Add affiliation in README.md; improve redundancy in get_plucker_coordinates

README.md

@@ -13,6 +13,8 @@
 [Vikram Voleti](https://voletiv.github.io/), [Aaryaman Vasishta](https://www.aaryaman.net/), [Chun-Han Yao](https://chhankyao.github.io/), [Mark Boss](https://markboss.me/)
 <br>
 [Philip Torr](https://eng.ox.ac.uk/people/philip-torr/), [Christian Rupprecht](https://chrirupp.github.io/), [Varun Jampani](https://varunjampani.github.io/)
+<br><br>
+[Stability AI](https://stability.ai/), [University of Oxford](https://www.robots.ox.ac.uk/~vgg/), [University of California, Berkeley](https://bair.berkeley.edu/)
 </div>
 
 # Overview

seva/eval.py

@@ -1213,14 +1213,11 @@ def get_value_dict(
     )
     w2c[:, :3, 3] *= translation_scaling_factor
     c2w[:, :3, 3] *= translation_scaling_factor
-    value_dict["plucker_coordinate"], _ = get_plucker_coordinates(
+    value_dict["plucker_coordinate"] = get_plucker_coordinates(
         extrinsics_src=w2c[0],
         extrinsics=w2c,
         intrinsics=curr_Ks.float().clone(),
-        mode="plucker",
-        rel_zero_translation=True,
         target_size=(H // F, W // F),
-        return_grid_cam=True,
     )
 
     value_dict["c2w"] = c2w

seva/geometry.py

@@ -99,9 +99,7 @@ def cam2world(X, pose):
     return X_hom @ pose_inv.transpose(-1, -2)
 
 
-def get_center_and_ray(
-    img_h, img_w, pose, intr, zero_center_for_debugging=False
-):  # [HW,2]
+def get_center_and_ray(img_h, img_w, pose, intr):  # [HW,2]
     # given the intrinsic/extrinsic matrices, get the camera center and ray directions]
     # assert(opt.camera.model=="perspective")
 
@@ -115,7 +113,7 @@ def get_center_and_ray(
     center_3D = cam2world(center_3D_cam, pose)  # [B,HW,3]
     ray = grid_3D - center_3D  # [B,HW,3]
 
-    return center_3D_cam if zero_center_for_debugging else center_3D, ray, grid_3D_cam
+    return center_3D, ray, grid_3D_cam
 
 
 def get_plucker_coordinates(
@@ -123,11 +121,7 @@ def get_plucker_coordinates(
     extrinsics,
     intrinsics=None,
     fov_rad=DEFAULT_FOV_RAD,
-    mode="plucker",
-    rel_zero_translation=True,
-    zero_center_for_debugging=False,
-    target_size=[72, 72],  # 576-size image
-    return_grid_cam=False,  # save for later use if want restore
+    target_size=[72, 72],
 ):
     if intrinsics is None:
         intrinsics = get_default_intrinsics(fov_rad).to(extrinsics.device)
@@ -150,8 +144,6 @@ def get_plucker_coordinates(
         ), "Intrinsics should be expressed in resolution-independent normalized image coordinates."
 
     c2w_src = torch.linalg.inv(extrinsics_src)
-    if not rel_zero_translation:
-        c2w_src[:3, 3] = c2w_src[3, :3] = 0.0
     # transform coordinates from the source camera's coordinate system to the coordinate system of the respective camera
     extrinsics_rel = torch.einsum(
         "vnm,vmp->vnp", extrinsics, c2w_src[None].repeat(extrinsics.shape[0], 1, 1)
@@ -168,18 +160,11 @@ def get_plucker_coordinates(
         img_w=target_size[1],
         pose=extrinsics_rel[:, :3, :],
         intr=intrinsics,
-        zero_center_for_debugging=zero_center_for_debugging,
     )
 
-    if mode == "plucker" or "v1" in mode:
-        rays = torch.nn.functional.normalize(rays, dim=-1)
-        plucker = torch.cat((rays, torch.cross(centers, rays, dim=-1)), dim=-1)
-    else:
-        raise ValueError(f"Unknown Plucker coordinate mode: {mode}")
-
+    rays = torch.nn.functional.normalize(rays, dim=-1)
+    plucker = torch.cat((rays, torch.cross(centers, rays, dim=-1)), dim=-1)
     plucker = plucker.permute(0, 2, 1).reshape(plucker.shape[0], -1, *target_size)
-    if return_grid_cam:
-        return plucker, grid_cam.reshape(-1, *target_size, 3)
     return plucker