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Running
on
Zero
File size: 2,096 Bytes
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import torch
from easydict import EasyDict as edict
from ..representations import Voxel
from easydict import EasyDict as edict
class VoxelRenderer:
"""
Renderer for the Voxel representation.
Args:
rendering_options (dict): Rendering options.
"""
def __init__(self, rendering_options={}) -> None:
self.rendering_options = edict({
"resolution": None,
"near": 0.1,
"far": 10.0,
"ssaa": 1,
})
self.rendering_options.update(rendering_options)
def render(
self,
voxel: Voxel,
extrinsics: torch.Tensor,
intrinsics: torch.Tensor,
colors_overwrite: torch.Tensor = None
) -> edict:
"""
Render the gausssian.
Args:
voxel (Voxel): Voxel representation.
extrinsics (torch.Tensor): (4, 4) camera extrinsics
intrinsics (torch.Tensor): (3, 3) camera intrinsics
colors_overwrite (torch.Tensor): (N, 3) override color
Returns:
edict containing:
color (torch.Tensor): (3, H, W) rendered color image
depth (torch.Tensor): (H, W) rendered depth
alpha (torch.Tensor): (H, W) rendered alpha
...
"""
# lazy import
if 'o_voxel' not in globals():
import o_voxel
renderer = o_voxel.rasterize.VoxelRenderer(self.rendering_options)
positions = voxel.position
attrs = voxel.attrs if colors_overwrite is None else colors_overwrite
voxel_size = voxel.voxel_size
# Render
render_ret = renderer.render(positions, attrs, voxel_size, extrinsics, intrinsics)
ret = {
'depth': render_ret['depth'],
'alpha': render_ret['alpha'],
}
if colors_overwrite is not None:
ret['color'] = render_ret['attr']
else:
for k, s in voxel.layout.items():
ret[k] = render_ret['attr'][s]
return ret
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