# Copyright 2022 the Regents of the University of California, Nerfstudio Team and contributors. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
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"""
Some ray datastructures.
"""
import random
from dataclasses import dataclass, field
from typing import Callable, Dict, Literal, Optional, Tuple, Union, overload
import torch
from jaxtyping import Float, Int, Shaped
from torch import Tensor
from nerfstudio.utils.math import Gaussians, conical_frustum_to_gaussian
from nerfstudio.utils.tensor_dataclass import TensorDataclass
TORCH_DEVICE = Union[str, torch.device]
[docs]@dataclass
class Frustums(TensorDataclass):
"""Describes region of space as a frustum."""
origins: Float[Tensor, "*bs 3"]
"""xyz coordinate for ray origin."""
directions: Float[Tensor, "*bs 3"]
"""Direction of ray."""
starts: Float[Tensor, "*bs 1"]
"""Where the frustum starts along a ray."""
ends: Float[Tensor, "*bs 1"]
"""Where the frustum ends along a ray."""
pixel_area: Float[Tensor, "*bs 1"]
"""Projected area of pixel a distance 1 away from origin."""
offsets: Optional[Float[Tensor, "*bs 3"]] = None
"""Offsets for each sample position"""
[docs] def get_positions(self) -> Float[Tensor, "*batch 3"]:
"""Calculates "center" position of frustum. Not weighted by mass.
Returns:
xyz positions.
"""
pos = self.origins + self.directions * (self.starts + self.ends) / 2
if self.offsets is not None:
pos = pos + self.offsets
return pos
[docs] def get_start_positions(self) -> Float[Tensor, "*batch 3"]:
"""Calculates "start" position of frustum.
Returns:
xyz positions.
"""
return self.origins + self.directions * self.starts
[docs] def set_offsets(self, offsets):
"""Sets offsets for this frustum for computing positions"""
self.offsets = offsets
[docs] def get_gaussian_blob(self) -> Gaussians:
"""Calculates guassian approximation of conical frustum.
Returns:
Conical frustums approximated by gaussian distribution.
"""
# Cone radius is set such that the square pixel_area matches the cone area.
cone_radius = torch.sqrt(self.pixel_area) / 1.7724538509055159 # r = sqrt(pixel_area / pi)
if self.offsets is not None:
raise NotImplementedError()
return conical_frustum_to_gaussian(
origins=self.origins,
directions=self.directions,
starts=self.starts,
ends=self.ends,
radius=cone_radius,
)
[docs] @classmethod
def get_mock_frustum(cls, device: Optional[TORCH_DEVICE] = "cpu") -> "Frustums":
"""Helper function to generate a placeholder frustum.
Returns:
A size 1 frustum with meaningless values.
"""
return Frustums(
origins=torch.ones((1, 3)).to(device),
directions=torch.ones((1, 3)).to(device),
starts=torch.ones((1, 1)).to(device),
ends=torch.ones((1, 1)).to(device),
pixel_area=torch.ones((1, 1)).to(device),
)
[docs]@dataclass
class RaySamples(TensorDataclass):
"""Samples along a ray"""
frustums: Frustums
"""Frustums along ray."""
camera_indices: Optional[Int[Tensor, "*bs 1"]] = None
"""Camera index."""
deltas: Optional[Float[Tensor, "*bs 1"]] = None
""""width" of each sample."""
spacing_starts: Optional[Float[Tensor, "*bs num_samples 1"]] = None
"""Start of normalized bin edges along ray [0,1], before warping is applied, ie. linear in disparity sampling."""
spacing_ends: Optional[Float[Tensor, "*bs num_samples 1"]] = None
"""Start of normalized bin edges along ray [0,1], before warping is applied, ie. linear in disparity sampling."""
spacing_to_euclidean_fn: Optional[Callable] = None
"""Function to convert bins to euclidean distance."""
metadata: Optional[Dict[str, Shaped[Tensor, "*bs latent_dims"]]] = None
"""additional information relevant to generating ray samples"""
times: Optional[Float[Tensor, "*batch 1"]] = None
"""Times at which rays are sampled"""
[docs] def get_weights(self, densities: Float[Tensor, "*batch num_samples 1"]) -> Float[Tensor, "*batch num_samples 1"]:
"""Return weights based on predicted densities
Args:
densities: Predicted densities for samples along ray
Returns:
Weights for each sample
"""
delta_density = self.deltas * densities
alphas = 1 - torch.exp(-delta_density)
transmittance = torch.cumsum(delta_density[..., :-1, :], dim=-2)
transmittance = torch.cat(
[torch.zeros((*transmittance.shape[:1], 1, 1), device=densities.device), transmittance], dim=-2
)
transmittance = torch.exp(-transmittance) # [..., "num_samples"]
weights = alphas * transmittance # [..., "num_samples"]
weights = torch.nan_to_num(weights)
return weights
@overload
@staticmethod
def get_weights_and_transmittance_from_alphas(
alphas: Float[Tensor, "*batch num_samples 1"], weights_only: Literal[True]
) -> Float[Tensor, "*batch num_samples 1"]:
...
