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dense: refactor PatchMatchCUDA::Camera into a stand alone structure
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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| /* | ||
| * CameraCUDA.h | ||
| * | ||
| * Copyright (c) 2014-2024 SEACAVE | ||
| * | ||
| * Author(s): | ||
| * | ||
| * cDc <[email protected]> | ||
| * | ||
| * | ||
| * 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. | ||
| */ | ||
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| #ifndef _MVS_CAMERACUDA_H_ | ||
| #define _MVS_CAMERACUDA_H_ | ||
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| // I N C L U D E S ///////////////////////////////////////////////// | ||
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| #define _USE_MATH_DEFINES | ||
| #include <cmath> | ||
| #include <cstdint> | ||
| #include <float.h> | ||
| #include <string> | ||
| #include <vector> | ||
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| // Eigen | ||
| #define EIGEN_DEFAULT_DENSE_INDEX_TYPE int | ||
| #include <Eigen/Dense> | ||
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| // CUDA toolkit | ||
| #include <cuda_runtime.h> | ||
| #include <cuda_runtime_api.h> | ||
| #include <cuda_texture_types.h> | ||
| #include <curand_kernel.h> | ||
| #include <vector_types.h> | ||
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| #include "../Common/UtilCUDADevice.h" | ||
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| // D E F I N E S /////////////////////////////////////////////////// | ||
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| // S T R U C T S /////////////////////////////////////////////////// | ||
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| namespace MVS { | ||
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| namespace CUDA { | ||
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| 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; | ||
|
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| // Linear camera model | ||
| struct LinearCameraModel { | ||
| Point2 f; // focal length | ||
| Point2 p; // principal point | ||
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| __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); } | ||
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| __host__ __device__ inline Matrix3 K() const { | ||
| Matrix3 M; M << | ||
| f.x(), 0, p.x(), | ||
| 0, f.y(), p.y(), | ||
| 0, 0, 1; | ||
| return M; | ||
| } | ||
|
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| // 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()); | ||
| } | ||
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| // 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()); | ||
| } | ||
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| // 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); | ||
| } | ||
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| // compute camera ray direction for the given pixel | ||
| __host__ __device__ inline Point3 ViewDirection(const Point2i& x) const { | ||
| return TransformPointI2C(x.cast<float>()).normalized(); | ||
| } | ||
| }; | ||
| /*----------------------------------------------------------------*/ | ||
|
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| // Camera pose | ||
| struct Pose { | ||
| Matrix3 R; // rotation matrix | ||
| Point3 C; // camera center | ||
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| __host__ __device__ Pose() {} | ||
| __host__ __device__ Pose(const Matrix3& R, const Point3& C) : | ||
| R(R), C(C) {} | ||
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| // transform a 3D point from world space to camera space | ||
| __host__ __device__ inline Point3 TransformPointW2C(const Point3& X) const { | ||
| return R * (X - C); | ||
| } | ||
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| // transform a 3D point in camera space to world space | ||
| __host__ __device__ inline Point3 TransformPointC2W(const Point3& X) const { | ||
| return R.transpose() * X + C; | ||
| } | ||
| }; | ||
| /*----------------------------------------------------------------*/ | ||
|
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| // Camera view | ||
| struct Camera { | ||
| LinearCameraModel model; | ||
| Pose pose; | ||
| Point2i size; | ||
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| __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) {} | ||
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| // 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)); | ||
| } | ||
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| // 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)); | ||
| } | ||
| }; | ||
| /*----------------------------------------------------------------*/ | ||
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| } // namespace CUDA | ||
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| } // namespace MVS | ||
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| #endif // _MVS_CAMERACUDA_H_ |
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