| import os |
| import sys |
| import random |
| import torch |
| import numpy as np |
| import torch.nn.functional as F |
| from argparse import ArgumentParser |
|
|
| |
| base_path = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../GSDF_run')) |
| gs_path = os.path.join(base_path, "gaussian_splatting") |
| sys.path.insert(0, base_path) |
| sys.path.insert(0, gs_path) |
|
|
| for mod in ["gaussian_renderer", "scene", "arguments", "utils", "gaussian_renderer.render"]: |
| if mod in sys.modules: |
| del sys.modules[mod] |
|
|
| from core.registry import register_method |
| from core.base_method import BaseMethod |
|
|
| from utils.loss_utils import l1_loss, ssim |
| from gaussian_renderer import render as native_render |
| from gaussian_renderer import prefilter_voxel, generate_neural_gaussians |
| from scene import Scene, GaussianModel |
| from arguments import ModelParams, PipelineParams, OptimizationParams |
|
|
| @register_method("gsdf") |
| class GSDFWrapper(BaseMethod): |
| def __init__(self, dataset_config, hyperparams): |
| self.parser = ArgumentParser() |
| self.lp = ModelParams(self.parser) |
| self.op = OptimizationParams(self.parser) |
| self.pp = PipelineParams(self.parser) |
| self.args = self.parser.parse_args([]) |
|
|
| self.args.source_path = dataset_config["source_path"] |
| self.args.model_path = dataset_config["model_path"] |
| self.args.eval = True |
| self.args.resolution = dataset_config.get("resolution", 1) |
| self.track_decoupling = hyperparams.get("track_decoupling", False) |
|
|
| self.dataset = self.lp.extract(self.args) |
| self.opt = self.op.extract(self.args) |
| self.pipe = self.pp.extract(self.args) |
|
|
| self.gaussians = GaussianModel(self.dataset.feat_dim, self.dataset.n_offsets, self.dataset.voxel_size, self.dataset.update_depth, self.dataset.update_init_factor, self.dataset.update_hierachy_factor, self.dataset.use_feat_bank, self.dataset.use_tcnn) |
| self.scene = Scene(self.dataset, self.gaussians) |
| self.gaussians.training_setup(self.opt) |
|
|
| bg_color = [1, 1, 1] if self.dataset.white_background else [0, 0, 0] |
| self.background = torch.tensor(bg_color, dtype=torch.float32, device="cuda") |
| self.viewpoint_stack = self.scene.getTrainCameras().copy() |
| |
| self.last_n_anchors = self.gaussians.get_anchor.shape[0] |
| |
| self.cached_xyz = None |
| self.cached_scaling = None |
| self.cached_opacity = None |
| self.cached_rot = None |
|
|
| def train_iteration(self, step): |
| self.gaussians.update_learning_rate(step) |
| |
| if not self.viewpoint_stack: |
| self.viewpoint_stack = self.scene.getTrainCameras().copy() |
| |
| viewpoint_cam = self.viewpoint_stack.pop(random.randint(0, len(self.viewpoint_stack) - 1)) |
| |
| voxel_visible_mask = prefilter_voxel(viewpoint_cam, self.gaussians, self.pipe, self.background) |
| retain_grad = (step < 15000 and step >= 0) |
| |
| render_pkg = native_render(viewpoint_cam, self.gaussians, self.pipe, self.background, visible_mask=voxel_visible_mask, retain_grad=retain_grad) |
| |
| image = render_pkg["render"] |
| viewspace_point_tensor = render_pkg["viewspace_points"] |
| if retain_grad and viewspace_point_tensor is not None: |
| viewspace_point_tensor.retain_grad() |
| visibility_filter = render_pkg["visibility_filter"] |
| offset_selection_mask = render_pkg["selection_mask"] |
| scaling = render_pkg["scaling"] |
| opacity = render_pkg["neural_opacity"] |
| |
| self.cached_xyz = render_pkg.get("xyz", None) |
