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https://github.com/facebookresearch/pytorch3d.git
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0a59450f0e
Summary: I could not access https://github.com/NVlabs/cub/issues/172 to understand whether IntWrapper was still necessary but the comment is from 5 years ago and causes problems for the ROCm build. Pull Request resolved: https://github.com/facebookresearch/pytorch3d/pull/1964 Reviewed By: MichaelRamamonjisoa Differential Revision: D71937895 Pulled By: bottler fbshipit-source-id: 5e0351e1bd8599b670436cd3464796eca33156f6
76 lines
3.1 KiB
C++
76 lines
3.1 KiB
C++
/*
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* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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*
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* This source code is licensed under the BSD-style license found in the
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* LICENSE file in the root directory of this source tree.
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*/
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#ifndef PULSAR_NATIVE_INCLUDE_CAMERA_H_
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#define PULSAR_NATIVE_INCLUDE_CAMERA_H_
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#include <stdint.h>
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#include "../global.h"
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namespace pulsar {
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/**
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* Everything that's needed to raycast with our camera model.
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*/
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struct CamInfo {
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float3 eye; /** Position in world coordinates. */
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float3 pixel_0_0_center; /** LUC center of pixel position in world
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coordinates. */
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float3 pixel_dir_x; /** Direction for increasing x for one pixel to the next,
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* in world coordinates. */
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float3 pixel_dir_y; /** Direction for increasing y for one pixel to the next,
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* in world coordinates. */
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float3 sensor_dir_z; /** Normalized direction vector from eye through the
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* sensor in z direction (optical axis). */
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float half_pixel_size; /** Half size of a pixel, in world coordinates. This
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* must be consistent with pixel_dir_x and pixel_dir_y!
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*/
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float focal_length; /** The focal length, if applicable. */
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uint aperture_width; /** Full image width in px, possibly not fully used
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* in case of a shifted principal point. */
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uint aperture_height; /** Full image height in px, possibly not fully used
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* in case of a shifted principal point. */
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uint film_width; /** Resulting image width. */
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uint film_height; /** Resulting image height. */
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/** The top left coordinates (inclusive) of the film in the full aperture. */
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uint film_border_left, film_border_top;
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int32_t principal_point_offset_x; /** Horizontal principal point offset. */
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int32_t principal_point_offset_y; /** Vertical principal point offset. */
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float min_dist; /** Minimum distance for a ball to be rendered. */
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float max_dist; /** Maximum distance for a ball to be rendered. */
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float norm_fac; /** 1 / (max_dist - min_dist), pre-computed. */
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/** The depth where to place the background, in normalized coordinates where
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* 0. is the backmost depth and 1. the frontmost. */
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float background_normalization_depth;
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/** The number of image content channels to use. Usually three. */
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uint n_channels;
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/** Whether to use an orthogonal instead of a perspective projection. */
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bool orthogonal_projection;
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/** Whether to use a right-handed system (inverts the z axis). */
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bool right_handed;
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};
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inline bool operator==(const CamInfo& a, const CamInfo& b) {
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return a.film_width == b.film_width && a.film_height == b.film_height &&
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a.background_normalization_depth == b.background_normalization_depth &&
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a.n_channels == b.n_channels &&
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a.orthogonal_projection == b.orthogonal_projection &&
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a.right_handed == b.right_handed;
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};
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struct CamGradInfo {
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HOST DEVICE CamGradInfo(int = 0);
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float3 cam_pos;
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float3 pixel_0_0_center;
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float3 pixel_dir_x;
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float3 pixel_dir_y;
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};
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} // namespace pulsar
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#endif
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