-
-
Notifications
You must be signed in to change notification settings - Fork 911
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
dense: refactor PatchMatchCUDA::Camera into a stand alone structure
- Loading branch information
1 parent
a759b87
commit 8e42439
Showing
16 changed files
with
340 additions
and
215 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,171 @@ | ||
| /* | ||
| * CameraCUDA.h | ||
| * | ||
| * Copyright (c) 2014-2024 SEACAVE | ||
| * | ||
| * Author(s): | ||
| * | ||
| * cDc <cdc.seacave@gmail.com> | ||
| * | ||
| * | ||
| * This program is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU Affero General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This program is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU Affero General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU Affero General Public License | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| * | ||
| * | ||
| * Additional Terms: | ||
| * | ||
| * You are required to preserve legal notices and author attributions in | ||
| * that material or in the Appropriate Legal Notices displayed by works | ||
| * containing it. | ||
| */ | ||
|
|
||
| #ifndef _MVS_CAMERACUDA_H_ | ||
| #define _MVS_CAMERACUDA_H_ | ||
|
|
||
|
|
||
| // I N C L U D E S ///////////////////////////////////////////////// | ||
|
|
||
| #define _USE_MATH_DEFINES | ||
| #include <cmath> | ||
| #include <cstdint> | ||
| #include <float.h> | ||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| // Eigen | ||
| #define EIGEN_DEFAULT_DENSE_INDEX_TYPE int | ||
| #include <Eigen/Dense> | ||
|
|
||
| // CUDA toolkit | ||
| #include <cuda_runtime.h> | ||
| #include <cuda_runtime_api.h> | ||
| #include <cuda_texture_types.h> | ||
| #include <curand_kernel.h> | ||
| #include <vector_types.h> | ||
|
|
||
| #include "../Common/UtilCUDADevice.h" | ||
|
|
||
|
|
||
| // D E F I N E S /////////////////////////////////////////////////// | ||
|
|
||
|
|
||
| // S T R U C T S /////////////////////////////////////////////////// | ||
|
|
||
| namespace MVS { | ||
|
|
||
| namespace CUDA { | ||
|
|
||
| typedef Eigen::Matrix<int,2,1> Point2i; | ||
| typedef Eigen::Matrix<float,2,1> Point2; | ||
| typedef Eigen::Matrix<float,3,1> Point3; | ||
| typedef Eigen::Matrix<float,4,1> Point4; | ||
| typedef Eigen::Matrix<float,3,3> Matrix3; | ||
|
|
||
| // Linear camera model | ||
| struct LinearCameraModel { | ||
| Point2 f; // focal length | ||
| Point2 p; // principal point | ||
|
|
||
| __host__ __device__ LinearCameraModel() {} | ||
| __host__ __device__ LinearCameraModel(float fx, float fy, float cx, float cy) : | ||
| f(fx, fy), p(cx, cy) {} | ||
| __host__ __device__ LinearCameraModel(const Matrix3& K) : | ||
| f(K(0,0), K(1,1)), p(K(0,2), K(1,2)) { ASSERT(K(0,1) == 0); } | ||
|
|
||
| __host__ __device__ inline Matrix3 K() const { | ||
| Matrix3 M; M << | ||
| f.x(), 0, p.x(), | ||
| 0, f.y(), p.y(), | ||
| 0, 0, 1; | ||
| return M; | ||
| } | ||
|
|
||
| // transform a point in image space to camera space | ||
| __host__ __device__ inline Point2 NormalizePoint(const Point2& x) const { | ||
| return Point2( | ||
| (x.x() - p.x()) / f.x(), | ||
| (x.y() - p.y()) / f.y()); | ||
| } | ||
|
|
||
| // project a point in camera space to image space | ||
| __host__ __device__ inline Point2 TransformPointC2I(const Point3& X) const { | ||
| return Point2( | ||
| f.x() * X.x() / X.z() + p.x(), | ||
| f.y() * X.y() / X.z() + p.y()); | ||
| } | ||
|
|
||
| // back-project a point in image space to camera space | ||
| __host__ __device__ inline Point3 TransformPointI2C(const Point2& x, const float depth = 1.f) const { | ||
| return Point3( | ||
| depth * (x.x() - p.x()) / f.x(), | ||
| depth * (x.y() - p.y()) / f.y(), | ||
| depth); | ||
| } | ||
|
|
||
| // compute camera ray direction for the given pixel | ||
| __host__ __device__ inline Point3 ViewDirection(const Point2i& x) const { | ||
| return TransformPointI2C(x.cast<float>()).normalized(); | ||
| } | ||
| }; | ||
| /*----------------------------------------------------------------*/ | ||
|
|
||
| // Camera pose | ||
| struct Pose { | ||
| Matrix3 R; // rotation matrix | ||
| Point3 C; // camera center | ||
|
|
||
| __host__ __device__ Pose() {} | ||
| __host__ __device__ Pose(const Matrix3& R, const Point3& C) : | ||
| R(R), C(C) {} | ||
|
|
||
| // transform a 3D point from world space to camera space | ||
| __host__ __device__ inline Point3 TransformPointW2C(const Point3& X) const { | ||
| return R * (X - C); | ||
| } | ||
|
|
||
| // transform a 3D point in camera space to world space | ||
| __host__ __device__ inline Point3 TransformPointC2W(const Point3& X) const { | ||
| return R.transpose() * X + C; | ||
| } | ||
| }; | ||
| /*----------------------------------------------------------------*/ | ||
|
|
||
| // Camera view | ||
| struct Camera { | ||
| LinearCameraModel model; | ||
| Pose pose; | ||
| Point2i size; | ||
|
|
||
| __host__ __device__ Camera() {} | ||
| __host__ __device__ Camera(const LinearCameraModel& model, const Pose& pose, int width=0, int height=0) : | ||
| model(model), pose(pose), size(width, height) {} | ||
| __host__ __device__ Camera(const Matrix3& K, const Matrix3& R, const Point3& C, int width=0, int height=0) : | ||
| model(K), pose(R, C), size(width, height) {} | ||
|
|
||
| // project a 3D point in world space to image space | ||
| __host__ __device__ inline Point2 TransformPointW2I(const Point3& X) const { | ||
| return model.TransformPointC2I(pose.TransformPointW2C(X)); | ||
| } | ||
|
|
||
| // back-project a point in image space to 3D point in world space | ||
| __host__ __device__ inline Point3 TransformPointI2W(const Point2& x, const float depth = 1.f) const { | ||
| return pose.TransformPointC2W(model.TransformPointI2C(x, depth)); | ||
| } | ||
| }; | ||
| /*----------------------------------------------------------------*/ | ||
|
|
||
| } // namespace CUDA | ||
|
|
||
| } // namespace MVS | ||
|
|
||
| #endif // _MVS_CAMERACUDA_H_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.