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| import torch | |
| import torch.nn as nn | |
| import torch.nn.functional as F | |
| from ..geometry import index, orthogonal, perspective | |
| class BasePIFuNet(nn.Module): | |
| def __init__(self, | |
| projection_mode='orthogonal', | |
| error_term=nn.MSELoss(), | |
| ): | |
| """ | |
| :param projection_mode: | |
| Either orthogonal or perspective. | |
| It will call the corresponding function for projection. | |
| :param error_term: | |
| nn Loss between the predicted [B, Res, N] and the label [B, Res, N] | |
| """ | |
| super(BasePIFuNet, self).__init__() | |
| self.name = 'base' | |
| self.error_term = error_term | |
| self.index = index | |
| self.projection = orthogonal if projection_mode == 'orthogonal' else perspective | |
| self.preds = None | |
| self.labels = None | |
| def forward(self, points, images, calibs, transforms=None): | |
| ''' | |
| :param points: [B, 3, N] world space coordinates of points | |
| :param images: [B, C, H, W] input images | |
| :param calibs: [B, 3, 4] calibration matrices for each image | |
| :param transforms: Optional [B, 2, 3] image space coordinate transforms | |
| :return: [B, Res, N] predictions for each point | |
| ''' | |
| self.filter(images) | |
| self.query(points, calibs, transforms) | |
| return self.get_preds() | |
| def filter(self, images): | |
| ''' | |
| Filter the input images | |
| store all intermediate features. | |
| :param images: [B, C, H, W] input images | |
| ''' | |
| None | |
| def query(self, points, calibs, transforms=None, labels=None): | |
| ''' | |
| Given 3D points, query the network predictions for each point. | |
| Image features should be pre-computed before this call. | |
| store all intermediate features. | |
| query() function may behave differently during training/testing. | |
| :param points: [B, 3, N] world space coordinates of points | |
| :param calibs: [B, 3, 4] calibration matrices for each image | |
| :param transforms: Optional [B, 2, 3] image space coordinate transforms | |
| :param labels: Optional [B, Res, N] gt labeling | |
| :return: [B, Res, N] predictions for each point | |
| ''' | |
| None | |
| def get_preds(self): | |
| ''' | |
| Get the predictions from the last query | |
| :return: [B, Res, N] network prediction for the last query | |
| ''' | |
| return self.preds | |
| def get_error(self): | |
| ''' | |
| Get the network loss from the last query | |
| :return: loss term | |
| ''' | |
| return self.error_term(self.preds, self.labels) | |