Merge pull request #85 from pierotofy/cam

Save cameras.json

CMakeLists.txt

@@ -7,6 +7,28 @@ set(OPENCV_DIR "OPENCV_DIR-NOTFOUND" CACHE PATH "Path to the OPENCV installation
 set(OPENSPLAT_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
 
+# Read version
+file(READ "VERSION" APP_VERSION)
+
+# Read git commit
+set(GIT_REV "")
+execute_process(COMMAND git rev-parse --short HEAD
+                WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}" 
+                OUTPUT_VARIABLE GIT_REV 
+                ERROR_QUIET)
+string(REGEX REPLACE "\n$" "" GIT_REV "${GIT_REV}")
+if (NOT "${GIT_REV}" STREQUAL "")
+    set(DAPP_VERSION "${APP_VERSION} (git commit ${GIT_REV})")
+    set(DAPP_REVISION "${GIT_REV}")
+else()
+    set(DAPP_VERSION "${APP_VERSION}")
+    set(DAPP_REVISION "dev")
+endif()
+
+message("OpenSplat Version: ${DAPP_VERSION}")
+add_compile_options("-DAPP_VERSION=\"${DAPP_VERSION}\"")
+add_compile_options("-DAPP_REVISION=\"${DAPP_REVISION}\"")
+
 # Don't complain about the override from NANOFLANN_BUILD_EXAMPLES
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # Use time-of-extraction for FetchContent'ed files modification time

