8g2 ddlZddlmZddlmcmZddlmZmZm Z ddl m Z m Z ddl mZdZddlmZmZddlmZ ddZ dd ZGd d ej*Zdd ed ej0fdZd edej0d ej0fdZd edej0d ej0fdZddej0deded ej0fdZddZdZy)N)OptionalTupleUnion) rearrangerepeat)HarmonicEmbeddingg& .>)matrix_to_quaternionquaternion_to_matrix)rc|}|dk(r[|dddf}|dddf}t|} |dddf} tj} | | } tj| ||} n|dk(r8|ddddf}|ddddf}t|} |dddd f} t | } n|d k(rX|ddddf}|ddddf}t|} |ddddf} | |zj } tj| ||} nX|d k(rE|ddddf}|ddddf}t|} |dddd f} tj| ||} ntd || | ||d S)z Args: pose_encoding: A tensor of shape `BxNxC`, containing a batch of `BxN` `C`-dimensional pose encodings. pose_encoding_type: The type of pose encoding, train.N minmax train_fusionabsT_quaR_logFLabsT_quaR_OneFLUnknown pose encoding ) focal_lengthRT quaternion_R)r nnSoftplustorchclampsoftplusexp ValueError) pose_encodingpose_encoding_typelog_focal_length_biasmin_focal_lengthmax_focal_length return_dictpose_encoding_reshapedabs_Trrlog_focal_lengthmrscales ./nas3/zsz/FLARE_huggingface/mast3r/util_vgg.pypose_encoding_to_camerar/!s+W$&sBQBw/-c1Q3h7  .1#qs(; KKM-.{{#39IO_` ~ -&q"1"u--a1f5  .&q!A#v.   0 0&q"1"u--a1f5  .1!QqS&9)+@@EEG {{<5EK[\ 0 0'q"1"u--a1f5  .-a1f5 {{<5EK[\ 12D1EFGG)qul [[c|dk(rst|j}tjtj|j |||z }tj |j||gd}|S|dk(rdt|j}tj|j ||dddf}tj |j||gd}|Std |) z, Inverse to pose_encoding_to_camera rrdimr.rr) r rrlogrrcatrr") camerar$r%r&r'rr+r#rs r.camera_to_pose_encodingr9gs ..+FHH5  IIekk&"5"5;KQab c# $   688\;K"LRTU   0 0+FHH5  F$7$7=MScdfiklmnknfno  688\<"HbQ  12D1EFGGr0c&eZdZdfd ZdZxZS) PoseEmbeddingct|t|||_|jj ||_y)N)n_harmonic_functions append_input)super__init__r _emb_poseget_output_dimout_dim)self target_dimr=r> __class__s r.r@zPoseEmbedding.__init__s4 *@Tcop~~44Z@ r0c(|j|}|S)N)rA)rDr#e_pose_encodings r.forwardzPoseEmbedding.forwards..7r0) T)__name__ __module__ __qualname__r@rI __classcell__)rFs@r.r;r;sAr0r; embed_dimreturncx|}t||}|j|jd|jddS)aF This function initializes a grid and generates a 2D positional embedding using sine and cosine functions. It is a wrapper of get_2d_sincos_pos_embed_from_grid. Args: - embed_dim: The embedding dimension. - grid_size: The grid size. Returns: - pos_embed: The generated 2D positional embedding. rr5r2)!get_2d_sincos_pos_embed_from_gridreshapeshape)rO pos_encoding return_gridgrid pos_embeds r.get_2d_sincos_pos_embedrYs@" D1)TBI   \//2L4F4Fq4I2 NNr0rWc|dzdk(sJt|dz|djj}t|dz|djj}tj||gd}|S)a This function generates a 2D positional embedding from a given grid using sine and cosine functions. Args: - embed_dim: The embedding dimension. - grid: The grid to generate the embedding from. Returns: - emb: The generated 2D positional embedding. r).r).r5r3)!get_1d_sincos_pos_embed_from_griddetachcpurr7)rOrWemb_hemb_wembs r.rRrRs{ q=A   -i1nd6l>Q>Q>S>W>W>Y ZE -i1nd6l>Q>Q>S>W>W>Y ZE ))UEN *C Jr0posc|dzdk(sJtj|dztj}||dz z}dd|zz }|jd}tjd||}tj |}tj |}tj||gd }|d jS) a This function generates a 1D positional embedding from a given grid using sine and cosine functions. Args: - embed_dim: The embedding dimension. - pos: The position to generate the embedding from. Returns: - emb: The generated 1D positional embedding. r[r)dtypeg@?i'r2zm,d->mdr5r3N) rarangedoublerSeinsumsincosr7float)rOrbomegaoutemb_sinemb_cosras