Module: Gsplat::Backend::RubyProjection

Defined in:
lib/gsplat/backend/ruby/projection.rb

Overview

Numo implementation of dense fused Gaussian projection.

Class Method Summary collapse

Class Method Details

.forward(means, covars, quaternions, scales, viewmats, intrinsics, width, height, eps2d:, near_plane:, far_plane:, radius_clip:, calc_compensations:, camera_model:, radial_coeffs: nil, tangential_coeffs: nil, thin_prism_coeffs: nil, global_z_order: true) ⇒ Object

rubocop:disable Metrics/ParameterLists



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# File 'lib/gsplat/backend/ruby/projection.rb', line 10

def forward(means, covars, quaternions, scales, viewmats, intrinsics, width, height,
            eps2d:, near_plane:, far_plane:, radius_clip:, calc_compensations:, camera_model:,
            radial_coeffs: nil, tangential_coeffs: nil, thin_prism_coeffs: nil,
            global_z_order: true)
  # rubocop:enable Metrics/ParameterLists
  inputs = prepare_inputs(
    means, covars, quaternions, scales, viewmats, intrinsics, width, height,
    eps2d, near_plane, far_plane, radius_clip, camera_model,
    radial_coeffs, tangential_coeffs, thin_prism_coeffs
  )
  means, covars, viewmats, intrinsics = inputs
  camera_means, camera_covars = Math::CameraProjection.world_to_cam(means, covars, viewmats)
  projection_means = projection_safe_means(camera_means, near_plane, far_plane)
  means2d, covars2d = project(
    projection_means,
    camera_covars,
    intrinsics,
    width,
    height,
    camera_model,
    radial_coeffs: radial_coeffs,
    tangential_coeffs: tangential_coeffs,
    thin_prism_coeffs: thin_prism_coeffs
  )
  finish_projection(
    camera_means,
    means2d,
    covars2d,
    width,
    height,
    eps2d,
    near_plane,
    far_plane,
    radius_clip,
    calc_compensations,
    global_z_order: global_z_order
  )
end

.prepare_inputs(means, covars, quaternions, scales, viewmats, intrinsics, width, height, eps2d, near_plane, far_plane, radius_clip, camera_model, radial_coeffs = nil, tangential_coeffs = nil, thin_prism_coeffs = nil) ⇒ Object

rubocop:disable Metrics/AbcSize, Metrics/ParameterLists

Raises:



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# File 'lib/gsplat/backend/ruby/projection.rb', line 50

def prepare_inputs(means, covars, quaternions, scales, viewmats, intrinsics, width, height,
                   eps2d, near_plane, far_plane, radius_clip, camera_model,
                   radial_coeffs = nil, tangential_coeffs = nil, thin_prism_coeffs = nil)
  # rubocop:enable Metrics/AbcSize, Metrics/ParameterLists
  unless means.is_a?(Numo::NArray) && [Numo::SFloat, Numo::DFloat].include?(means.class)
    raise ArgumentError, "means must be Numo::SFloat or Numo::DFloat"
  end

  valid_means = means.ndim == 2 && means.shape[-1] == 3
  raise ShapeError, "expected means [N,3], got #{means.shape.inspect}" unless valid_means

  covars = prepare_covariances(means, covars, quaternions, scales)
  viewmats = means.class.cast(viewmats)
  intrinsics = means.class.cast(intrinsics)
  unless viewmats.ndim == 3 && viewmats.shape[1..] == [4, 4]
    raise ShapeError, "expected viewmats [C,4,4], got #{viewmats.shape.inspect}"
  end
  unless intrinsics.shape == [viewmats.shape[0], 3, 3]
    raise ShapeError, "expected intrinsics [#{viewmats.shape[0]},3,3], got #{intrinsics.shape.inspect}"
  end

  validate_options!(
    width: width,
    height: height,
    eps2d: eps2d,
    near_plane: near_plane,
    far_plane: far_plane,
    radius_clip: radius_clip,
    camera_model: camera_model
  )
  validate_distortion!(
    viewmats.shape[0], camera_model,
    radial_coeffs, tangential_coeffs, thin_prism_coeffs
  )
  [means, covars, viewmats, intrinsics]
end

.project(means, covars, intrinsics, width, height, camera_model, radial_coeffs: nil, tangential_coeffs: nil, thin_prism_coeffs: nil) ⇒ Object

rubocop:disable Metrics/ParameterLists



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# File 'lib/gsplat/backend/ruby/projection.rb', line 157

def project(means, covars, intrinsics, width, height, camera_model,
            radial_coeffs: nil, tangential_coeffs: nil, thin_prism_coeffs: nil)
  # rubocop:enable Metrics/ParameterLists
  if camera_model.to_s == "ortho"
    return Math::CameraProjection.ortho_proj(means, covars, intrinsics, width, height)
  end
  if camera_model.to_s == "fisheye" || [radial_coeffs, tangential_coeffs, thin_prism_coeffs].any?
    return Math::CameraProjection.distorted_proj(
      means,
      covars,
      intrinsics,
      camera_model,
      radial_coeffs: radial_coeffs,
      tangential_coeffs: tangential_coeffs,
      thin_prism_coeffs: thin_prism_coeffs
    )
  end

  Math::CameraProjection.persp_proj(means, covars, intrinsics, width, height)
end