format c++

nerfstudio-project · Sep 11, 2024 · 4434f09 · 4434f09
1 parent 1ed34f0
commit 4434f09
Showing 1 changed file with 59 additions and 59 deletions.
diff --git a/gsplat/cuda/csrc/utils.cuh b/gsplat/cuda/csrc/utils.cuh
@@ -244,11 +244,7 @@ inline __device__ void ortho_proj_vjp(
     // df/dx = fx * df/dpixx
     // df/dy = fy * df/dpixy
     // df/dz = 0
-    v_mean3d += vec3<T>(
-        fx * v_mean2d[0],
-        fy * v_mean2d[1],
-        0.f
-    );
+    v_mean3d += vec3<T>(fx * v_mean2d[0], fy * v_mean2d[1], 0.f);
 }
 
 template <typename T>
@@ -393,26 +389,24 @@ inline __device__ void fisheye_proj(
     float eps = 0.0000001f;
     float xy_len = glm::length(glm::vec2({x, y})) + eps;
     float theta = glm::atan(xy_len, z + eps);
-    mean2d = vec2<T>({
-        x * fx * theta / xy_len + cx, 
-        y * fy * theta / xy_len + cy
-    });
+    mean2d =
+        vec2<T>({x * fx * theta / xy_len + cx, y * fy * theta / xy_len + cy});
 
     float x2 = x * x + eps;
     float y2 = y * y;
     float xy = x * y;
-    float x2y2 = x2 + y2 ;
+    float x2y2 = x2 + y2;
     float x2y2z2_inv = 1.f / (x2y2 + z * z);
 
     float b = glm::atan(xy_len, z) / xy_len / x2y2;
     float a = z * x2y2z2_inv / (x2y2);
     mat3x2<T> J = mat3x2<T>(
         fx * (x2 * a + y2 * b),
-        fy * xy  * (a - b), 
-        fx * xy * (a - b), 
-        fy * (y2 * a + x2 * b),   
-        - fx * x * x2y2z2_inv,
-        - fy * y * x2y2z2_inv
+        fy * xy * (a - b),
+        fx * xy * (a - b),
+        fy * (y2 * a + x2 * b),
+        -fx * x * x2y2z2_inv,
+        -fy * y * x2y2z2_inv
     );
     cov2d = J * cov3d * glm::transpose(J);
 }
@@ -450,20 +444,20 @@ inline __device__ void fisheye_proj_vjp(
     v_mean3d += vec3<T>(
         fx * (x2 * a + y2 * b) * v_mean2d[0] + fy * xy * (a - b) * v_mean2d[1],
         fx * xy * (a - b) * v_mean2d[0] + fy * (y2 * a + x2 * b) * v_mean2d[1],
-        - fx * x * x2y2z2_inv * v_mean2d[0] - fy * y * x2y2z2_inv * v_mean2d[1]
+        -fx * x * x2y2z2_inv * v_mean2d[0] - fy * y * x2y2z2_inv * v_mean2d[1]
     );
 
     const float theta = glm::atan(len_xy, z);
     const float J_b = theta / len_xy / x2y2;
-	const float J_a = z * x2y2z2_inv / (x2y2);
+    const float J_a = z * x2y2z2_inv / (x2y2);
     // mat3x2 is 3 columns x 2 rows.
     mat3x2<T> J = mat3x2<T>(
         fx * (x2 * J_a + y2 * J_b),
-        fy * xy  * (J_a - J_b), // 1st column
+        fy * xy * (J_a - J_b), // 1st column
         fx * xy * (J_a - J_b),
         fy * (y2 * J_a + x2 * J_b), // 2nd column
-        - fx * x * x2y2z2_inv,
-        - fy * y * x2y2z2_inv // 3rd column
+        -fx * x * x2y2z2_inv,
+        -fy * y * x2y2z2_inv // 3rd column
     );
     v_cov3d += glm::transpose(J) * v_cov2d * J;
 
@@ -474,45 +468,51 @@ inline __device__ void fisheye_proj_vjp(
     mat3x2<T> v_J = v_cov2d * J * glm::transpose(cov3d) +
                     glm::transpose(v_cov2d) * J * cov3d;
 
