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pose encoder model

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luni
2023-05-09 23:05:07 +00:00
parent 3f60403167
commit a8647951aa
5 changed files with 288 additions and 93 deletions
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utils/data_utils.py
+2 -2
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@@ -113,10 +113,10 @@ def proj(camLoc):
return intrinsic().dot(extrinsic(camLoc))
def get_camera(cam, img_size, device):
def get_camera(cam, img_size, device, res_x=640, res_y=480):
size = np.array(img_size, dtype=np.float32)
ext = torch.tensor(extrinsic(cam).astype(np.float32), device=device)
K = torch.tensor(intrinsic()[None, :, :], device=device)
K = torch.tensor(intrinsic(res_x, res_y)[None, :, :], device=device)
cameras = cameras_from_opencv_projection(R=ext[None, :, :3], tvec=ext[None, :, 3], camera_matrix=K, image_size=torch.tensor(size[None, :], device=device))
return cameras, K