| self.cached_scaling = scaling |
| self.cached_opacity = opacity |
| self.cached_rot = render_pkg.get("rotations", None) |
| |
| gt_image = viewpoint_cam.original_image.cuda() |
| |
| Ll1 = l1_loss(image, gt_image) |
| ssim_value = ssim(image, gt_image) |
| loss_target = (1.0 - self.opt.lambda_dssim) * Ll1 + self.opt.lambda_dssim * (1.0 - ssim_value) |
| |
| loss_parasitic = 0.01 * scaling.prod(dim=1).mean() |
| loss = loss_target + loss_parasitic |
|
|
| grad_cos_sim = 0.0 |
| parasitic_ratio = 0.0 |
|
|
| if self.track_decoupling and step % 100 == 0: |
| self.gaussians.optimizer.zero_grad(set_to_none=True) |
| loss_target.backward(retain_graph=True) |
| grad_target = self.gaussians._scaling.grad.clone() if self.gaussians._scaling.grad is not None else torch.zeros_like(self.gaussians._scaling) |
| |
| self.gaussians.optimizer.zero_grad(set_to_none=True) |
| loss_parasitic.backward(retain_graph=True) |
| grad_parasitic = self.gaussians._scaling.grad.clone() if self.gaussians._scaling.grad is not None else torch.zeros_like(self.gaussians._scaling) |
| |
| valid_mask = (torch.norm(grad_target, dim=1) > 0) & (torch.norm(grad_parasitic, dim=1) > 0) |
| if valid_mask.any(): |
| grad_cos_sim = float(F.cosine_similarity(grad_target[valid_mask], grad_parasitic[valid_mask], dim=1).mean()) |
| parasitic_ratio = float(torch.norm(grad_parasitic, dim=1).mean() / (torch.norm(grad_target, dim=1).mean() + 1e-7)) |
| |
| self.gaussians.optimizer.zero_grad(set_to_none=True) |
| loss.backward() |
| else: |
| loss.backward() |
|
|
| with torch.no_grad(): |
| if step < self.opt.update_until and step > self.opt.start_stat: |
| self.gaussians.training_statis(viewspace_point_tensor, opacity, visibility_filter, offset_selection_mask, voxel_visible_mask) |
| if step > self.opt.update_from and step % self.opt.update_interval == 0: |
| self.gaussians.adjust_anchor(extent=self.scene.cameras_extent, check_interval=self.opt.update_interval, success_threshold=self.opt.success_threshold, grad_threshold=self.opt.densify_grad_threshold, min_opacity=self.opt.min_opacity) |
| elif step == self.opt.update_until: |
| if hasattr(self.gaussians, 'opacity_accum'): del self.gaussians.opacity_accum |
| if hasattr(self.gaussians, 'offset_gradient_accum'): del self.gaussians.offset_gradient_accum |
| if hasattr(self.gaussians, 'offset_denom'): del self.gaussians.offset_denom |
| torch.cuda.empty_cache() |
|
|
| if step < self.opt.iterations: |
| self.gaussians.optimizer.step() |
| self.gaussians.optimizer.zero_grad(set_to_none=True) |
|
|
| num_anchors = self.gaussians.get_anchor.shape[0] |
| num_gaussians = scaling.shape[0] if scaling is not None else 0 |
| |
| metrics = { |
| "loss": float(loss), |
| "loss_l1": float(loss_target), |
| "loss_ssim": float(loss_parasitic), |
| "num_gaussians": int(num_gaussians), |
| "num_anchors": int(num_anchors), |
| "delta_N": int(num_anchors - self.last_n_anchors), |
| "peak_vram_GB": float(torch.cuda.max_memory_allocated() / (1024 ** 3)), |
| "grad_cos_sim": float(grad_cos_sim), |
| "parasitic_ratio": float(parasitic_ratio), |
| "anchor_occupancy_ratio": float(num_gaussians / (num_anchors * self.dataset.n_offsets + 1e-7)), |
| "loss_scaling_reg": float(loss_parasitic) |
| } |
| self.last_n_anchors = num_anchors |
| |
| histograms = {} |
| if step % 1000 == 0 and self.cached_scaling is not None: |
| histograms["opacity"] = self.cached_opacity.clone().detach() |
| histograms["scaling"] = self.cached_scaling.clone().detach() |
