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fix GaussianCloud::ExportPly() (wip)
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* still need to fix ComputeRotScaleFromCovMat()!
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@hyperlogic
hyperlogic committed Jun 30, 2024
1 parent 7d44266 commit 9bfd22e
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Showing 4 changed files with 151 additions and 91 deletions.
235 changes: 146 additions & 89 deletions src/gaussiancloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ struct GaussianData
float cov3_col2[3];
};

glm::mat3 ComputeCovMat(float rot[4], float scale[3])
glm::mat3 ComputeCovMatFromRotScale(float rot[4], float scale[3])
{
glm::quat q(rot[0], rot[1], rot[2], rot[3]);
glm::mat3 R(glm::normalize(q));
Expand All @@ -58,11 +58,23 @@ glm::mat3 ComputeCovMat(float rot[4], float scale[3])
return R * S * glm::transpose(S) * glm::transpose(R);
}

float ComputeAlpha(float opacity)
void ComputeRotScaleFromCovMat(const glm::mat3& V, glm::quat& rotOut, glm::vec3& scaleOut)
{
// AJT: TODO: use eigendecomposition to compute this from V
rotOut = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
scaleOut = glm::vec3(-2.99573231f, -2.99573231f, -2.99573231f);
}

float ComputeAlphaFromOpacity(float opacity)
{
return 1.0f / (1.0f + expf(-opacity));
}

float ComputeOpacityFromAlpha(float alpha)
{
return -logf((1.0f / alpha) - 1.0f);
}

GaussianCloud::GaussianCloud(bool useLinearColorsIn) :
numGaussians(0),
gaussianSize(0),
Expand Down Expand Up @@ -175,7 +187,7 @@ bool GaussianCloud::ImportPly(const std::string& plyFilename)
gd[i].posWithAlpha[0] = props.x.Read<float>(data);
gd[i].posWithAlpha[1] = props.y.Read<float>(data);
gd[i].posWithAlpha[2] = props.z.Read<float>(data);
gd[i].posWithAlpha[3] = ComputeAlpha(props.opacity.Read<float>(data));
gd[i].posWithAlpha[3] = ComputeAlphaFromOpacity(props.opacity.Read<float>(data));

// AJT: TODO check for useLinearColors

Expand Down Expand Up @@ -230,21 +242,21 @@ bool GaussianCloud::ImportPly(const std::string& plyFilename)
gd[i].b_sh3[2] = props.f_rest[43].Read<float>(data);
gd[i].b_sh3[3] = props.f_rest[44].Read<float>(data);

float scale[3] =
{
props.scale[0].Read<float>(data),
props.scale[1].Read<float>(data),
props.scale[2].Read<float>(data)
};
float rot[4] =
{
props.rot[0].Read<float>(data),
props.rot[1].Read<float>(data),
props.rot[2].Read<float>(data),
props.rot[3].Read<float>(data)
};
float scale[4] =
{
props.scale[0].Read<float>(data),
props.scale[1].Read<float>(data),
props.scale[2].Read<float>(data)
};

glm::mat3 V = ComputeCovMat(rot, scale);
glm::mat3 V = ComputeCovMatFromRotScale(rot, scale);
gd[i].cov3_col0[0] = V[0][0];
gd[i].cov3_col0[1] = V[0][1];
gd[i].cov3_col0[2] = V[0][2];
Expand All @@ -262,95 +274,140 @@ bool GaussianCloud::ImportPly(const std::string& plyFilename)
return true;
}

bool GaussianCloud::ExportPly(const std::string& plyFilename) const
bool GaussianCloud::ExportPly(const std::string& plyFilename, bool exportFullSh) const
{
// AJT: TODO FIXME:
return false;

std::ofstream plyFile(plyFilename, std::ios::binary);
if (!plyFile.is_open())
{
Log::E("failed to open %s\n", plyFilename.c_str());
return false;
}

