o i@sddlZddlmmZ dddZ dddZdejdejfdd Zd ejdejfd d Z d ejdejfddZ dejdejfddZ ddZ dS)Nc Cs|ddddddddf}|dddddddf}t|}|\}}dt|d|d}dt|d|d} tj|||d| dgdd} | S) zDConvert camera extrinsics and intrinsics to a compact pose encoding.N.r.rr.Ndim) mat_to_quattorchatancatfloat) extrinsics intrinsics image_size_hwRTquatHWfov_hfov_w pose_encodingrD/data/cameron/da3_repo/src/depth_anything_3/model/utils/transform.pyextri_intri_to_pose_encodings "rc Cs|dddf}|dddf}|d}|d}t|}tj||dgdd }|\}} |d tt|d d } | d tt|d d } tj|jdd d |jd} | | d<| | d<| d | d<|d | d<d| d<|| fS)zAConvert a pose encoding back to camera extrinsics and intrinsics..Nr).r).rrr @gư>rrr)devicerr).rr).rr?).rr) quat_to_matr rclamptanzerosshaper") rrrrrrrrrrfyfxrrrrpose_encoding_to_extri_intri)s   r+ quaternionsreturncCst|d\}}}}d||d}td||||||||||||||||||||d||||||||||||||||||||d|||||f d}||jdddS)a, Quaternion Order: XYZW or say ijkr, scalar-last Convert rotations given as quaternions to rotation matrices. Args: quaternions: quaternions with real part last, as tensor of shape (..., 4). Returns: Rotation matrices as tensor of shape (..., 3, 3). rr rNr!)r unbindsumstackreshaper()r,ijkrZtwo_sorrrr$Ds   r$matrixc Cs|ddks|ddkrtd|jd|jdd}tj||ddd\ }}}}}}}} } ttjd ||| d ||| d ||| d ||| gdd} tjtj| d d | |||||gddtj| || d d ||||gddtj||||| d d || gddtj||||| || dd gddgdd} tdj | j | j d} | d| d | }|t j| jdddddkddf|d}|dgdf}t|}|S)a Convert rotations given as rotation matrices to quaternions. Args: matrix: Rotation matrices as tensor of shape (..., 3, 3). Returns: quaternions with real part last, as tensor of shape (..., 4). Quaternion Order: XYZW or say ijkr, scalar-last rrzInvalid rotation matrix shape .N) r r#).rr).r).r).rg?)dtyper"r r) num_classesg?)r<.)rrrr)size ValueErrorr(r r.r1_sqrt_positive_partr0tensortor;r"maxFone_hotargmaxstandardize_quaternion)r7 batch_dimm00m01m02m10m11m12m20m21m22Zq_absZ quat_by_rijkZflrZquat_candidatesoutrrrr ds@  (((( &r xcCsHt|}|dk}trt||||<|St|t||}|S)z[ Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0. r)r zeros_likeis_grad_enabledsqrtwhere)rSretZ positive_maskrrrr@s r@cCs t|dddfdk| |S)a Convert a unit quaternion to a standard form: one in which the real part is non negative. Args: quaternions: Quaternions with real part last, as tensor of shape (..., 4). Returns: Standardized quaternions as tensor of shape (..., 4). .rr<r)r rW)r,rrrrGs rGc Cs|jdd\}}tj|dddf|dddf|dddf|dddfgdd}|dd}t|||dd}|dddddf}t||}|ddd} t| } | ||d} | S) Nr.rr<rrrr )r(r rr1r$matmulr ) Z cam_quat_xyzwc2wbnZ cam_quat_wxyzZcam_quat_wxyz_flatZ rotmat_camZ rotmat_c2wZ rotmat_worldZrotmat_world_flatZworld_quat_wxyz_flatZworld_quat_wxyzrrr cam_quat_xyzw_to_world_quat_wxyzs"  r])N) r Ztorch.nn.functionalnn functionalrDrr+Tensorr$r r@rGr]rrrrs   7