r.r\r\s q=A   LLau|| |tjt |Dcgc]}d|z  c}|j z}|dz}tj|||| Scc}wcc}w) adSample a tensor using bilinear interpolation `bilinear_sampler(input, coords)` samples a tensor :attr:`input` at coordinates :attr:`coords` using bilinear interpolation. It is the same as `torch.nn.functional.grid_sample()` but with a different coordinate convention. The input tensor is assumed to be of shape :math:`(B, C, H, W)`, where :math:`B` is the batch size, :math:`C` is the number of channels, :math:`H` is the height of the image, and :math:`W` is the width of the image. The tensor :attr:`coords` of shape :math:`(B, H_o, W_o, 2)` is interpreted as an array of 2D point coordinates :math:`(x_i,y_i)`. Alternatively, the input tensor can be of size :math:`(B, C, T, H, W)`, in which case sample points are triplets :math:`(t_i,x_i,y_i)`. Note that in this case the order of the components is slightly different from `grid_sample()`, which would expect :math:`(x_i,y_i,t_i)`. If `align_corners` is `True`, the coordinate :math:`x` is assumed to be in the range :math:`[0,W-1]`, with 0 corresponding to the center of the left-most image pixel :math:`W-1` to the center of the right-most pixel. If `align_corners` is `False`, the coordinate :math:`x` is assumed to be in the range :math:`[0,W]`, with 0 corresponding to the left edge of the left-most pixel :math:`W` to the right edge of the right-most pixel. Similar conventions apply to the :math:`y` for the range :math:`[0,H-1]` and :math:`[0,H]` and to :math:`t` for the range :math:`[0,T-1]` and :math:`[0,T]`. Args: input (Tensor): batch of input images. coords (Tensor): batch of coordinates. align_corners (bool, optional): Coordinate convention. Defaults to `True`. padding_mode (str, optional): Padding mode. Defaults to `"border"`. Returns: Tensor: sampled points. r[N)r[r r .)r5r[rr5)rt) align_corners padding_mode) rTlenrtensorreversedrrtF grid_sample)inputcoordsrrsizessizes r.bilinear_samplerrsV KKOE u:   5zQY'%,,RW'YCq!,<(<'Ybhbobopp%,,Xe_'MTD'MV\VcVcdd aKF ==mR^ __ (Z'Ms C ! C% c|j\}}}}|jd}t||}|jddddj |d|jd|jdzS)aSample spatial features `sample_features4d(input, coords)` samples the spatial features :attr:`input` represented by a 4D tensor :math:`(B, C, H, W)`. The field is sampled at coordinates :attr:`coords` using bilinear interpolation. :attr:`coords` is assumed to be of shape :math:`(B, R, 3)`, where each sample has the format :math:`(x_i, y_i)`. This uses the same convention as :func:`bilinear_sampler` with `align_corners=True`. The output tensor has one feature per point, and has shape :math:`(B, R, C)`. Args: input (Tensor): spatial features. coords (Tensor): points. Returns: Tensor: sampled features. r[rr5r r2)rT unsqueezerpermuteview)rrrx_featss r.sample_features4dr5sn,JAq!Q  a F UF +E ==Aq! $ ) )!RQ%++a.1P QQr0)vggre皙?F)rg?rr)F)T)Tborder) rtorch.nnrtorch.nn.functional functionalrtypingrrreinopsrrpytorch3d.rendererrEPS)pytorch3d.transforms.rotation_conversionsr r r/r9Moduler;rvTensorrYrRr\boolrrrr0r.rs ))$0 `  @\Nuw< BII OsOPUP\P\O,ELLU\\(5<<ELL4#45<<D:`zRr0