Method IntrinsicsModuleImpl

src/lib/data/NeuralStructure.cpp:64–133

}

IntrinsicsModuleImpl::IntrinsicsModuleImpl(std::shared_ptr<SceneData> scene)
{
    SAIGA_ASSERT(!scene->scene_cameras.empty());

    if (scene->dataset_params.camera_model == CameraModel::PINHOLE_DISTORTION)
    {
        std::vector<Eigen::Matrix<float, 13, 1>> intrinsics_data;


        for (auto& cam : scene->scene_cameras)
        {
            vec5 a = cam.K.coeffs();
            vec8 b = cam.distortion.Coeffs();


            Eigen::Matrix<float, 13, 1> data;

            data.head<5>() = a;
            data.tail<8>() = b;

            intrinsics_data.push_back(data);
        }



        intrinsics = torch::from_blob(intrinsics_data.data(), {(long)intrinsics_data.size(), 13L},
                                      torch::TensorOptions().dtype(torch::kFloat32))
                         .clone()
                         .cuda();


        register_parameter("intrinsics", intrinsics);
        std::cout << "Pinhole Intrinsics:" << std::endl;
        PrintTensorInfo(intrinsics);
    }
    else if (scene->dataset_params.camera_model == CameraModel::OCAM)
    {
        std::cout << "ocam Intrinsics:" << std::endl;

        long count = scene->scene_cameras.front().ocam.NumProjectParams();

        std::vector<float> intrinsics_data(count * scene->scene_cameras.size());

        for (int i = 0; i < scene->scene_cameras.size(); ++i)
        {
            auto c = scene->scene_cameras[i].ocam;
            SAIGA_ASSERT(c.NumProjectParams() == count);

            float* ptr = intrinsics_data.data() + (count * i);

            auto params = c.ProjectParams();

            for (int i = 0; i < params.size(); ++i)
            {
                ptr[i] = params(i);
            }
        }