Build camera param.
(self, camera_cfg)
| 240 | return start, mean_lst |
| 241 | |
| 242 | def get_camera_param(self, camera_cfg): |
| 243 | """Build camera param.""" |
| 244 | camera_pos_scale = camera_cfg.get('pos_func') |
| 245 | if camera_pos_scale == 'softplus': |
| 246 | camera_scale_func = F.softplus |
| 247 | elif camera_pos_scale == 'exp': |
| 248 | camera_scale_func = torch.exp |
| 249 | elif camera_pos_scale == 'none' or camera_pos_scale == 'None': |
| 250 | |
| 251 | def func(x): |
| 252 | return x |
| 253 | |
| 254 | camera_scale_func = func |
| 255 | mean_scale = camera_cfg.get('mean_scale', 0.9) |
| 256 | if camera_pos_scale == 'softplus': |
| 257 | mean_scale = np.log(np.exp(mean_scale) - 1) |
| 258 | elif camera_pos_scale == 'exp': |
| 259 | mean_scale = np.log(mean_scale) |
| 260 | camera_mean = torch.tensor([mean_scale, 0.0, 0.0], dtype=torch.float32) |
| 261 | camera_param_dim = 3 |
| 262 | return camera_mean, camera_param_dim, camera_scale_func |
| 263 | |
| 264 | def flat_params_to_dict(self, param_tensor): |
| 265 | """Turn param tensors to dict.""" |