gridgen.py 文件源码

def forward(self, depth, trans0, trans1, rotate):
        self.batchgrid3d = torch.zeros(torch.Size([depth.size(0)]) + self.grid3d.size())

        for i in range(depth.size(0)):
            self.batchgrid3d[i] = self.grid3d

        self.batchgrid3d = Variable(self.batchgrid3d)

        self.batchgrid = torch.zeros(torch.Size([depth.size(0)]) + self.grid.size())

        for i in range(depth.size(0)):
            self.batchgrid[i] = self.grid

        self.batchgrid = Variable(self.batchgrid)

        x = self.batchgrid3d[:,:,:,0:1] * depth + trans0.view(-1,1,1,1).repeat(1, self.height, self.width, 1)

        y = self.batchgrid3d[:,:,:,1:2] * depth + trans1.view(-1,1,1,1).repeat(1, self.height, self.width, 1)
        z = self.batchgrid3d[:,:,:,2:3] * depth
        #print(x.size(), y.size(), z.size())
        r = torch.sqrt(x**2 + y**2 + z**2) + 1e-5

        #print(r)
        theta = torch.acos(z/r)/(np.pi/2)  - 1
        #phi = torch.atan(y/x)
        phi = torch.atan(y/(x + 1e-5))  + np.pi * x.lt(0).type(torch.FloatTensor) * (y.ge(0).type(torch.FloatTensor) - y.lt(0).type(torch.FloatTensor))
        phi = phi/np.pi

        #print(theta.size(), phi.size())


        input_u = rotate.view(-1,1,1,1).repeat(1,self.height, self.width,1)

        output = torch.cat([theta,phi], 3)
        #print(output.size())

        output1 = torch.atan(torch.tan(np.pi/2.0*(output[:,:,:,1:2] + self.batchgrid[:,:,:,2:] * input_u[:,:,:,:])))  /(np.pi/2)
        output2 = torch.cat([output[:,:,:,0:1], output1], 3)

        return output2