// ply files have unix line endings.
plyFile << "ply\n";
plyFile << "format binary_little_endian 1.0\n";
plyFile << "element vertex " << numGaussians << "\n";
plyFile << "property float x\n";
plyFile << "property float y\n";
plyFile << "property float z\n";
plyFile << "property float nx\n";
plyFile << "property float ny\n";
plyFile << "property float nz\n";
plyFile << "property float f_dc_0\n";
plyFile << "property float f_dc_1\n";
plyFile << "property float f_dc_2\n";
plyFile << "property float f_rest_0\n";
plyFile << "property float f_rest_1\n";
plyFile << "property float f_rest_2\n";
plyFile << "property float f_rest_3\n";
plyFile << "property float f_rest_4\n";
plyFile << "property float f_rest_5\n";
plyFile << "property float f_rest_6\n";
plyFile << "property float f_rest_7\n";
plyFile << "property float f_rest_8\n";
plyFile << "property float f_rest_9\n";
plyFile << "property float f_rest_10\n";
plyFile << "property float f_rest_11\n";
plyFile << "property float f_rest_12\n";
plyFile << "property float f_rest_13\n";
plyFile << "property float f_rest_14\n";
plyFile << "property float f_rest_15\n";
plyFile << "property float f_rest_16\n";
plyFile << "property float f_rest_17\n";
plyFile << "property float f_rest_18\n";
plyFile << "property float f_rest_19\n";
plyFile << "property float f_rest_20\n";
plyFile << "property float f_rest_21\n";
plyFile << "property float f_rest_22\n";
plyFile << "property float f_rest_23\n";
plyFile << "property float f_rest_24\n";
plyFile << "property float f_rest_25\n";
plyFile << "property float f_rest_26\n";
plyFile << "property float f_rest_27\n";
plyFile << "property float f_rest_28\n";
plyFile << "property float f_rest_29\n";
plyFile << "property float f_rest_30\n";
plyFile << "property float f_rest_31\n";
plyFile << "property float f_rest_32\n";
plyFile << "property float f_rest_33\n";
plyFile << "property float f_rest_34\n";
plyFile << "property float f_rest_35\n";
plyFile << "property float f_rest_36\n";
plyFile << "property float f_rest_37\n";
plyFile << "property float f_rest_38\n";
plyFile << "property float f_rest_39\n";
plyFile << "property float f_rest_40\n";
plyFile << "property float f_rest_41\n";
plyFile << "property float f_rest_42\n";
plyFile << "property float f_rest_43\n";
plyFile << "property float f_rest_44\n";
plyFile << "property float opacity\n";
plyFile << "property float scale_0\n";
plyFile << "property float scale_1\n";
plyFile << "property float scale_2\n";
plyFile << "property float rot_0\n";
plyFile << "property float rot_1\n";
plyFile << "property float rot_2\n";
plyFile << "property float rot_3\n";
plyFile << "end_header\n";

/* AJT: TODO FIXME
const size_t GAUSSIAN_SIZE = 62 * sizeof(float);
static_assert(sizeof(Gaussian) >= GAUSSIAN_SIZE);
for (auto&& g : gaussianVec)
Ply ply;
ply.AddProperty("x", BinaryAttribute::Type::Float);
ply.AddProperty("y", BinaryAttribute::Type::Float);
ply.AddProperty("z", BinaryAttribute::Type::Float);
ply.AddProperty("nx", BinaryAttribute::Type::Float);
ply.AddProperty("ny", BinaryAttribute::Type::Float);
ply.AddProperty("nz", BinaryAttribute::Type::Float);
ply.AddProperty("f_dc_0", BinaryAttribute::Type::Float);
ply.AddProperty("f_dc_1", BinaryAttribute::Type::Float);
ply.AddProperty("f_dc_2", BinaryAttribute::Type::Float);
if (exportFullSh)
{
plyFile.write((char*)&g, GAUSSIAN_SIZE);
for (int i = 0; i < 45; i++)
{
ply.AddProperty("f_rest_" + std::to_string(i), BinaryAttribute::Type::Float);
}
}
*/
ply.AddProperty("opacity", BinaryAttribute::Type::Float);
ply.AddProperty("scale_0", BinaryAttribute::Type::Float);
ply.AddProperty("scale_1", BinaryAttribute::Type::Float);
ply.AddProperty("scale_2", BinaryAttribute::Type::Float);
ply.AddProperty("rot_0", BinaryAttribute::Type::Float);
ply.AddProperty("rot_1", BinaryAttribute::Type::Float);
ply.AddProperty("rot_2", BinaryAttribute::Type::Float);
ply.AddProperty("rot_3", BinaryAttribute::Type::Float);

struct
{
BinaryAttribute x, y, z;
BinaryAttribute nx, ny, nz;
BinaryAttribute f_dc[3];
BinaryAttribute f_rest[45];
BinaryAttribute opacity;
BinaryAttribute scale[3];
BinaryAttribute rot[4];
} props;

ply.GetProperty("x", props.x);
ply.GetProperty("y", props.y);
ply.GetProperty("z", props.z);
ply.GetProperty("nx", props.nx);
ply.GetProperty("ny", props.ny);
ply.GetProperty("nz", props.nz);
ply.GetProperty("f_dc_0", props.f_dc[0]);
ply.GetProperty("f_dc_1", props.f_dc[1]);
ply.GetProperty("f_dc_2", props.f_dc[2]);
if (exportFullSh)
{
for (int i = 0; i < 45; i++)
{
ply.GetProperty("f_rest_" + std::to_string(i), props.f_rest[i]);
}
}
ply.GetProperty("opacity", props.opacity);
ply.GetProperty("scale_0", props.scale[0]);
ply.GetProperty("scale_1", props.scale[1]);
ply.GetProperty("scale_2", props.scale[2]);
ply.GetProperty("rot_0", props.rot[0]);
ply.GetProperty("rot_1", props.rot[1]);
ply.GetProperty("rot_2", props.rot[2]);
ply.GetProperty("rot_3", props.rot[3]);

