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generate normal image

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luni
2022-12-28 19:17:25 +00:00
parent 0652130e65
commit e5780de5e5
3 changed files with 36 additions and 10 deletions
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data/render.py
+4 -3
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@@ -163,13 +163,14 @@ class DepthRenderer(nn.Module):
ext = torch.tensor(extrinsic(cam).astype(np.float32), device='cuda')
# ext = proj(cam)
fp = np.array([240 * (480 / 36), 320 * (640 / 36)], dtype=np.float32)
# fp = np.array([240 * (480 / 36), 320 * (640 / 36)], dtype=np.float32)
img_size = np.array([480, 640], dtype=np.float32)
# K = np.eye(4, dtype=np.float32)
# K[:3,:3] = intrinsic()
K = torch.tensor(intrinsic()[None, :, :], device='cuda')
# cameras = PerspectiveCameras(device='cuda', R=ext[None, :, :3], T=ext[None, :, 3], focal_length=1,)# principal_point=fp[None, :], image_size=img_size[None, :])
cameras = cameras_from_opencv_projection(R=ext[None, :, :3], tvec=ext[None, :, 3], camera_matrix=torch.tensor(intrinsic()[None, :, :], device='cuda'), image_size=torch.tensor(img_size[None, :], device='cuda'))
cameras = cameras_from_opencv_projection(R=ext[None, :, :3], tvec=ext[None, :, 3], camera_matrix=K, image_size=torch.tensor(img_size[None, :], device='cuda'))
raster_settings = RasterizationSettings(
image_size=(480, 640),
@@ -197,4 +198,4 @@ class DepthRenderer(nn.Module):
# import plotly.express as ex
# ex.imshow(depth.cpu().numpy()).show()
return depth, v2i
return depth, mask, v2i, K