Fix nerfstudio-project#3064 and some minor changes

nerfstudio/data/datamanagers/full_images_datamanager.py

@@ -157,9 +157,12 @@ def _load_images(
         def undistort_idx(idx: int) -> Dict[str, torch.Tensor]:
             data = dataset.get_data(idx, image_type=self.config.cache_images_type)
             camera = dataset.cameras[idx].reshape(())
-            K = camera.get_intrinsics_matrices().numpy()
+            assert data["image"].shape[1] == camera.width.item() and data["image"].shape[0] == camera.height.item(), \
+                f'The size of image ({data["image"].shape[1]}, {data["image"].shape[0]}) loaded ' \
+                f'does not match the camera parameters ({camera.width.item(), camera.height.item()})'
             if camera.distortion_params is None:
                 return data
+            K = camera.get_intrinsics_matrices().numpy()
             distortion_params = camera.distortion_params.numpy()
             image = data["image"].numpy()
 

nerfstudio/models/splatfacto.py

@@ -649,6 +649,13 @@ def _downscale_if_required(self, image):
             return resize_image(image, d)
         return image
 
+    @staticmethod
+    def get_empty_outputs(camera, background):
+        rgb = background.repeat(int(camera.height.item()), int(camera.width.item()), 1)
+        depth = background.new_ones(*rgb.shape[:2], 1) * 10
+        accumulation = background.new_zeros(*rgb.shape[:2], 1)
+        return {"rgb": rgb, "depth": depth, "accumulation": accumulation, "background": background}
+
     def get_outputs(self, camera: Cameras) -> Dict[str, Union[torch.Tensor, List]]:
         """Takes in a Ray Bundle and returns a dictionary of outputs.
 
@@ -687,10 +694,7 @@ def get_outputs(self, camera: Cameras) -> Dict[str, Union[torch.Tensor, List]]:
         if self.crop_box is not None and not self.training:
             crop_ids = self.crop_box.within(self.means).squeeze()
             if crop_ids.sum() == 0:
-                rgb = background.repeat(int(camera.height.item()), int(camera.width.item()), 1)
-                depth = background.new_ones(*rgb.shape[:2], 1) * 10
-                accumulation = background.new_zeros(*rgb.shape[:2], 1)
-                return {"rgb": rgb, "depth": depth, "accumulation": accumulation, "background": background}
+                return self.get_empty_outputs(camera, background)
         else:
             crop_ids = None
         camera_downscale = self._get_downscale_factor()
@@ -750,11 +754,7 @@ def get_outputs(self, camera: Cameras) -> Dict[str, Union[torch.Tensor, List]]:
         camera.rescale_output_resolution(camera_downscale)
 
         if (self.radii).sum() == 0:
-            rgb = background.repeat(H, W, 1)
-            depth = background.new_ones(*rgb.shape[:2], 1) * 10
-            accumulation = background.new_zeros(*rgb.shape[:2], 1)
-
-            return {"rgb": rgb, "depth": depth, "accumulation": accumulation, "background": background}
+            return self.get_empty_outputs(camera, background)
 
         if self.config.sh_degree > 0:
             viewdirs = means_crop.detach() - optimized_camera_to_world.detach()[:3, 3]  # (N, 3)
@@ -925,11 +925,7 @@ def get_image_metrics_and_images(
             A dictionary of metrics.
         """
         gt_rgb = self.composite_with_background(self.get_gt_img(batch["image"]), outputs["background"])
-        d = self._get_downscale_factor()
-        if d > 1:
-            predicted_rgb = resize_image(outputs["rgb"], d)
-        else:
-            predicted_rgb = outputs["rgb"]
+        predicted_rgb = outputs["rgb"]
 
         combined_rgb = torch.cat([gt_rgb, predicted_rgb], dim=1)
 

nerfstudio/viewer/render_state_machine.py

@@ -179,7 +179,9 @@ def _render_img(self, camera_state: CameraState):
 
                     desired_depth_pixels = {"low_move": 128, "low_static": 128, "high": 512}[self.state] ** 2
                     current_depth_pixels = outputs["depth"].shape[0] * outputs["depth"].shape[1]
-                    scale = min(desired_depth_pixels / current_depth_pixels, 1.0)
+
+                    # from the panel of ns-viewer, it is possible for user to enter zero resolution
+                    scale = min(desired_depth_pixels / max(1, current_depth_pixels), 1.0)
 
                     outputs["gl_z_buf_depth"] = F.interpolate(
                         outputs["depth"].squeeze(dim=-1)[None, None, ...],