update

asset3d_gen/data/backproject_v2.py

@@ -220,8 +220,7 @@ class TextureBacker:
         bake_angle_thresh: int = 75,
         mask_thresh: float = 0.5,
     ):
-        camera = init_kal_camera(camera_params)
-        self.camera = camera
+        
         self.camera_params = camera_params
         self.renderer = None
         self.view_weights = view_weights
@@ -235,8 +234,9 @@ class TextureBacker:
             (2 / 512) * max(self.render_wh[0], self.render_wh[1])
         )
 
-    def _lazy_init_render(self, camera, camera_params, mask_thresh):
+    def _lazy_init_render(self, camera_params, mask_thresh):
         if self.renderer is None:
+            camera = init_kal_camera(camera_params)
             mv = camera.view_matrix()  # (n 4 4) world2cam
             p = camera.intrinsics.projection_matrix()
             # NOTE: add a negative sign at P[0, 2] as the y axis is flipped in `nvdiffrast` output.  # noqa
@@ -248,7 +248,7 @@ class TextureBacker:
                 context=dr.RasterizeCudaContext(),
                 mask_thresh=mask_thresh,
                 grad_db=False,
-                device=camera_params.device,
+                device=self.device,
                 antialias_mask=True,
             )
 
@@ -426,6 +426,7 @@ class TextureBacker:
         self.vertices = torch.from_numpy(mesh.vertices).to(self.device).float()
         self.faces = torch.from_numpy(mesh.faces).to(self.device).to(torch.int)
         self.uv_map = torch.from_numpy(mesh.visual.uv).to(self.device).float()
+        
         rendered_depth, masks = self.renderer.render_depth(
             self.vertices, self.faces
         )
@@ -436,7 +437,7 @@ class TextureBacker:
         view_normals = self.compute_enhanced_viewnormal(
             self.renderer.mv_mtx, self.vertices, self.faces
         )
-
+        
         textures, weighted_cos_maps = [], []
         for color, mask, dep, normal, uv, weight in zip(
             colors,
@@ -463,8 +464,9 @@ class TextureBacker:
         mesh: trimesh.Trimesh,
         output_path: str,
     ) -> trimesh.Trimesh:
-        self._lazy_init_render(self.camera, self.camera_params, self.mask_thresh)
+        self._lazy_init_render(self.camera_params, self.mask_thresh)
         mesh = self.load_mesh(mesh)
+
         texture_np, mask_np = self.cuda_forward(colors, mesh)
         
         texture_np = self.uv_inpaint(texture_np, mask_np)