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addded missing recammaster files

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Files changed (2) hide show
  1. wan/camera_extrinsics.json +974 -0
  2. wan/utils/cammmaster_tools.py +63 -0
wan/camera_extrinsics.json ADDED
@@ -0,0 +1,974 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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879
+ "cam01": "[0.950317 0.311284 0 0] [-0.311284 0.950317 0 0] [0 -0 1 0] [3390 1380 240 1] ",
880
+ "cam02": "[0.950317 -0.311284 0 0] [0.311284 0.950317 -0 0] [0 0 1 0] [3390 1380 240 1] ",
881
+ "cam03": "[0.987501 0 0.157612 0] [-0 1 0 0] [-0.157612 -0 0.987501 0] [3390 1380 240 1] ",
882
+ "cam04": "[0.987501 0 -0.157612 0] [-0 1 0 0] [0.157612 0 0.987501 0] [3390 1380 240 1] ",
883
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3571.37 1380 240 1] ",
884
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3208.63 1380 240 1] ",
885
+ "cam07": "[0.975252 0 -0.221097 0] [-0 1 0 0] [0.221097 0 0.975252 0] [3390 1380 330.683 1] ",
886
+ "cam08": "[0.975252 0 0.221097 0] [-0 1 0 0] [-0.221097 -0 0.975252 0] [3390 1380 149.317 1] ",
887
+ "cam09": "[0.888624 0.458637 0 0] [-0.458637 0.888624 0 0] [0 -0 1 0] [3438.6 1198.63 240 1] ",
888
+ "cam10": "[0.888624 -0.458637 0 0] [0.458637 0.888624 -0 0] [0 0 1 0] [3438.6 1561.37 240 1] "
889
+ },
890
+ "frame74": {
891
+ "cam01": "[0.948958 0.315402 0 0] [-0.315402 0.948958 0 0] [0 -0 1 0] [3390 1380 240 1] ",
892
+ "cam02": "[0.948958 -0.315402 0 0] [0.315402 0.948958 -0 0] [0 0 1 0] [3390 1380 240 1] ",
893
+ "cam03": "[0.987157 0 0.159753 0] [-0 1 0 0] [-0.159753 -0 0.987157 0] [3390 1380 240 1] ",
894
+ "cam04": "[0.987157 0 -0.159753 0] [-0 1 0 0] [0.159753 0 0.987157 0] [3390 1380 240 1] ",
895
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3573.85 1380 240 1] ",
896
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3206.15 1380 240 1] ",
897
+ "cam07": "[0.974595 0 -0.223975 0] [-0 1 0 0] [0.223975 0 0.974595 0] [3390 1380 331.925 1] ",
898
+ "cam08": "[0.974595 0 0.223975 0] [-0 1 0 0] [-0.223975 -0 0.974595 0] [3390 1380 148.075 1] ",
899
+ "cam09": "[0.885695 0.464267 0 0] [-0.464267 0.885695 0 0] [0 -0 1 0] [3439.26 1196.15 240 1] ",
900
+ "cam10": "[0.885695 -0.464267 0 0] [0.464267 0.885695 -0 0] [0 0 1 0] [3439.26 1563.85 240 1] "
901
+ },
902
+ "frame75": {
903
+ "cam01": "[0.947582 0.319514 0 0] [-0.319514 0.947582 0 0] [0 -0 1 0] [3390 1380 240 1] ",
904
+ "cam02": "[0.947582 -0.319514 0 0] [0.319514 0.947582 -0 0] [0 0 1 0] [3390 1380 240 1] ",
905
+ "cam03": "[0.986808 -4.27642e-50 0.161893 0] [2.5277e-34 1 -1.54074e-33 0] [-0.161893 1.56134e-33 0.986808 0] [3390 1380 240 1] ",