README.md

@@ -212,7 +212,7 @@ cd build
 ./opensplat /path/to/banana -n 2000
 ```
 
-The program will generate an output `splat.ply` file which can then be dragged and dropped in one of the many [viewers](https://github.com/MrNeRF/awesome-3D-gaussian-splatting?tab=readme-ov-file#viewers) such as  https://playcanvas.com/viewer. You can also edit/cleanup the scene using https://playcanvas.com/supersplat/editor
+The program will generate an output `splat.ply` file which can then be dragged and dropped in one of the many [viewers](https://github.com/MrNeRF/awesome-3D-gaussian-splatting?tab=readme-ov-file#viewers) such as  https://playcanvas.com/viewer. You can also edit/cleanup the scene using https://playcanvas.com/supersplat/editor. The program will also output a `cameras.json` file in the same directory which can be used by some viewers.
 
 To run on your own data, choose the path to an existing [COLMAP](https://colmap.github.io/), [OpenSfM](https://github.com/mapillary/OpenSfM), [ODM](https://github.com/OpenDroneMap/ODM) or [nerfstudio](https://docs.nerf.studio/quickstart/custom_dataset.html) project. The project must have sparse points included (random initialization is not supported, see https://github.com/pierotofy/OpenSplat/issues/7).
 

VERSION

@@ -0,0 +1 @@
+1.1.3

constants.hpp

@@ -4,4 +4,12 @@
 #define PI 3.14159265358979323846
 #define FLOAT_EPS 1e-9f
 
+#ifndef APP_VERSION
+#define APP_VERSION "dev"
+#endif
+
+#ifndef APP_REVISION
+#define APP_REVISION "dev"
+#endif
+
 #endif

input_data.cpp

@@ -1,9 +1,11 @@
 #include <filesystem>
+#include <nlohmann/json.hpp>
 #include "input_data.hpp"
 #include "cv_utils.hpp"
 
 namespace fs = std::filesystem;
 using namespace torch::indexing;
+using json = nlohmann::json;
 
 namespace ns{ InputData inputDataFromNerfStudio(const std::string &projectRoot); }
 namespace cm{ InputData inputDataFromColmap(const std::string &projectRoot); }
@@ -145,3 +147,47 @@ std::tuple<std::vector<Camera>, Camera *> InputData::getCameras(bool validate, c
         return std::make_tuple(cams, valCam);
     }
 }
+
+
+void InputData::saveCameras(const std::string &filename, bool keepCrs){
+    json j = json::array();
+
+    for (size_t i = 0; i < cameras.size(); i++){
+        Camera &cam = cameras[i];
+
+        json camera = json::object();
+        camera["id"] = i;
+        camera["img_name"] = fs::path(cam.filePath).filename().string();
+        camera["width"] = cam.width;
+        camera["height"] = cam.height;
+        camera["fx"] = cam.fx;
+        camera["fy"] = cam.fy;
+
+        torch::Tensor R = cam.camToWorld.index({Slice(None, 3), Slice(None, 3)});
+        torch::Tensor T = cam.camToWorld.index({Slice(None, 3), Slice(3,4)}).squeeze();
+
+        // Flip z and y
+        R = torch::matmul(R, torch::diag(torch::tensor({1.0f, -1.0f, -1.0f})));
+
+        if (keepCrs) T = (T / scale) + translation;
+
+        std::vector<float> position(3);
+        std::vector<std::vector<float>> rotation(3, std::vector<float>(3));
+        for (int i = 0; i < 3; i++) {
+            position[i] = T[i].item<float>();
+            for (int j = 0; j < 3; j++) {
+                rotation[i][j] = R[i][j].item<float>();
+            }
+        }
+
+        camera["position"] = position;
+        camera["rotation"] = rotation;
+        j.push_back(camera);
+    }
+
+    std::ofstream of(filename);
+    of << j;
+    of.close();
+
+    std::cout << "Wrote " << filename << std::endl;
+}

input_data.hpp

@@ -33,7 +33,6 @@ struct Camera{
         width(width), height(height), fx(fx), fy(fy), cx(cx), cy(cy), 
         k1(k1), k2(k2), k3(k3), p1(p1), p2(p2),
         camToWorld(camToWorld), filePath(filePath) {}
-
     torch::Tensor getIntrinsicsMatrix();
     bool hasDistortionParameters();
     std::vector<float> undistortionParameters();
@@ -57,6 +56,8 @@ struct InputData{
     Points points;
 
     std::tuple<std::vector<Camera>, Camera *> getCameras(bool validate, const std::string &valImage = "random");
+
+    void saveCameras(const std::string &filename, bool keepCrs);
 };
 InputData inputDataFromX(const std::string &projectRoot);
 

model.cpp

@@ -61,7 +61,6 @@ torch::Tensor Model::forward(Camera& cam, int step){
     const int height = static_cast<int>(static_cast<float>(cam.height) / scaleFactor);
     const int width = static_cast<int>(static_cast<float>(cam.width) / scaleFactor);
 
-    // TODO: these can be moved to Camera and computed only once?
     torch::Tensor R = cam.camToWorld.index({Slice(None, 3), Slice(None, 3)});
     torch::Tensor T = cam.camToWorld.index({Slice(None, 3), Slice(3,4)});
 

opensplat.cpp

@@ -4,13 +4,14 @@
 #include "input_data.hpp"
 #include "utils.hpp"
 #include "cv_utils.hpp"
+#include "constants.hpp"
 #include <cxxopts.hpp>
 
 namespace fs = std::filesystem;
 using namespace torch::indexing;
 
 int main(int argc, char *argv[]){
-    cxxopts::Options options("opensplat", "Open Source 3D Gaussian Splats generator");
+    cxxopts::Options options("opensplat", "Open Source 3D Gaussian Splats generator - " APP_VERSION);
     options.add_options()
         ("i,input", "Path to nerfstudio project", cxxopts::value<std::string>())
         ("o,output", "Path where to save output scene", cxxopts::value<std::string>()->default_value("splat.ply"))
@@ -37,6 +38,7 @@ int main(int argc, char *argv[]){
         ("split-screen-size", "Split gaussians that are larger than this percentage of screen space", cxxopts::value<float>()->default_value("0.05"))
 
         ("h,help", "Print usage")
+        ("version", "Print version")
         ;
     options.parse_positional({ "input" });
     options.positional_help("[colmap/nerfstudio/opensfm/odm project path]");
@@ -50,11 +52,16 @@ int main(int argc, char *argv[]){
         return EXIT_FAILURE;
     }
 
+    if (result.count("version")){
+        std::cout << APP_VERSION << std::endl;
+        return EXIT_SUCCESS;
+    }
     if (result.count("help") || !result.count("input")) {
         std::cout << options.help() << std::endl;
         return EXIT_SUCCESS;
     }
 
+
     const std::string projectRoot = result["input"].as<std::string>();
     const std::string outputScene = result["output"].as<std::string>();
     const int saveEvery = result["save-every"].as<int>(); 
@@ -94,6 +101,7 @@ int main(int argc, char *argv[]){
 
     try{
         InputData inputData = inputDataFromX(projectRoot);
+
         parallel_for(inputData.cameras.begin(), inputData.cameras.end(), [&downScaleFactor](Camera &cam){
             cam.loadImage(downScaleFactor);
         });
@@ -146,6 +154,7 @@ int main(int argc, char *argv[]){
             }
         }
 
+        inputData.saveCameras((fs::path(outputScene).parent_path() / "cameras.json").string(), keepCrs);
         model.save(outputScene);
         // model.saveDebugPly("debug.ply");
 

simple_trainer.cpp

@@ -22,7 +22,7 @@ using namespace torch::indexing;
 namespace fs = std::filesystem;
 
 int main(int argc, char **argv){
-    cxxopts::Options options("simple_trainer", "Test program for gsplat execution");
+    cxxopts::Options options("simple_trainer", "Test program for gsplat execution - " APP_VERSION);
     options.add_options()
         ("cpu", "Force CPU execution")
         ("width", "Test image width", cxxopts::value<int>()->default_value("256"))
@@ -32,6 +32,7 @@ int main(int argc, char **argv){
         ("lr", "Learning rate", cxxopts::value<float>()->default_value("0.01"))
         ("render", "Save rendered images to folder", cxxopts::value<std::string>()->default_value(""))
         ("h,help", "Print usage")
+        ("version", "Print version")
         ;
     cxxopts::ParseResult result;
     try {
@@ -48,6 +49,11 @@ int main(int argc, char **argv){
         return EXIT_SUCCESS;
     }
 
+    if (result.count("version")) {
+        std::cout << APP_VERSION << std::endl;
+        return EXIT_SUCCESS;
+    }
+
     int width = result["width"].as<int>(),
         height = result["height"].as<int>();
     int numPoints = result["points"].as<int>();