mvs: split CameraCUDA in Maths and Camera

cdcseacave · Aug 26, 2024 · b1d8f0d · b1d8f0d
1 parent 8e42439
commit b1d8f0d
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Showing 11 changed files with 349 additions and 57 deletions.
diff --git a/libs/Common/Config.h b/libs/Common/Config.h
@@ -163,8 +163,7 @@
 #endif
 
 
-
-//optimization flags
+// optimization flags
 #if defined(_MSC_VER)
 #	define ALIGN(n) __declspec(align(n))
 #	define NOINITVTABLE __declspec(novtable) //disable generating code to initialize the vfptr in the constructor(s) and destructor of the class
@@ -229,7 +228,7 @@
 #else
 #define ASSERT(exp, ...) {if (!(exp)) __debugbreak();}
 #endif // _INC_CRTDBG
-#define TRACE(...) {TCHAR buffer[2048];	_sntprintf(buffer, 2048, __VA_ARGS__); OutputDebugString(buffer);}
+#define TRACE(...) {TCHAR buffer[2048]; _sntprintf(buffer, 2048, __VA_ARGS__); OutputDebugString(buffer);}
 #else // _MSC_VER
 #include <assert.h>
 #define ASSERT(exp, ...) assert(exp)

diff --git a/libs/Common/List.h b/libs/Common/List.h
@@ -12,6 +12,7 @@
 // I N C L U D E S /////////////////////////////////////////////////
 
 #include <utility>
+#include <type_traits>
 
 
 // D E F I N E S ///////////////////////////////////////////////////
@@ -1154,6 +1155,17 @@ class cList
 		}
 	}
 
+	// remove duplicated values; the values are expected to be sorted, set bSort if not
+	template <bool bSort=true>
+	inline void		RemoveDuplicates()
+	{
+		if (bSort)
+			Sort();
+		const IDX index(std::unique(Begin(), End()) - Begin());
+		if (index < _size)
+			RemoveLast(_size-index);
+	}
+
 	inline void		RemoveAtMove(IDX index)
 	{
 		ASSERT(index < _size);

diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
@@ -31,12 +31,20 @@ if(_USE_CUDA)
 	FILE(GLOB LIBRARY_FILES_CUDA "*.cu")
 	LIST(APPEND LIBRARY_FILES_C ${LIBRARY_FILES_CUDA})
 endif()
+FILE(GLOB CUDA_LIBRARY_FILES_C "CUDA/*.cpp")
+FILE(GLOB CUDA_LIBRARY_FILES_H "CUDA/*.h" "CUDA/*.inl")
+if(_USE_CUDA)
+	FILE(GLOB CUDA_LIBRARY_FILES_CUDA "CUDA/*.cu")
+	LIST(APPEND CUDA_LIBRARY_FILES_C ${CUDA_LIBRARY_FILES_CUDA})
+endif()
+SOURCE_GROUP("CUDA" FILES ${CUDA_LIBRARY_FILES_C} ${CUDA_LIBRARY_FILES_H})
 
 GET_FILENAME_COMPONENT(PATH_PythonWrapper_cpp ${CMAKE_CURRENT_SOURCE_DIR}/PythonWrapper.cpp ABSOLUTE)
 LIST(REMOVE_ITEM LIBRARY_FILES_C "${PATH_PythonWrapper_cpp}")
 
 cxx_library_with_type(MVS "Libs" "" "${cxx_default}"
 	${LIBRARY_FILES_C} ${LIBRARY_FILES_H}
+	${CUDA_LIBRARY_FILES_C} ${CUDA_LIBRARY_FILES_H}
 )
 
 # Manually set Common.h as the precompiled header

diff --git a/libs/MVS/CameraCUDA.h → libs/MVS/CUDA/Camera.h b/libs/MVS/CameraCUDA.h → libs/MVS/CUDA/Camera.h
@@ -1,5 +1,5 @@
 /*
-* CameraCUDA.h
+* Camera.h
 *
 * Copyright (c) 2014-2024 SEACAVE
 *
@@ -35,25 +35,10 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#define _USE_MATH_DEFINES
-#include <cmath>
-#include <cstdint>
-#include <float.h>
 #include <string>
 #include <vector>
 
-// Eigen
-#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
-#include <Eigen/Dense>
-
-// CUDA toolkit
-#include <cuda_runtime.h>
-#include <cuda_runtime_api.h>
-#include <cuda_texture_types.h>
-#include <curand_kernel.h>
-#include <vector_types.h>
-
-#include "../Common/UtilCUDADevice.h"
+#include "Maths.h"
 
 
 // D E F I N E S ///////////////////////////////////////////////////
@@ -65,12 +50,6 @@ namespace MVS {
 
 namespace CUDA {
 
-typedef Eigen::Matrix<int,2,1> Point2i;
-typedef Eigen::Matrix<float,2,1> Point2;
-typedef Eigen::Matrix<float,3,1> Point3;
-typedef Eigen::Matrix<float,4,1> Point4;
-typedef Eigen::Matrix<float,3,3> Matrix3;
-
 // Linear camera model
 struct LinearCameraModel {
 	Point2 f; // focal length