906
+ "cam04": "[0.986808 0 -0.161893 0] [-0 1 0 0] [0.161893 0 0.986808 0] [3390 1380 240 1] ",
907
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3576.34 1380 240 1] ",
908
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3203.66 1380 240 1] ",
909
+ "cam07": "[0.97393 0 -0.226847 0] [-0 1 0 0] [0.226847 0 0.97393 0] [3390 1380 333.168 1] ",
910
+ "cam08": "[0.97393 0 0.226847 0] [-0 1 0 0] [-0.226847 -0 0.97393 0] [3390 1380 146.832 1] ",
911
+ "cam09": "[0.882739 0.469863 0 0] [-0.469863 0.882739 0 0] [0 -0 1 0] [3439.93 1193.66 240 1] ",
912
+ "cam10": "[0.882739 -0.469863 0 0] [0.469863 0.882739 -0 0] [0 0 1 0] [3439.93 1566.34 240 1] "
913
+ },
914
+ "frame76": {
915
+ "cam01": "[0.946187 0.32362 0 0] [-0.32362 0.946187 0 0] [0 -0 1 0] [3390 1380 240 1] ",
916
+ "cam02": "[0.946187 -0.32362 0 0] [0.32362 0.946187 -0 0] [0 0 1 0] [3390 1380 240 1] ",
917
+ "cam03": "[0.986455 0 0.164032 0] [5.12402e-34 1 -3.08149e-33 0] [-0.164032 3.1238e-33 0.986455 0] [3390 1380 240 1] ",
918
+ "cam04": "[0.986455 0 -0.164032 0] [-0 1 0 0] [0.164032 0 0.986455 0] [3390 1380 240 1] ",
919
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3578.82 1380 240 1] ",
920
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3201.18 1380 240 1] ",
921
+ "cam07": "[0.973258 0 -0.229713 0] [-0 1 0 0] [0.229713 0 0.973258 0] [3390 1380 334.41 1] ",
922
+ "cam08": "[0.973258 0 0.229713 0] [-0 1 0 0] [-0.229713 -0 0.973258 0] [3390 1380 145.59 1] ",
923
+ "cam09": "[0.879757 0.475423 0 0] [-0.475423 0.879757 0 0] [0 -0 1 0] [3440.59 1191.18 240 1] ",
924
+ "cam10": "[0.879757 -0.475423 0 0] [0.475423 0.879757 -0 0] [0 0 1 0] [3440.59 1568.82 240 1] "
925
+ },
926
+ "frame77": {
927
+ "cam01": "[0.944775 0.32772 0 0] [-0.32772 0.944775 0 0] [0 -0 1 0] [3390 1380 240 1] ",
928
+ "cam02": "[0.944775 -0.32772 0 0] [0.32772 0.944775 -0 0] [0 0 1 0] [3390 1380 240 1] ",
929
+ "cam03": "[0.986097 0 0.16617 0] [2.59635e-34 1 -1.54074e-33 0] [-0.16617 1.56247e-33 0.986097 0] [3390 1380 240 1] ",
930
+ "cam04": "[0.986097 0 -0.16617 0] [-0 1 0 0] [0.16617 0 0.986097 0] [3390 1380 240 1] ",
931
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3581.3 1380 240 1] ",
932
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3198.7 1380 240 1] ",
933
+ "cam07": "[0.972579 0 -0.232573 0] [-0 1 0 0] [0.232573 0 0.972579 0] [3390 1380 335.652 1] ",
934
+ "cam08": "[0.972579 0 0.232573 0] [-0 1 0 0] [-0.232573 -0 0.972579 0] [3390 1380 144.348 1] ",
935
+ "cam09": "[0.876749 0.480948 0 0] [-0.480948 0.876749 0 0] [0 -0 1 0] [3441.26 1188.7 240 1] ",
936
