38 lines
1.8 KiB
C++
38 lines
1.8 KiB
C++
/**
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* This file includes code originally from the DROID-SLAM repository:
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* https://github.com/princeton-vl/DROID-SLAM
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* Licensed under the BSD-3 License. See THIRD_PARTY_LICENSES.md for details.
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*/
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#include <torch/extension.h>
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#include <vector>
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namespace slam_ext {
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torch::Tensor depth_filter_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics, torch::Tensor ix,
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torch::Tensor thresh);
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torch::Tensor frame_distance_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics, torch::Tensor pi,
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torch::Tensor pj, torch::Tensor qi, torch::Tensor qj, torch::Tensor di,
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const float beta);
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std::vector<torch::Tensor> projmap_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics,
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torch::Tensor ii, torch::Tensor jj);
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torch::Tensor iproj_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics);
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std::vector<torch::Tensor> ba_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics,
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torch::Tensor disps_sens, torch::Tensor targets, torch::Tensor weights,
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torch::Tensor eta, torch::Tensor ii, torch::Tensor jj, const int t0, const int t1,
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const int iterations, const float lm, const float ep, const bool motion_only);
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} // namespace slam_ext
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void pybind_slam_ext(py::module &m) {
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m.def("ba", &slam_ext::ba_cuda, "bundle adjustment");
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m.def("frame_distance", &slam_ext::frame_distance_cuda, "frame_distance");
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m.def("projmap", &slam_ext::projmap_cuda, "projmap");
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m.def("depth_filter", &slam_ext::depth_filter_cuda, "depth_filter");
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m.def("iproj", &slam_ext::iproj_cuda, "back projection");
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}
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