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