(poses)
c2w = np.concatenate([c2w[:3,:4], bottom], -2)
bottom = np.tile(np.reshape(bottom, [1,1,4]), [poses.shape[0],1,1])
poses = np.concatenate([poses[:,:3,:4], bottom], -2)
poses = np.linalg.inv(c2w) @ poses
poses_[:,:3,:4] = poses[:,:3,:4]
poses = poses_
return poses
#####################
def spherify_poses(poses, bds):
p34_to_44 = lambda p : np.concatenate([p, np.tile(np.reshape(np.eye(4)[-1,:], [1,1,4]), [p.shape[0], 1,1])], 1)
rays_d = poses[:,:3,2:3]
rays_o = poses[:,:3,3:4]
def min_line_dist(rays_o, rays_d):
A_i = np.eye(3) - rays_d * np.transpose(rays_d, [0,2,1])
b_i = -A_i @ rays_o
pt_mindist = np.squeeze(-np.linalg.inv((np.transpose(A_i, [0,2,1]) @ A_i).mean(0)) @ (b_i).mean(0))
return pt_mindist
pt_mindist = min_line_dist(rays_o, rays_d)
center = pt_mindist
up = (poses[:,:3,3] - center).mean(0)
vec0 = normalize(up)
vec1 = normalize(np.cross([.1,.2,.3], vec0))
vec2 = normalize(np.cross(vec0, vec1))
pos = center
c2w = np.stack([vec1, vec2, vec0, pos], 1)
poses_reset = np.linalg.inv(p34_to_44(c2w[None])) @ p34_to_44(poses[:,:3,:4])
rad = np.sqrt(np.mean(np.sum(np.square(poses_reset[:,:3,3]), -1)))
sc = 1./rad
poses_reset[:,:3,3] *= sc
bds *= sc
rad *= sc
centroid = np.mean(poses_reset[:,:3,3], 0)
zh = centroid[2]
radcircle = np.sqrt(rad**2-zh**2)
new_poses = []
for th in np.linspace(0.,2.*np.pi, 120):
camorigin = np.array([radcircle * np.cos(th), radcircle * np.sin(th), zh])
up = np.array([0,0,-1.])
vec2 = normalize(camorigin)
vec0 = normalize(np.cross(vec2, up))
vec1 = normalize(np.cross(vec2, vec0))
pos = camorigin
p = np.stack([vec0, vec1, vec2, pos], 1)
new_poses.append(p)
new_poses = np.stack(new_poses, 0)
new_poses = np.concatenate([new_poses, np.broadcast_to(poses[0,:3,-1:], new_poses[:,:3,-1:].shape)], -1)
poses_reset = np.concatenate([poses_reset[:,:3,:4], np.broadcast_to(poses[0,:3,-1:], poses_reset[:,:3,-1:].shape)], -1)
return poses_reset, new_poses, bds
def load_llff_data(basedir, factor=8, recenter=True, bd_factor=.75, spherify=False, path_zflat=False):
poses, bds, imgs = _load_data(basedir, factor=factor) # factor=8 downsamples original imgs by 8x
print('Loaded', basedir, bds.min(), bds.max())
# Correct rotation matrix ordering and move variable dim to axis 0
poses = np.concatenate([poses[:, 1:2, :], -poses[:, 0:1, :], poses[:, 2:, :]], 1)
poses = np.moveaxis(poses, -1, 0).astype(np.float32)
imgs = np.moveaxis(imgs, -1, 0).astype(np.float32)
images = imgs
bds = np.moveaxis(bds, -1, 0).astype(np.float32)
# Rescale if bd_factor is provided
sc = 1. if bd_factor is None else 1./(bds.min() * bd_factor)
poses[:,:3,3] *= sc
bds *= sc
if recenter:
poses = recenter_poses(poses)
if spherify:
poses, render_poses, bds = spherify_poses(poses, bds)
else:
c2w = poses_avg(poses)
print('recentered', c2w.shape)
print(c2w[:3,:4])
## Get spiral
# Get average pose
up = normalize(poses[:, :3, 1].sum(0))
# Find a reasonable "focus depth" for this dataset
close_depth, inf_depth = bds.min()*.9, bds.max()*5.
dt = .75
mean_dz = 1./(((1.-dt)/close_depth + dt/inf_depth))
focal = mean_dz
# Get radii for spiral path
shrink_factor = .8
zdelta = close_depth * .2
tt = poses[:,:3,3] # ptstocam(poses[:3,3,:].T, c2w).T
rads = np.percentile(np.abs(tt), 90, 0)
c2w_path = c2w
N_views = 120
N_rots = 2
if path_zflat:
# zloc = np.percentile(tt, 10, 0)[2]
zloc = -close_depth * .1
c2w_path[:3,3] = c2w_path[:3,3] + zloc * c2w_path[:3,2]
rads[2] = 0.
N_rots = 1
N_views/=2
# Generate poses for spiral path
render_poses = render_path_spiral(c2w_path, up, rads, focal, zdelta, zrate=.5, rots=N_rots, N=N_views)
render_poses = np.array(render_poses).astype(np.float32)
c2w = poses_avg(poses)
print('Data:')
print(poses.shape, images.shape, bds.shape)
dists = np.sum(np.square(c2w[:3,3] - poses[:,:3,3]), -1)
i_test = np.argmin(dists)
print('HOLDOUT view is', i_test)
images = images.astype(np.float32)
poses = poses.astype(np.float32)
return images, poses, bds, render_poses, i_test