-	float l4 = x2y2z2 * x2y2z2;
-
-	float E = - l4 * x2y2 * theta + x2y2z2 * x2y2 * len_xy * z;
-	float F = 3 * l4 * theta - 3 * x2y2z2 * len_xy * z - 2 * x2y2 * len_xy * z;
-
-	float A = x * (3 * E + x2 * F);
-	float B = y * (E + x2 * F);
-	float C = x * (E + y2 * F);
-	float D = y * (3 * E + y2 * F);
-
-	float S1 = x2 - y2 - z * z;
-	float S2 = y2 - x2 - z * z;
-	float inv1 = x2y2z2_inv * x2y2z2_inv;
-	float inv2 = inv1 / (x2y2 * x2y2 * len_xy);
-
-	float dJ_dx00 = fx * A * inv2;
-	float dJ_dx01 = fx * B * inv2;
-	float dJ_dx02 = fx * S1 * inv1;
-	float dJ_dx10 = fy * B * inv2;
-	float dJ_dx11 = fy * C * inv2;
-	float dJ_dx12 = 2.f * fy * xy * inv1;
-
-	float dJ_dy00 = dJ_dx01;
-	float dJ_dy01 = fx * C * inv2;
-	float dJ_dy02 = 2.f * fx * xy * inv1;
-	float dJ_dy10 = dJ_dx11;
-	float dJ_dy11 = fy * D * inv2;
-	float dJ_dy12 = fy * S2 * inv1;
-
-	float dJ_dz00 = dJ_dx02;
-	float dJ_dz01 = dJ_dy02;
-	float dJ_dz02 = 2.f * fx * x * z * inv1;
-	float dJ_dz10 = dJ_dx12;
-	float dJ_dz11 = dJ_dy12;
-	float dJ_dz12 = 2.f * fy * y * z * inv1;
-
-    float dL_dtx_raw = dJ_dx00 * v_J[0][0] + dJ_dx01 * v_J[1][0] + dJ_dx02 * v_J[2][0] + dJ_dx10 * v_J[0][1] + dJ_dx11 * v_J[1][1] + dJ_dx12 * v_J[2][1];
-    float dL_dty_raw = dJ_dy00 * v_J[0][0] + dJ_dy01 * v_J[1][0] + dJ_dy02 * v_J[2][0] + dJ_dy10 * v_J[0][1] + dJ_dy11 * v_J[1][1] + dJ_dy12 * v_J[2][1];
-    float dL_dtz_raw = dJ_dz00 * v_J[0][0] + dJ_dz01 * v_J[1][0] + dJ_dz02 * v_J[2][0] + dJ_dz10 * v_J[0][1] + dJ_dz11 * v_J[1][1] + dJ_dz12 * v_J[2][1];
+    float l4 = x2y2z2 * x2y2z2;
+
+    float E = -l4 * x2y2 * theta + x2y2z2 * x2y2 * len_xy * z;
+    float F = 3 * l4 * theta - 3 * x2y2z2 * len_xy * z - 2 * x2y2 * len_xy * z;
+
+    float A = x * (3 * E + x2 * F);
+    float B = y * (E + x2 * F);
+    float C = x * (E + y2 * F);
+    float D = y * (3 * E + y2 * F);
+
+    float S1 = x2 - y2 - z * z;
+    float S2 = y2 - x2 - z * z;
+    float inv1 = x2y2z2_inv * x2y2z2_inv;
+    float inv2 = inv1 / (x2y2 * x2y2 * len_xy);
+
+    float dJ_dx00 = fx * A * inv2;
+    float dJ_dx01 = fx * B * inv2;
+    float dJ_dx02 = fx * S1 * inv1;
+    float dJ_dx10 = fy * B * inv2;
+    float dJ_dx11 = fy * C * inv2;
+    float dJ_dx12 = 2.f * fy * xy * inv1;
+
+    float dJ_dy00 = dJ_dx01;
+    float dJ_dy01 = fx * C * inv2;
+    float dJ_dy02 = 2.f * fx * xy * inv1;
+    float dJ_dy10 = dJ_dx11;
+    float dJ_dy11 = fy * D * inv2;
+    float dJ_dy12 = fy * S2 * inv1;
+
+    float dJ_dz00 = dJ_dx02;
+    float dJ_dz01 = dJ_dy02;
+    float dJ_dz02 = 2.f * fx * x * z * inv1;
+    float dJ_dz10 = dJ_dx12;
+    float dJ_dz11 = dJ_dy12;
+    float dJ_dz12 = 2.f * fy * y * z * inv1;
+
+    float dL_dtx_raw = dJ_dx00 * v_J[0][0] + dJ_dx01 * v_J[1][0] +
+                       dJ_dx02 * v_J[2][0] + dJ_dx10 * v_J[0][1] +
+                       dJ_dx11 * v_J[1][1] + dJ_dx12 * v_J[2][1];
+    float dL_dty_raw = dJ_dy00 * v_J[0][0] + dJ_dy01 * v_J[1][0] +
+                       dJ_dy02 * v_J[2][0] + dJ_dy10 * v_J[0][1] +
+                       dJ_dy11 * v_J[1][1] + dJ_dy12 * v_J[2][1];
+    float dL_dtz_raw = dJ_dz00 * v_J[0][0] + dJ_dz01 * v_J[1][0] +
+                       dJ_dz02 * v_J[2][0] + dJ_dz10 * v_J[0][1] +
+                       dJ_dz11 * v_J[1][1] + dJ_dz12 * v_J[2][1];
     v_mean3d.x += dL_dtx_raw;
     v_mean3d.y += dL_dty_raw;
     v_mean3d.z += dL_dtz_raw;