From 99d2d90ecfb8b152197b70fb6cc80896b0b8ff57 Mon Sep 17 00:00:00 2001 From: Qirui Sun Date: Tue, 13 May 2025 20:01:13 +0000 Subject: [PATCH] support camera trajectory nodes --- comfy_extras/nodes_camera_trajectory.py | 218 ++++++++++++++++++++++++ nodes.py | 1 + 2 files changed, 219 insertions(+) create mode 100644 comfy_extras/nodes_camera_trajectory.py diff --git a/comfy_extras/nodes_camera_trajectory.py b/comfy_extras/nodes_camera_trajectory.py new file mode 100644 index 000000000..874c830fe --- /dev/null +++ b/comfy_extras/nodes_camera_trajectory.py @@ -0,0 +1,218 @@ +import nodes +import torch +import numpy as np +from einops import rearrange +import comfy.model_management + + + +MAX_RESOLUTION = nodes.MAX_RESOLUTION + +CAMERA_DICT = { + "base_T_norm": 1.5, + "base_angle": np.pi/3, + "Static": { "angle":[0., 0., 0.], "T":[0., 0., 0.]}, + "Pan Up": { "angle":[0., 0., 0.], "T":[0., 1., 0.]}, + "Pan Down": { "angle":[0., 0., 0.], "T":[0.,-1.,0.]}, + "Pan Left": { "angle":[0., 0., 0.], "T":[1.,0.,0.]}, + "Pan Right": { "angle":[0., 0., 0.], "T": [-1.,0.,0.]}, + "Zoom In": { "angle":[0., 0., 0.], "T": [0.,0.,-2.]}, + "Zoom Out": { "angle":[0., 0., 0.], "T": [0.,0.,2.]}, + "Anti Clockwise (CW)": { "angle": [0., 0., 1.], "T":[0., 0., 0.]}, + "ClockWise (CW)": { "angle": [0., 0., -1.], "T":[0., 0., 0.]}, +} + + +def process_pose_params(cam_params, width=672, height=384, original_pose_width=1280, original_pose_height=720, device='cpu'): + + def get_relative_pose(cam_params): + """Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py + """ + abs_w2cs = [cam_param.w2c_mat for cam_param in cam_params] + abs_c2ws = [cam_param.c2w_mat for cam_param in cam_params] + cam_to_origin = 0 + target_cam_c2w = np.array([ + [1, 0, 0, 0], + [0, 1, 0, -cam_to_origin], + [0, 0, 1, 0], + [0, 0, 0, 1] + ]) + abs2rel = target_cam_c2w @ abs_w2cs[0] + ret_poses = [target_cam_c2w, ] + [abs2rel @ abs_c2w for abs_c2w in abs_c2ws[1:]] + ret_poses = np.array(ret_poses, dtype=np.float32) + return ret_poses + + """Modified from https://github.com/hehao13/CameraCtrl/blob/main/inference.py + """ + cam_params = [Camera(cam_param) for cam_param in cam_params] + + sample_wh_ratio = width / height + pose_wh_ratio = original_pose_width / original_pose_height # Assuming placeholder ratios, change as needed + + if pose_wh_ratio > sample_wh_ratio: + resized_ori_w = height * pose_wh_ratio + for cam_param in cam_params: + cam_param.fx = resized_ori_w * cam_param.fx / width + else: + resized_ori_h = width / pose_wh_ratio + for cam_param in cam_params: + cam_param.fy = resized_ori_h * cam_param.fy / height + + intrinsic = np.asarray([[cam_param.fx * width, + cam_param.fy * height, + cam_param.cx * width, + cam_param.cy * height] + for cam_param in cam_params], dtype=np.float32) + + K = torch.as_tensor(intrinsic)[None] # [1, 1, 4] + c2ws = get_relative_pose(cam_params) # Assuming this function is defined elsewhere + c2ws = torch.as_tensor(c2ws)[None] # [1, n_frame, 4, 4] + plucker_embedding = ray_condition(K, c2ws, height, width, device=device)[0].permute(0, 3, 1, 2).contiguous() # V, 6, H, W + plucker_embedding = plucker_embedding[None] + plucker_embedding = rearrange(plucker_embedding, "b f c h w -> b f h w c")[0] + return plucker_embedding + +class Camera(object): + """Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py + """ + def __init__(self, entry): + fx, fy, cx, cy = entry[1:5] + self.fx = fx + self.fy = fy + self.cx = cx + self.cy = cy + c2w_mat = np.array(entry[7:]).reshape(4, 4) + self.c2w_mat = c2w_mat + self.w2c_mat = np.linalg.inv(c2w_mat) + +def ray_condition(K, c2w, H, W, device): + """Copied from https://github.com/hehao13/CameraCtrl/blob/main/inference.py + """ + # c2w: B, V, 4, 4 + # K: B, V, 4 + + B = K.shape[0] + + j, i = torch.meshgrid( + torch.linspace(0, H - 1, H, device=device, dtype=c2w.dtype), + torch.linspace(0, W - 1, W, device=device, dtype=c2w.dtype), + indexing='ij' + ) + i = i.reshape([1, 1, H * W]).expand([B, 1, H * W]) + 0.5 # [B, HxW] + j = j.reshape([1, 1, H * W]).expand([B, 1, H * W]) + 0.5 # [B, HxW] + + fx, fy, cx, cy = K.chunk(4, dim=-1) # B,V, 1 + + zs = torch.ones_like(i) # [B, HxW] + xs = (i - cx) / fx * zs + ys = (j - cy) / fy * zs + zs = zs.expand_as(ys) + + directions = torch.stack((xs, ys, zs), dim=-1) # B, V, HW, 