ply.AllocData(numGaussians);

uint8_t* gData = (uint8_t*)data.get();
size_t runningSize = 0;
ply.ForEachVertexMut([this, &props, &gData, &runningSize, &exportFullSh](void* plyData, size_t size)
{
const float* posWithAlpha = posWithAlphaAttrib.Get<float>(gData);
const float* r_sh0 = r_sh0Attrib.Get<float>(gData);
const float* g_sh0 = g_sh0Attrib.Get<float>(gData);
const float* b_sh0 = b_sh0Attrib.Get<float>(gData);
const float* cov3_col0 = cov3_col0Attrib.Get<float>(gData);

props.x.Write<float>(plyData, posWithAlpha[0]);
props.y.Write<float>(plyData, posWithAlpha[1]);
props.z.Write<float>(plyData, posWithAlpha[2]);
props.nx.Write<float>(plyData, 0.0f);
props.ny.Write<float>(plyData, 0.0f);
props.nz.Write<float>(plyData, 0.0f);
props.f_dc[0].Write<float>(plyData, r_sh0[0]);
props.f_dc[1].Write<float>(plyData, g_sh0[0]);
props.f_dc[2].Write<float>(plyData, b_sh0[0]);

if (exportFullSh)
{
// TODO: maybe just a raw memcopy would be faster
for (int i = 0; i < 15; i++)
{
props.f_rest[i].Write<float>(plyData, r_sh0[i + 1]);
}
for (int i = 0; i < 15; i++)
{
props.f_rest[i + 15].Write<float>(plyData, g_sh0[i + 1]);
}
for (int i = 0; i < 15; i++)
{
props.f_rest[i + 30].Write<float>(plyData, b_sh0[i + 1]);
}
}

props.opacity.Write<float>(plyData, ComputeOpacityFromAlpha(posWithAlpha[3]));

glm::mat3 V(cov3_col0[0], cov3_col0[1], cov3_col0[2],
cov3_col0[2], cov3_col0[4], cov3_col0[5],
cov3_col0[6], cov3_col0[7], cov3_col0[8]);

glm::quat rot;
glm::vec3 scale;
ComputeRotScaleFromCovMat(V, rot, scale);

props.scale[0].Write<float>(plyData, scale.x);
props.scale[1].Write<float>(plyData, scale.y);
props.scale[2].Write<float>(plyData, scale.z);
props.rot[0].Write<float>(plyData, rot.w);
props.rot[1].Write<float>(plyData, rot.x);
props.rot[2].Write<float>(plyData, rot.y);
props.rot[3].Write<float>(plyData, rot.z);

gData += gaussianSize;
runningSize += gaussianSize;
assert(runningSize <= GetTotalSize()); // bad, we went off the end of the data ptr
});

ply.Dump(plyFile);

return true;
}
Expand Down
2 changes: 1 addition & 1 deletion src/gaussiancloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ class GaussianCloud
GaussianCloud(bool useLinearColorsIn);

bool ImportPly(const std::string& plyFilename);
bool ExportPly(const std::string& plyFilename) const;
bool ExportPly(const std::string& plyFilename, bool exportFullSh) const;

void InitDebugCloud();

Expand Down
1 change: 1 addition & 0 deletions src/ply.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

#include "ply.h"

#include <algorithm>
#include <fstream>
#include <iostream>
#include <sstream>
Expand Down
4 changes: 3 additions & 1 deletion src/pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -174,16 +174,18 @@ bool PointCloud::ExportPly(const std::string& plyFilename) const
ply.ForEachVertexMut([this, &props, &cloudData, &runningSize](void* plyData, size_t size)
{
const float* position = positionAttrib.Get<float>(cloudData);
const float* color = colorAttrib.Get<float>(cloudData);

props.x.Write<float>(plyData, position[0]);
props.y.Write<float>(plyData, position[1]);
props.z.Write<float>(plyData, position[2]);
props.nx.Write<float>(plyData, 0.0f);
props.ny.Write<float>(plyData, 0.0f);
props.nz.Write<float>(plyData, 0.0f);
const float* color = colorAttrib.Get<float>(cloudData);
props.red.Write<uint8_t>(plyData, (uint8_t)(color[0] * 255.0f));
props.green.Write<uint8_t>(plyData, (uint8_t)(color[1] * 255.0f));
props.blue.Write<uint8_t>(plyData, (uint8_t)(color[2] * 255.0f));

cloudData += pointSize;
runningSize += pointSize;
assert(runningSize <= GetTotalSize()); // bad, we went outside of data ptr contents.
Expand Down

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