| scales_2d = self.cached_scaling[:, :2] if self.cached_scaling.shape[1] >= 2 else self.cached_scaling |
| gamma = scales_2d.max(dim=-1)[0] / (scales_2d.min(dim=-1)[0] + 1e-7) |
| histograms["anisotropy"] = gamma |
|
|
| return metrics, histograms |
| |
| def render(self, camera): |
| with torch.no_grad(): |
| voxel_visible_mask = prefilter_voxel(camera, self.gaussians, self.pipe, self.background) |
| render_pkg = native_render(camera, self.gaussians, self.pipe, self.background, visible_mask=voxel_visible_mask) |
| return {"image": render_pkg["render"], "depth": render_pkg.get("depth_hand", None)} |
|
|
| def save(self, save_dir, step): |
| self.scene.save(step) |
|
|
| def load(self, model_path, iteration): |
| self.gaussians.load_ply_sparse_gaussian(os.path.join(model_path, 'point_cloud', f'iteration_{iteration}', 'point_cloud.ply')) |
| self.gaussians.load_mlp_checkpoints(os.path.join(model_path, 'point_cloud', f'iteration_{iteration}', 'checkpoint.pth')) |
|
|
| def get_spatial_centers(self): |
| return self.gaussians.get_anchor |
|
|
| def compute_physical_metrics(self, cameras=None): |
| metrics = {} |
| if self.cached_scaling is None or self.cached_opacity is None: |
| return metrics |
| |
| with torch.no_grad(): |
| scales = self.cached_scaling |
| scales_2d = scales[:, :2] if scales.dim() > 1 and scales.shape[1] >= 2 else scales.unsqueeze(-1).expand(-1, 2) |
| |
| max_S, _ = torch.max(scales_2d, dim=1) |
| min_S, _ = torch.min(scales_2d, dim=1) |
| gamma = max_S / (min_S + 1e-7) |
| |
| metrics["gamma_median"] = float(torch.median(gamma)) |
| metrics["gamma_90th_percentile"] = float(torch.quantile(gamma, 0.90)) |
| metrics["scale_mean"] = float(torch.mean(scales_2d)) |
| metrics["alpha_mean"] = float(torch.mean(self.cached_opacity)) |
| |
| if cameras is not None and len(cameras) > 0 and self.cached_rot is not None: |
| view_dirs = [] |
| for c in cameras: |
| view_dirs.append(c.world_view_transform[:3, 2].tolist()) |
| view_dirs = F.normalize(torch.tensor(view_dirs, dtype=torch.float32, device="cuda"), dim=1) |
|
|
| rots = F.normalize(self.cached_rot.clone(), dim=1) |
| w, x, y, z = rots.unbind(dim=-1) |
| normals = F.normalize(torch.stack([2*(x*z + w*y), 2*(y*z - w*x), 1-2*(x*x + y*y)], dim=-1), dim=1) |
| |
| max_cos, _ = torch.max(torch.abs(torch.matmul(normals, view_dirs.T)), dim=1) |
| metrics["billboard_bias_ratio"] = float((max_cos > 0.90).float().mean()) |
|
|
| return metrics |
|
|
| def evaluate_spatial_field(self, query_points: torch.Tensor, cameras=None) -> torch.Tensor: |
| with torch.no_grad(): |
| V = query_points.shape[0] |
| densities = torch.zeros(V, device="cuda") |
| |
| if cameras is None or len(cameras) == 0: |
| cam = self.scene.getTrainCameras()[0] |
| else: |
| cam = cameras[0] |
| |
| xyz, _, opacity, scaling, _, _, _ = generate_neural_gaussians(cam, self.gaussians, None, is_training=True) |
| opacity = opacity.squeeze() |
| |
| sigma_sq = (scaling[:, :2].max(dim=1)[0].pow(2)) if scaling.shape[1] >= 2 else scaling.squeeze().pow(2) |
| |
| N_gaussians = xyz.shape[0] |
| if N_gaussians == 0: |
| return densities |
| |
| chunk_size = max(1, 30_000_000 // (N_gaussians + 1)) |
| for i in range(0, V, chunk_size): |
| end = min(i + chunk_size, V) |
| dist_sq = torch.cdist(query_points[i:end], xyz, p=2).pow(2) |
| weights = torch.exp(-0.5 * dist_sq / (sigma_sq.unsqueeze(0) + 1e-7)) |
| densities[i:end] = torch.sum(weights * opacity.unsqueeze(0), dim=1) |
| return densities |
|
|
