(
self,
hidden_size=768,
mlp_ratio=4,
pose_mode=("exp", -inf, inf),
pose_encoding_type="absT_quaR",
)
| 45 | |
| 46 | class PoseEncoder(nn.Module): |
| 47 | def __init__( |
| 48 | self, |
| 49 | hidden_size=768, |
| 50 | mlp_ratio=4, |
| 51 | pose_mode=("exp", -inf, inf), |
| 52 | pose_encoding_type="absT_quaR", |
| 53 | ): |
| 54 | super().__init__() |
| 55 | self.pose_encoding_type = pose_encoding_type |
| 56 | self.pose_mode = pose_mode |
| 57 | |
| 58 | if self.pose_encoding_type == "absT_quaR": |
| 59 | self.target_dim = 7 |
| 60 | |
| 61 | self.embed_pose = PoseEmbedding( |
| 62 | target_dim=self.target_dim, |
| 63 | out_dim=hidden_size, |
| 64 | n_harmonic_functions=10, |
| 65 | append_input=True, |
| 66 | ) |
| 67 | self.pose_encoder = Mlp( |
| 68 | in_features=self.embed_pose.out_dim, |
| 69 | hidden_features=int(hidden_size * mlp_ratio), |
| 70 | out_features=hidden_size, |
| 71 | drop=0, |
| 72 | ) |
| 73 | |
| 74 | def forward(self, camera): |
| 75 | pose_enc = camera_to_pose_encoding( |
nothing calls this directly
no test coverage detected