+ "cam10": "[0.876749 -0.480948 0 0] [0.480948 0.876749 -0 0] [0 0 1 0] [3441.26 1571.3 240 1] "
937
+ },
938
+ "frame78": {
939
+ "cam01": "[0.943345 0.331813 0 0] [-0.331813 0.943345 0 0] [0 -0 1 0] [3390 1380 240 1] ",
940
+ "cam02": "[0.943345 -0.331813 0 0] [0.331813 0.943345 -0 0] [0 0 1 0] [3390 1380 240 1] ",
941
+ "cam03": "[0.985735 -2.13821e-50 0.168308 0] [2.63072e-34 1 -1.54074e-33 0] [-0.168308 1.56304e-33 0.985735 0] [3390 1380 240 1] ",
942
+ "cam04": "[0.985735 0 -0.168308 0] [-0 1 0 0] [0.168308 0 0.985735 0] [3390 1380 240 1] ",
943
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3583.79 1380 240 1] ",
944
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3196.21 1380 240 1] ",
945
+ "cam07": "[0.971892 0 -0.235427 0] [-0 1 0 0] [0.235427 0 0.971892 0] [3390 1380 336.894 1] ",
946
+ "cam08": "[0.971892 0 0.235427 0] [-0 1 0 0] [-0.235427 -0 0.971892 0] [3390 1380 143.106 1] ",
947
+ "cam09": "[0.873716 0.486437 0 0] [-0.486437 0.873716 0 0] [0 -0 1 0] [3441.93 1186.21 240 1] ",
948
+ "cam10": "[0.873716 -0.486437 0 0] [0.486437 0.873716 -0 0] [0 0 1 0] [3441.93 1573.79 240 1] "
949
+ },
950
+ "frame79": {
951
+ "cam01": "[0.941897 0.335901 0 0] [-0.335901 0.941897 0 0] [0 -0 1 0] [3390 1380 240 1] ",
952
+ "cam02": "[0.941897 -0.335901 0 0] [0.335901 0.941897 -0 0] [0 0 1 0] [3390 1380 240 1] ",
953
+ "cam03": "[0.985367 0 0.170445 0] [-0 1 0 0] [-0.170445 -0 0.985367 0] [3390 1380 240 1] ",
954
+ "cam04": "[0.985367 0 -0.170445 0] [-0 1 0 0] [0.170445 0 0.985367 0] [3390 1380 240 1] ",
955
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3586.27 1380 240 1] ",
956
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3193.73 1380 240 1] ",
957
+ "cam07": "[0.971198 0 -0.238275 0] [-0 1 0 0] [0.238275 0 0.971198 0] [3390 1380 338.137 1] ",
958
+ "cam08": "[0.971198 0 0.238275 0] [-0 1 0 0] [-0.238275 -0 0.971198 0] [3390 1380 141.863 1] ",
959
+ "cam09": "[0.870657 0.49189 0 0] [-0.49189 0.870657 0 0] [0 -0 1 0] [3442.59 1183.73 240 1] ",
960
+ "cam10": "[0.870657 -0.49189 0 0] [0.49189 0.870657 -0 0] [0 0 1 0] [3442.59 1576.27 240 1] "
961
+ },
962
+ "frame80": {
963
+ "cam01": "[0.940432 0.339982 0 0] [-0.339982 0.940432 0 0] [0 -0 1 0] [3390 1380 240 1] ",
964
+ "cam02": "[0.940432 -0.339982 0 0] [0.339982 0.940432 -0 0] [0 0 1 0] [3390 1380 240 1] ",
965
+ "cam03": "[0.984995 -2.13821e-50 0.17258 0] [2.69953e-34 1 -1.54074e-33 0] [-0.17258 1.56421e-33 0.984995 0] [3390 1380 240 1] ",
966
+ "cam04": "[0.984995 0 -0.17258 0] [-0 1 0 0] [0.17258 0 0.984995 0] [3390 1380 240 1] ",
967
+ "cam05": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3588.76 1380 240 1] ",
