delete camera params from spherical render

nerfstudio-project · Oct 13, 2024 · b0e978d · b0e978d
1 parent 1474c16
commit b0e978d
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Showing 8 changed files with 2 additions and 32 deletions.
diff --git a/gsplat/cuda/_torch_impl.py b/gsplat/cuda/_torch_impl.py
@@ -225,7 +225,6 @@ def _ortho_proj(
 def _spherical_proj(
     means: Tensor,  # [C, N, 3]
     covars: Tensor,  # [C, N, 3, 3]
-    Ks: Tensor,  # [C, 3, 3]
     width: int,
     height: int,
 ) -> Tuple[Tensor, Tensor]:
@@ -234,7 +233,6 @@ def _spherical_proj(
     Args:
         means: Gaussian means in camera coordinate system. [C, N, 3].
         covars: Gaussian covariances in camera coordinate system. [C, N, 3, 3].
-        Ks: Camera intrinsics. [C, 3, 3].
         width: Image width.
         height: Image height.
 
@@ -329,7 +327,7 @@ def _fully_fused_projection(
     elif camera_model == "pinhole":
         means2d, covars2d = _persp_proj(means_c, covars_c, Ks, width, height)
     elif camera_model == "spherical":
-        means2d, covars2d = _spherical_proj(means_c, covars_c, Ks, width, height)
+        means2d, covars2d = _spherical_proj(means_c, covars_c, width, height)
     else:
         assert_never(camera_model)
 

diff --git a/gsplat/cuda/csrc/fully_fused_projection_bwd.cu b/gsplat/cuda/csrc/fully_fused_projection_bwd.cu
@@ -181,10 +181,6 @@ __global__ void fully_fused_projection_bwd_kernel(
             spherical_proj_vjp<T>(
                 mean_c,
                 covar_c,
-                fx,
-                fy,
-                cx,
-                cy,
                 image_width,
                 image_height,
                 v_covar2d,

diff --git a/gsplat/cuda/csrc/fully_fused_projection_fwd.cu b/gsplat/cuda/csrc/fully_fused_projection_fwd.cu
@@ -160,10 +160,6 @@ __global__ void fully_fused_projection_fwd_kernel(
             spherical_proj<T>(
                 mean_c,
                 covar_c,
-                Ks[0],
-                Ks[4],
-                Ks[2],
-                Ks[5],
                 image_width,
                 image_height,
                 covar2d,

diff --git a/gsplat/cuda/csrc/fully_fused_projection_packed_bwd.cu b/gsplat/cuda/csrc/fully_fused_projection_packed_bwd.cu
@@ -182,10 +182,6 @@ __global__ void fully_fused_projection_packed_bwd_kernel(
             spherical_proj_vjp<T>(
                 mean_c,
                 covar_c,
-                fx,
-                fy,
-                cx,
-                cy,
                 image_width,
                 image_height,
                 v_covar2d,

diff --git a/gsplat/cuda/csrc/fully_fused_projection_packed_fwd.cu b/gsplat/cuda/csrc/fully_fused_projection_packed_fwd.cu
@@ -175,10 +175,6 @@ __global__ void fully_fused_projection_packed_fwd_kernel(
                 spherical_proj<T>(
                     mean_c,
                     covar_c,
-                    Ks[0],
-                    Ks[4],
-                    Ks[2],
-                    Ks[5],
                     image_width,
                     image_height,
                     covar2d,

diff --git a/gsplat/cuda/csrc/proj_bwd.cu b/gsplat/cuda/csrc/proj_bwd.cu
@@ -113,10 +113,6 @@ __global__ void proj_bwd_kernel(
             spherical_proj_vjp<OpT>(
                 mean,
                 covar,
-                fx,
-                fy,
-                cx,
-                cy,
                 width,
                 height,
                 glm::transpose(v_covar2d),

diff --git a/gsplat/cuda/csrc/proj_fwd.cu b/gsplat/cuda/csrc/proj_fwd.cu
@@ -64,7 +64,7 @@ __global__ void proj_fwd_kernel(
             fisheye_proj(mean, covar, fx, fy, cx, cy, width, height, covar2d, mean2d);
             break;
         case CameraModelType::SPHERICAL: // spherical projection
-            spherical_proj(mean, covar, fx, fy, cx, cy, width, height, covar2d, mean2d);
+            spherical_proj(mean, covar, width, height, covar2d, mean2d);
             break;
     }
 

diff --git a/gsplat/cuda/csrc/utils.cuh b/gsplat/cuda/csrc/utils.cuh
@@ -521,10 +521,6 @@ inline __device__ void spherical_proj(
     // inputs
     const vec3<T> mean3d,
     const mat3<T> cov3d,
-    const T fx,
-    const T fy,
-    const T cx,
-    const T cy,
     const uint32_t width,
     const uint32_t height,
     // outputs
@@ -565,10 +561,6 @@ inline __device__ void spherical_proj_vjp(
     // fwd inputs
     const vec3<T> mean3d,
     const mat3<T> cov3d,
-    const T fx,
-    const T fy,
-    const T cx,
-    const T cy,
     const uint32_t width,
     const uint32_t height,
     // grad outputs
-Original file line number
+Diff line change
@@ Expand Up / @@ -113,10 +113,6 @@ __global__ void proj_bwd_kernel( @@
                 spherical_proj_vjp<OpT>(
                     mean,
                     covar,
-                    fx,
-                    fy,
-                    cx,
-                    cy,
                     width,
                     height,
                     glm::transpose(v_covar2d),
@@ Expand Down @@