monodepth_model.py 文件源码

def attenuate_rectilinear(self, K, disparity, position):
        S, T = lat_long_grid([tf.shape(disparity)[1], tf.shape(disparity)[2]])
        _, T_grids = self.expand_grids(S, -T, tf.shape(disparity)[0])
        if position == "top":
            attenuated_disparity = (1.0 / np.pi) * (tf.atan(disparity / K[1] + tf.tan(T_grids)) - T_grids)
        else:
            attenuated_disparity = (1.0 / np.pi) * (T_grids - tf.atan(tf.tan(T_grids) - disparity / K[1]))
        return tf.clip_by_value(tf.where(tf.is_finite(attenuated_disparity), attenuated_disparity, tf.zeros_like(attenuated_disparity)), 1e-6, 0.75)