3 + directions = directions / directions.norm(dim=-1, keepdim=True) # B, V, HW, 3 + + rays_d = directions @ c2w[..., :3, :3].transpose(-1, -2) # B, V, 3, HW + rays_o = c2w[..., :3, 3] # B, V, 3 + rays_o = rays_o[:, :, None].expand_as(rays_d) # B, V, 3, HW + # c2w @ dirctions + rays_dxo = torch.cross(rays_o, rays_d) + plucker = torch.cat([rays_dxo, rays_d], dim=-1) + plucker = plucker.reshape(B, c2w.shape[1], H, W, 6) # B, V, H, W, 6 + # plucker = plucker.permute(0, 1, 4, 2, 3) + return plucker + +def get_camera_motion(angle, T, speed, n=81): + def compute_R_form_rad_angle(angles): + theta_x, theta_y, theta_z = angles + Rx = np.array([[1, 0, 0], + [0, np.cos(theta_x), -np.sin(theta_x)], + [0, np.sin(theta_x), np.cos(theta_x)]]) + + Ry = np.array([[np.cos(theta_y), 0, np.sin(theta_y)], + [0, 1, 0], + [-np.sin(theta_y), 0, np.cos(theta_y)]]) + + Rz = np.array([[np.cos(theta_z), -np.sin(theta_z), 0], + [np.sin(theta_z), np.cos(theta_z), 0], + [0, 0, 1]]) + + R = np.dot(Rz, np.dot(Ry, Rx)) + return R + RT = [] + for i in range(n): + _angle = (i/n)*speed*(CAMERA_DICT["base_angle"])*angle + R = compute_R_form_rad_angle(_angle) + _T=(i/n)*speed*(CAMERA_DICT["base_T_norm"])*(T.reshape(3,1)) + _RT = np.concatenate([R,_T], axis=1) + RT.append(_RT) + RT = np.stack(RT) + return RT + +class WanCameraEmbeding: + @classmethod + def INPUT_TYPES(cls): + return { + "required": { + "camera_pose":(["Static","Pan Up","Pan Down","Pan Left","Pan Right","Zoom In","Zoom Out","Anti Clockwise (CW)", "ClockWise (CW)"],{"default":"Static"}), + "width": ("INT", {"default": 832, "min": 16, "max": MAX_RESOLUTION, "step": 16}), + "height": ("INT", {"default": 480, "min": 16, "max": MAX_RESOLUTION, "step": 16}), + "length": ("INT", {"default": 81, "min": 1, "max": MAX_RESOLUTION, "step": 4}), + }, + "optional":{ + "speed":("FLOAT",{"default":1.0, "min": 0, "max": 10.0, "step": 0.1}), + "fx":("FLOAT",{"default":0.5, "min": 0, "max": 1, "step": 0.000000001}), + "fy":("FLOAT",{"default":0.5, "min": 0, "max": 1, "step": 0.000000001}), + "cx":("FLOAT",{"default":0.5, "min": 0, "max": 1, "step": 0.01}), + "cy":("FLOAT",{"default":0.5, "min": 0, "max": 1, "step": 0.01}), + } + + } + + RETURN_TYPES = ("WAN_CAMERA_EMBEDDING","INT","INT","INT") + RETURN_NAMES = ("camera_embedding","width","height","length") + FUNCTION = "run" + CATEGORY = "camera" + + def run(self, camera_pose, width, height, length, speed=1.0, fx=0.5, fy=0.5, cx=0.5, cy=0.5): + """ + Use Camera trajectory as extrinsic parameters to calculate Plücker embeddings (Sitzmannet al., 2021) + Adapted from https://github.com/aigc-apps/VideoX-Fun/blob/main/comfyui/comfyui_nodes.py + """ + motion_list = [camera_pose] + speed = speed + angle = np.array(CAMERA_DICT[motion_list[0]]["angle"]) + T = np.array(CAMERA_DICT[motion_list[0]]["T"]) + RT = get_camera_motion(angle, T, speed, length) + + trajs=[] + for cp in RT.tolist(): + traj=[fx,fy,cx,cy,0,0] + traj.extend(cp[0]) + traj.extend(cp[1]) + traj.extend(cp[2]) + traj.extend([0,0,0,1]) + trajs.append(traj) + + cam_params = np.array([[float(x) for x in pose] for pose in trajs]) + cam_params = np.concatenate([np.zeros_like(cam_params[:, :1]), cam_params], 1) + control_camera_video = process_pose_params(cam_params, width=width, height=height) + control_camera_video = control_camera_video.permute([3, 0, 1, 2]).unsqueeze(0).to(device=comfy.model_management.intermediate_device()) + + control_camera_video = torch.concat( + [ + torch.repeat_interleave(control_camera_video[:, :, 0:1], repeats=4, dim=2), + control_camera_video[:, :, 1:] + ], dim=2 + ).transpose(1, 2) + + # Reshape, transpose, and view into desired shape + b, f, c, h, w = control_camera_video.shape + control_camera_video = control_camera_video.contiguous().view(b, f // 4, 4, c, h, w).transpose(2, 3) + control_camera_video = control_camera_video.contiguous().view(b, f // 4, c * 4, h, w).transpose(1, 2) + + return (control_camera_video, width, height, length) + + +NODE_CLASS_MAPPINGS = { + "WanCameraEmbeding": WanCameraEmbeding, +} diff --git a/nodes.py b/nodes.py index a1ddf2dd6..f6171acb6 100644 --- a/nodes.py +++ b/nodes.py @@ -2263,6 +2263,7 @@ def init_builtin_extra_nodes(): "nodes_fresca.py", "nodes_preview_any.py", "nodes_ace.py", + "nodes_camera_trajectory.py", ] import_failed = []