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# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
import torch
from . import Camera
import numpy as np
def projection(fovy, n=1.0, f=50.0, near_plane=None):
focal = np.tan(fovy / 180.0 * np.pi * 0.5)
if near_plane is None:
near_plane = n
return np.array(
[[n / focal, 0, 0, 0],
[0, n / -focal, 0, 0],
[0, 0, -(f + near_plane) / (f - near_plane), -(2 * f * near_plane) / (f - near_plane)],
[0, 0, -1, 0]]).astype(np.float32)
def projection_2(opt):
zfar= opt.zfar
znear= opt.znear
tan_half_fov = np.tan(0.5 * np.deg2rad(opt.fovy))
proj_matrix = torch.zeros(4, 4, dtype=torch.float32)
proj_matrix[0, 0] = 1 / tan_half_fov
proj_matrix[1, 1] = 1 / tan_half_fov
proj_matrix[2, 2] = (zfar + znear) / (zfar - znear)
proj_matrix[3, 2] = - (zfar * znear) / (zfar - znear)
proj_matrix[2, 3] = 1
return proj_matrix
class PerspectiveCamera(Camera):
def __init__(self, opt, device='cuda'):
super(PerspectiveCamera, self).__init__()
self.device = device
self.proj_mtx = torch.from_numpy(projection(opt.fovy, f=1000.0, n=1.0, near_plane=0.1)).to(self.device).unsqueeze(dim=0)
#self.proj_mtx= projection_2(opt).to(self.device).unsqueeze(dim=0)
def project(self, points_bxnx4):
out = torch.matmul(
points_bxnx4,
torch.transpose(self.proj_mtx, 1, 2))
return out
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