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| # Copyright Niantic 2019. Patent Pending. All rights reserved. | |
| # | |
| # This software is licensed under the terms of the Monodepth2 licence | |
| # which allows for non-commercial use only, the full terms of which are made | |
| # available in the LICENSE file. | |
| from __future__ import absolute_import, division, print_function | |
| import torch | |
| import torch.nn as nn | |
| class PoseCNN(nn.Module): | |
| def __init__(self, num_input_frames): | |
| super(PoseCNN, self).__init__() | |
| self.num_input_frames = num_input_frames | |
| self.convs = {} | |
| self.convs[0] = nn.Conv2d(3 * num_input_frames, 16, 7, 2, 3) | |
| self.convs[1] = nn.Conv2d(16, 32, 5, 2, 2) | |
| self.convs[2] = nn.Conv2d(32, 64, 3, 2, 1) | |
| self.convs[3] = nn.Conv2d(64, 128, 3, 2, 1) | |
| self.convs[4] = nn.Conv2d(128, 256, 3, 2, 1) | |
| self.convs[5] = nn.Conv2d(256, 256, 3, 2, 1) | |
| self.convs[6] = nn.Conv2d(256, 256, 3, 2, 1) | |
| self.pose_conv = nn.Conv2d(256, 6 * (num_input_frames - 1), 1) | |
| self.num_convs = len(self.convs) | |
| self.relu = nn.ReLU(True) | |
| self.net = nn.ModuleList(list(self.convs.values())) | |
| def forward(self, out): | |
| for i in range(self.num_convs): | |
| out = self.convs[i](out) | |
| out = self.relu(out) | |
| out = self.pose_conv(out) | |
| out = out.mean(3).mean(2) | |
| # out = 0.01 * out.view(-1, self.num_input_frames - 1, 1, 6) # original | |
| out = out.view(-1, self.num_input_frames - 1, 1, 6) | |
| axisangle = out[..., :3] | |
| translation = out[..., 3:] | |
| return axisangle, translation | |