36 lines
1.3 KiB
Python
36 lines
1.3 KiB
Python
# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# NVIDIA CORPORATION & AFFILIATES and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION & AFFILIATES is strictly prohibited.
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import torch
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from . import Camera
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import numpy as np
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def projection(x=0.1, n=1.0, f=50.0, near_plane=None):
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if near_plane is None:
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near_plane = n
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return np.array(
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[[n / x, 0, 0, 0],
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[0, n / -x, 0, 0],
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[0, 0, -(f + near_plane) / (f - near_plane), -(2 * f * near_plane) / (f - near_plane)],
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[0, 0, -1, 0]]).astype(np.float32)
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class PerspectiveCamera(Camera):
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def __init__(self, fovy=49.0, device='cuda'):
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super(PerspectiveCamera, self).__init__()
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self.device = device
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focal = np.tan(fovy / 180.0 * np.pi * 0.5)
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self.proj_mtx = torch.from_numpy(projection(x=focal, f=1000.0, n=1.0, near_plane=0.1)).to(self.device).unsqueeze(dim=0)
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def project(self, points_bxnx4):
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out = torch.matmul(
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points_bxnx4,
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torch.transpose(self.proj_mtx, 1, 2))
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return out
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