| 206 | return target_extrinsic, smpl_pose, smpl_trans |
| 207 | |
| 208 | class GMoF(nn.Module): |
| 209 | def __init__(self, rho=1): |
| 210 | super(GMoF, self).__init__() |
| 211 | self.rho = rho |
| 212 | |
| 213 | def extra_repr(self): |
| 214 | return 'rho = {}'.format(self.rho) |
| 215 | |
| 216 | def forward(self, residual): |
| 217 | squared_res = residual ** 2 |
| 218 | dist = torch.div(squared_res, squared_res + self.rho ** 2) |
| 219 | return self.rho ** 2 * dist |
| 220 | |
| 221 | class PerspectiveCamera(nn.Module): |
| 222 |