easyvolcap: tuning intrinsics

zju3dv · Apr 5, 2024 · e522b47 · e522b47
1 parent d52110c
commit e522b47
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/easyvolcap/models/cameras/optimizable_camera.py b/easyvolcap/models/cameras/optimizable_camera.py
@@ -136,10 +136,10 @@ def forward_srcs(self, batch: dotdict):
 
         intri_resd = self.intri_resd[f_inds, v_inds].to(batch.src_ixts)  # B, S, 4
         src_ixts = torch.zeros_like(batch.src_ixts)
-        src_ixts[..., 0, 0] = intri_resd[..., 0, 0].clip(self.focal_limit) + batch.src_ixts[..., 0, 0]  # fx
-        src_ixts[..., 1, 1] = intri_resd[..., 1, 1].clip(self.focal_limit) + batch.src_ixts[..., 1, 1]  # fy
-        src_ixts[..., 0, 2] = intri_resd[..., 0, 2].clip(self.shift_limit) + batch.src_ixts[..., 0, 2]  # cx
-        src_ixts[..., 1, 2] = intri_resd[..., 1, 2].clip(self.shift_limit) + batch.src_ixts[..., 1, 2]  # cy
+        src_ixts[..., 0, 0] = intri_resd[..., 0, 0].sign() * intri_resd[..., 0, 0].abs().clip(self.focal_limit) + batch.src_ixts[..., 0, 0]  # fx
+        src_ixts[..., 1, 1] = intri_resd[..., 1, 1].sign() * intri_resd[..., 1, 1].abs().clip(self.focal_limit) + batch.src_ixts[..., 1, 1]  # fy
+        src_ixts[..., 0, 2] = intri_resd[..., 0, 2].sign() * intri_resd[..., 0, 2].abs().clip(self.shift_limit) + batch.src_ixts[..., 0, 2]  # cx
+        src_ixts[..., 1, 2] = intri_resd[..., 1, 2].sign() * intri_resd[..., 1, 2].abs().clip(self.shift_limit) + batch.src_ixts[..., 1, 2]  # cy
         src_ixts[..., 2, 2] = 1.0
         return batch
 
@@ -169,10 +169,10 @@ def forward_pose(self, batch: dotdict):
         intri_resd = self.intri_resd[latent_index, view_index].to(batch.R)  # fancy indexing? -> B, 4
         int_ori = batch.K
         int_opt = torch.zeros_like(int_ori)
-        int_opt[..., 0, 0] = intri_resd[..., 0].clip(self.focal_limit) + int_ori[..., 0, 0]  # fx
-        int_opt[..., 1, 1] = intri_resd[..., 1].clip(self.focal_limit) + int_ori[..., 1, 1]  # fy
-        int_opt[..., 0, 2] = intri_resd[..., 2].clip(self.shift_limit) + int_ori[..., 0, 2]  # cx
-        int_opt[..., 1, 2] = intri_resd[..., 3].clip(self.shift_limit) + int_ori[..., 1, 2]  # cy
+        int_opt[..., 0, 0] = intri_resd[..., 0].sign() * intri_resd[..., 0].abs().clip(self.focal_limit) + int_ori[..., 0, 0]  # fx
+        int_opt[..., 1, 1] = intri_resd[..., 1].sign() * intri_resd[..., 1].abs().clip(self.focal_limit) + int_ori[..., 1, 1]  # fy
+        int_opt[..., 0, 2] = intri_resd[..., 2].sign() * intri_resd[..., 2].abs().clip(self.shift_limit) + int_ori[..., 0, 2]  # cx
+        int_opt[..., 1, 2] = intri_resd[..., 3].sign() * intri_resd[..., 3].abs().clip(self.shift_limit) + int_ori[..., 1, 2]  # cy
         int_opt[..., 2, 2] = 1.0
         int_resd = int_opt - int_ori