968
+ "cam06": "[1 0 0 0] [-0 1 0 0] [0 -0 1 0] [3191.24 1380 240 1] ",
969
+ "cam07": "[0.970496 0 -0.241117 0] [-0 1 0 0] [0.241117 0 0.970496 0] [3390 1380 339.379 1] ",
970
+ "cam08": "[0.970496 0 0.241117 0] [-0 1 0 0] [-0.241117 -0 0.970496 0] [3390 1380 140.621 1] ",
971
+ "cam09": "[0.867575 0.497306 0 0] [-0.497306 0.867575 0 0] [0 -0 1 0] [3443.26 1181.24 240 1] ",
972
+ "cam10": "[0.867575 -0.497306 0 0] [0.497306 0.867575 -0 0] [0 0 1 0] [3443.26 1578.76 240 1] "
973
+ }
974
+ }
wan/utils/cammmaster_tools.py ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import torch
2
+ from einops import rearrange
3
+ import numpy as np
4
+ import json
5
+
6
+ class Camera(object):
7
+ def __init__(self, c2w):
8
+ c2w_mat = np.array(c2w).reshape(4, 4)
9
+ self.c2w_mat = c2w_mat
10
+ self.w2c_mat = np.linalg.inv(c2w_mat)
11
+
12
+
13
+
14
+ def parse_matrix(matrix_str):
15
+ rows = matrix_str.strip().split('] [')
16
+ matrix = []
17
+ for row in rows:
18
+ row = row.replace('[', '').replace(']', '')
19
+ matrix.append(list(map(float, row.split())))
20
+ return np.array(matrix)
21
+
22
+
23
+ def get_relative_pose(cam_params):
24
+ abs_w2cs = [cam_param.w2c_mat for cam_param in cam_params]
25
+ abs_c2ws = [cam_param.c2w_mat for cam_param in cam_params]
26
+
27
+ cam_to_origin = 0
28
+ target_cam_c2w = np.array([
29
+ [1, 0, 0, 0],
30
+ [0, 1, 0, -cam_to_origin],
31
+ [0, 0, 1, 0],
32
+ [0, 0, 0, 1]
33
+ ])
34
+ abs2rel = target_cam_c2w @ abs_w2cs[0]
35
+ ret_poses = [target_cam_c2w, ] + [abs2rel @ abs_c2w for abs_c2w in abs_c2ws[1:]]
36
+ ret_poses = np.array(ret_poses, dtype=np.float32)
37
+ return ret_poses
38
+
39
+
40
+ def get_camera_embedding(cam_type, num_frames=81):
41
+
42
+ # load camera
43
+ tgt_camera_path = "wan/camera_extrinsics.json"
44
+ with open(tgt_camera_path, 'r') as file:
45
+ cam_data = json.load(file)
46
+
47
+ cam_idx = list(range(num_frames))[::4]
48
+ traj = [parse_matrix(cam_data[f"frame{idx}"][f"cam{int(cam_type):02d}"]) for idx in cam_idx]
49
+ traj = np.stack(traj).transpose(0, 2, 1)
50
+ c2ws = []
51
+ for c2w in traj:
52
+ c2w = c2w[:, [1, 2, 0, 3]]
53
+ c2w[:3, 1] *= -1.
54
+ c2w[:3, 3] /= 100
55
+ c2ws.append(c2w)
56
+ tgt_cam_params = [Camera(cam_param) for cam_param in c2ws]
57
+ relative_poses = []
58
+ for i in range(len(tgt_cam_params)):
59
+ relative_pose = get_relative_pose([tgt_cam_params[0], tgt_cam_params[i]])
60
+ relative_poses.append(torch.as_tensor(relative_pose)[:,:3,:][1])
61
+ pose_embedding = torch.stack(relative_poses, dim=0) # 21x3x4
62
+ pose_embedding = rearrange(pose_embedding, 'b c d -> b (c d)')
63
+ return pose_embedding