bugfix: handle multiple camera types in a single batch (#3415)

Author: decrispell

nerfstudio/cameras/cameras.py

@@ -778,15 +778,15 @@ def _compute_rays_for_vr180(
 
             return vr180_origins, directions_stack
 
-        for cam in cam_types:
-            if CameraType.PERSPECTIVE.value in cam_types:
+        for cam_type in cam_types:
+            if CameraType.PERSPECTIVE.value == cam_type:
                 mask = (self.camera_type[true_indices] == CameraType.PERSPECTIVE.value).squeeze(-1)  # (num_rays)
                 mask = torch.stack([mask, mask, mask], dim=0)
                 directions_stack[..., 0][mask] = torch.masked_select(coord_stack[..., 0], mask).float()
                 directions_stack[..., 1][mask] = torch.masked_select(coord_stack[..., 1], mask).float()
                 directions_stack[..., 2][mask] = -1.0
 
-            elif CameraType.FISHEYE.value in cam_types:
+            elif CameraType.FISHEYE.value == cam_type:
                 mask = (self.camera_type[true_indices] == CameraType.FISHEYE.value).squeeze(-1)  # (num_rays)
                 mask = torch.stack([mask, mask, mask], dim=0)
 
@@ -803,7 +803,7 @@ def _compute_rays_for_vr180(
                 ).float()
                 directions_stack[..., 2][mask] = -torch.masked_select(torch.cos(theta), mask).float()
 
-            elif CameraType.EQUIRECTANGULAR.value in cam_types:
+            elif CameraType.EQUIRECTANGULAR.value == cam_type:
                 mask = (self.camera_type[true_indices] == CameraType.EQUIRECTANGULAR.value).squeeze(-1)  # (num_rays)
                 mask = torch.stack([mask, mask, mask], dim=0)
 
@@ -816,22 +816,22 @@ def _compute_rays_for_vr180(
                 directions_stack[..., 1][mask] = torch.masked_select(torch.cos(phi), mask).float()
                 directions_stack[..., 2][mask] = torch.masked_select(-torch.cos(theta) * torch.sin(phi), mask).float()
 
-            elif CameraType.OMNIDIRECTIONALSTEREO_L.value in cam_types:
+            elif CameraType.OMNIDIRECTIONALSTEREO_L.value == cam_type:
                 ods_origins_circle, directions_stack = _compute_rays_for_omnidirectional_stereo("left")
                 # assign final camera origins
                 c2w[..., :3, 3] = ods_origins_circle
 
-            elif CameraType.OMNIDIRECTIONALSTEREO_R.value in cam_types:
+            elif CameraType.OMNIDIRECTIONALSTEREO_R.value == cam_type:
                 ods_origins_circle, directions_stack = _compute_rays_for_omnidirectional_stereo("right")
                 # assign final camera origins
                 c2w[..., :3, 3] = ods_origins_circle
 
-            elif CameraType.VR180_L.value in cam_types:
+            elif CameraType.VR180_L.value == cam_type:
                 vr180_origins, directions_stack = _compute_rays_for_vr180("left")
                 # assign final camera origins
                 c2w[..., :3, 3] = vr180_origins
 
-            elif CameraType.VR180_R.value in cam_types:
+            elif CameraType.VR180_R.value == cam_type:
                 vr180_origins, directions_stack = _compute_rays_for_vr180("right")
                 # assign final camera origins
                 c2w[..., :3, 3] = vr180_origins
@@ -880,7 +880,7 @@ def _compute_rays_for_vr180(
                 directions_stack[coord_mask] = camera_utils.fisheye624_unproject(masked_coords, camera_params)
 
             else:
-                raise ValueError(f"Camera type {cam} not supported.")
+                raise ValueError(f"Camera type {cam_type} not supported.")
 
         assert directions_stack.shape == (3,) + num_rays_shape + (3,)