Module: Gsplat::Rasterization

Defined in:
lib/gsplat/rasterization.rb

Overview

Rendering pipeline composed from low-level operations.

Class Method Summary collapse

Class Method Details

.render(means:, opacities:, colors:, viewmats:, ks:, width:, height:, quats: nil, scales: nil, covars: nil, near_plane: 0.01, far_plane: 1e10, radius_clip: 0.0, eps2d: 0.3, sh_degree: nil, tile_size: 16, backgrounds: nil, render_mode: "RGB", rasterize_mode: "classic", camera_model: "pinhole", absgrad: false, channel_chunk: 32, packed: false, global_z_order: true, radial_coeffs: nil, tangential_coeffs: nil, thin_prism_coeffs: nil, with_eval3d: false, return_normals: false) ⇒ Object

rubocop:disable Metrics/AbcSize, Metrics/MethodLength, Metrics/ParameterLists, Naming/MethodParameterName



10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
 
# File 'lib/gsplat/rasterization.rb', line 10

def render(means:, opacities:, colors:, viewmats:, ks:, width:, height:, quats: nil, scales: nil,
           covars: nil, near_plane: 0.01, far_plane: 1e10, radius_clip: 0.0, eps2d: 0.3,
           sh_degree: nil, tile_size: 16, backgrounds: nil, render_mode: "RGB",
           rasterize_mode: "classic", camera_model: "pinhole", absgrad: false,
           channel_chunk: 32, packed: false, global_z_order: true,
           radial_coeffs: nil, tangential_coeffs: nil, thin_prism_coeffs: nil,
           with_eval3d: false, return_normals: false)
  # rubocop:enable Metrics/ParameterLists, Naming/MethodParameterName
  RasterizationValidation.validate_options!(
    render_mode, rasterize_mode, sh_degree, tile_size, channel_chunk, width, height
  )
  RasterizationValidation.warn_unsupported_options(packed, global_z_order)
  RasterizationValidation.validate_scene!(
    means, quats, scales, covars, opacities, colors, viewmats, ks, sh_degree
  )
  RasterizationValidation.validate_eval3d!(
    with_eval3d, return_normals, covars, rasterize_mode
  )
  camera_count = Ops::TensorOps.data(viewmats).shape[0]
  calculate_compensations = rasterize_mode == "antialiased"
  radii, means2d, depths, conics, compensations = Gsplat.fully_fused_projection(
    means,
    viewmats: viewmats,
    ks: ks,
    width: width,
    height: height,
    covars: covars,
    quats: quats,
    scales: scales,
    eps2d: eps2d,
    near_plane: near_plane,
    far_plane: far_plane,
    radius_clip: radius_clip,
    calc_compensations: calculate_compensations,
    camera_model: camera_model,
    radial_coeffs: radial_coeffs,
    tangential_coeffs: tangential_coeffs,
    thin_prism_coeffs: thin_prism_coeffs,
    global_z_order: global_z_order
  )
  projected_colors = RasterizationHelpers.prepare_colors(
    means, colors, viewmats, radii, camera_count, sh_degree
  )
  projected_opacities = RasterizationHelpers.camera_broadcast(opacities, camera_count)
  if calculate_compensations
    projected_opacities = Ops::TensorOps.apply(
      Ops::Multiply,
      projected_opacities,
      compensations
    )
  end
  raster_features, depth_index = RasterizationHelpers.render_features(
    projected_colors, depths, render_mode
  )
  tile_width = (width.to_f / tile_size).ceil
  tile_height = (height.to_f / tile_size).ceil
  tiles_per_gauss, isect_ids, flatten_ids = Gsplat.isect_tiles(
    Ops::TensorOps.data(means2d),
    Ops::TensorOps.data(radii),
    Ops::TensorOps.data(depths),
    tile_size,
    tile_width,
    tile_height
  )
  isect_offsets = Gsplat.isect_offset_encode(
    isect_ids, camera_count, tile_width, tile_height
  )
  hit_distance = %w[d Ed RGB-d RGB-Ed].include?(render_mode)
  eval3d_normals = nil
  render_colors, render_alphas = if with_eval3d || hit_distance
                                   eval3d_outputs = RasterizationHelpers.rasterize_eval3d_features(
                                     means, quats, scales, raster_features, projected_opacities,
                                     viewmats, ks, width, height, tile_size, isect_offsets,
                                     flatten_ids, backgrounds: backgrounds,
                                                  camera_model: camera_model,
                                                  use_hit_distance: hit_distance,
                                                  return_normals: return_normals
                                   )
                                   eval3d_normals = eval3d_outputs[2] if return_normals
                                   eval3d_outputs.first(2)
                                 else
                                   RasterizationHelpers.rasterize_features(
                                     means2d, conics, raster_features, projected_opacities,
                                     width, height, tile_size, isect_offsets, flatten_ids,
                                     backgrounds: backgrounds, channel_chunk: channel_chunk,
                                     absgrad: absgrad
                                   )
                                 end
  if %w[Ed ED RGB-Ed RGB+ED].include?(render_mode)
    render_colors = Ops::TensorOps.apply(
      Ops::NormalizeDepth,
      render_colors,
      render_alphas,
      depth_index: depth_index
    )
  end
  meta = RasterizationHelpers.metadata(
    radii, means2d, depths, conics, projected_opacities, tile_width, tile_height,
    tiles_per_gauss, isect_ids, flatten_ids, isect_offsets, width, height, tile_size,
    camera_count
  )
  meta[:normals] = eval3d_normals if return_normals
  means2d.bind_absgrad(meta, :means2d_absgrad) if absgrad && means2d.is_a?(Autograd::Variable)
  [render_colors, render_alphas, meta]
end