@overload
@staticmethod
def get_weights_and_transmittance_from_alphas(
alphas: Float[Tensor, "*batch num_samples 1"], weights_only: Literal[False] = False
) -> Tuple[Float[Tensor, "*batch num_samples 1"], Float[Tensor, "*batch num_samples 1"]]:
...
[docs] @staticmethod
def get_weights_and_transmittance_from_alphas(
alphas: Float[Tensor, "*batch num_samples 1"], weights_only: bool = False
) -> Union[
Float[Tensor, "*batch num_samples 1"],
Tuple[Float[Tensor, "*batch num_samples 1"], Float[Tensor, "*batch num_samples 1"]],
]:
"""Return weights based on predicted alphas
Args:
alphas: Predicted alphas (maybe from sdf) for samples along ray
weights_only: If function should return only weights
Returns:
Tuple of weights and transmittance for each sample
"""
transmittance = torch.cumprod(
torch.cat([torch.ones((*alphas.shape[:1], 1, 1), device=alphas.device), 1.0 - alphas + 1e-7], 1), 1
)
weights = alphas * transmittance[:, :-1, :]
if weights_only:
return weights
return weights, transmittance
[docs]@dataclass
class RayBundle(TensorDataclass):
"""A bundle of ray parameters."""
# TODO(ethan): make sure the sizes with ... are correct
origins: Float[Tensor, "*batch 3"]
"""Ray origins (XYZ)"""
directions: Float[Tensor, "*batch 3"]
"""Unit ray direction vector"""
pixel_area: Float[Tensor, "*batch 1"]
"""Projected area of pixel a distance 1 away from origin"""
camera_indices: Optional[Int[Tensor, "*batch 1"]] = None
"""Camera indices"""
nears: Optional[Float[Tensor, "*batch 1"]] = None
"""Distance along ray to start sampling"""
fars: Optional[Float[Tensor, "*batch 1"]] = None
"""Rays Distance along ray to stop sampling"""
metadata: Dict[str, Shaped[Tensor, "num_rays latent_dims"]] = field(default_factory=dict)
"""Additional metadata or data needed for interpolation, will mimic shape of rays"""
times: Optional[Float[Tensor, "*batch 1"]] = None
"""Times at which rays are sampled"""
[docs] def set_camera_indices(self, camera_index: int) -> None:
"""Sets all the camera indices to a specific camera index.
Args:
camera_index: Camera index.
"""
self.camera_indices = torch.ones_like(self.origins[..., 0:1]).long() * camera_index
def __len__(self) -> int:
num_rays = torch.numel(self.origins) // self.origins.shape[-1]
return num_rays
[docs] def sample(self, num_rays: int) -> "RayBundle":
"""Returns a RayBundle as a subset of rays.
Args:
num_rays: Number of rays in output RayBundle
Returns:
RayBundle with subset of rays.
"""
assert num_rays <= len(self)
indices = random.sample(range(len(self)), k=num_rays)
return self[indices]
[docs] def get_row_major_sliced_ray_bundle(self, start_idx: int, end_idx: int) -> "RayBundle":
"""Flattens RayBundle and extracts chunk given start and end indices.
Args:
start_idx: Start index of RayBundle chunk.
end_idx: End index of RayBundle chunk.
Returns:
Flattened RayBundle with end_idx-start_idx rays.
"""
return self.flatten()[start_idx:end_idx]
[docs] def get_ray_samples(
self,
bin_starts: Float[Tensor, "*bs num_samples 1"],
bin_ends: Float[Tensor, "*bs num_samples 1"],
spacing_starts: Optional[Float[Tensor, "*bs num_samples 1"]] = None,
spacing_ends: Optional[Float[Tensor, "*bs num_samples 1"]] = None,
spacing_to_euclidean_fn: Optional[Callable] = None,
) -> RaySamples:
"""Produces samples for each ray by projection points along the ray direction. Currently samples uniformly.
Args:
bin_starts: Distance from origin to start of bin.
bin_ends: Distance from origin to end of bin.
Returns:
Samples projected along ray.
"""
deltas = bin_ends - bin_starts
if self.camera_indices is not None:
camera_indices = self.camera_indices[..., None]
else:
camera_indices = None
shaped_raybundle_fields = self[..., None]
frustums = Frustums(
origins=shaped_raybundle_fields.origins, # [..., 1, 3]
directions=shaped_raybundle_fields.directions, # [..., 1, 3]
starts=bin_starts, # [..., num_samples, 1]
ends=bin_ends, # [..., num_samples, 1]
pixel_area=shaped_raybundle_fields.pixel_area, # [..., 1, 1]
)
ray_samples = RaySamples(
frustums=frustums,
camera_indices=camera_indices, # [..., 1, 1]
deltas=deltas, # [..., num_samples, 1]
spacing_starts=spacing_starts, # [..., num_samples, 1]
spacing_ends=spacing_ends, # [..., num_samples, 1]
spacing_to_euclidean_fn=spacing_to_euclidean_fn,
metadata=shaped_raybundle_fields.metadata,
times=None if self.times is None else self.times[..., None], # [..., 1, 1]
)
return ray_samples