Method findProjections

source/MRCuda/MRCudaPointsToMeshProjector.cpp:52–125

}

void PointsToMeshProjector::findProjections(
      std::vector<MR::MeshProjectionResult>& res, const std::vector<Vector3f>& points, const AffineXf3f* objXf, const AffineXf3f* refObjXf, float upDistLimitSq, float loDistLimitSq )
{
    MR_TIMER;
    if ( !mesh_ )
    {
        assert( false );
        return;
    }

    CUDA_EXEC( cudaSetDevice( 0 ) );

    const auto getCudaMatrix = [] ( const AffineXf3f& xf )
    {
        Matrix4 res;
        res.x.x = xf.A.x.x; res.x.y = xf.A.x.y; res.x.z = xf.A.x.z;
        res.y.x = xf.A.y.x; res.y.y = xf.A.y.y; res.y.z = xf.A.y.z;
        res.z.x = xf.A.z.x; res.z.y = xf.A.z.y; res.z.z = xf.A.z.z;
        res.b.x = xf.b.x; res.b.y = xf.b.y; res.b.z = xf.b.z;
        res.isIdentity = false;
        return res;
    };

    const AffineXf3f* notRigidRefXf{ nullptr };
    if ( refObjXf && !isRigid( refObjXf->A ) )
        notRigidRefXf = refObjXf;

    AffineXf3f xf;
    const AffineXf3f* xfPtr{ nullptr };
    if ( notRigidRefXf || !refObjXf )
        xfPtr = objXf;
    else
    {
        xf = refObjXf->inverse();
        if ( objXf )
            xf = xf * ( *objXf );
        xfPtr = &xf;
    }

    Matrix4 cudaRefXf;
    Matrix4 cudaXf;
    if ( notRigidRefXf )
        cudaRefXf = getCudaMatrix( *notRigidRefXf );
    if ( xfPtr )
        cudaXf = getCudaMatrix( *xfPtr );

    const auto totalSize = points.size();
    const auto bufferSize = maxBufferSize( getCudaSafeMemoryLimit(), totalSize, sizeof( float3 ) + sizeof( MeshProjectionResult ) );

    DynamicArray<float3> cudaPoints;
    cudaPoints.resize( bufferSize );

    DynamicArray<MeshProjectionResult> cudaResult;
    cudaResult.resize( bufferSize );
    res.resize( totalSize );

    for ( const auto [offset, size] : splitByChunks( totalSize, bufferSize ) )
    {