Surface splatting (2D Gaussian splatting)代码分析_2d gaussian splatting 文章+代码串讲

源码地址

colab.research.google.com/drive/1qoclD7HJ3-o0O1R8cvV3PxLhoDCMsH8W

核心代码

surface_splatting

def surface_splatting(means3D, scales, quats, colors, opacities, intrins, viewmat, projmat):
    # Rasterization setup
    projmat = torch.zeros(4,4).cuda()
    projmat[:3,:3] = intrins
    projmat[-1,-2] = 1.0
    projmat = projmat.T
    # T 是论文中的 M
    T, colors, opacities, center, depth, radii = setup(means3D, scales, quats, opacities, colors, viewmat, projmat)

    # Rasterization
    # 1. Generate pixels
    W, H = (intrins[0,-1] * 2).long(), (intrins[1,-1] * 2).long()
    W, H = W.item(), H.item()
    pix = torch.stack(torch.meshgrid(torch.arange(W),
        torch.arange(H), indexing='xy'), dim=-1).to('cuda')

    # 2. Compute ray splat intersection # Eq.9 and Eq.10
    x = pix.reshape(-1,1,2)[..., :1]
    y = pix.reshape(-1,1,2)[..., 1:]
    k = -T[None][..., 0] + x * T[None][..., 3] # 这个是 h_u, 因为公式8 h_u = ⊤ · h_x = ⊤ · (−1, 0, 0, 
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