iddlZddlmcmZ d dZ d dZdejdejfdZdejdejfdZ d ejdejfd Z dejdejfd Z d Z dS)Ncv|ddddddddf}|dddddddf}t|}|\}}dtj|dz |dz z}dtj|dz |dz z} tj|||d| dgd} | 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_encodings J/home/robot-lab/lab/da3_repo/src/depth_anything_3/model/utils/transform.pyextri_intri_to_pose_encodingrs 111aaa!RaR< A111aaa!Q;A q>>D DAq  AEZ %::;; ;E  AEZ %::;; ;EIq$i(8% :JKQSTTTZZ\\M c|dddf}|dddf}|d}|d}t|}tj||dgd }|\}} |d z tjtj|d z d z } | d z tjtj|d z d z } tj|jdd d z|j} | | d<| | d<| d z | d<|d z | d<d| d<|| fS)zAConvert a pose encoding back to camera extrinsics and intrinsics..Nr).r!).r r r @gư>rrr)devicerr).rr).rr?).rr) quat_to_matrrclamptanzerosshaper%) rrrrrrrrrrfyfxrs rpose_encoding_to_extri_intrir.)s, c2A2gA ac "D & !E & !EDAAq|,"555J DAq c'U[53;!7!7>> >B c'U[53;!7!7>> >B]0!4v=mFZ[[[JJyJyEJyEJyJy z !!r quaternionsreturnctj|d\}}}}d||zdz }tjd|||z||zzzz |||z||zz z|||z||zzz|||z||zzzd|||z||zzzz |||z||zz z|||z||zz z|||z||zzzd|||z||zzzz f d}||jdddzS)a, Quaternion Order: XYZW or say ijkr, scalar-last Convert rotations given as quaternions to rotation matrices. Args: quaternions: quaternions with real part last, as tensor of shape (..., 4). Returns: Rotation matrices as tensor of shape (..., 3, 3). r r#rNr$)runbindsumstackreshaper+)r/ijkrtwo_sos rr'r'Ds=k2..JAq!Q ;,11"55 5E QQ' ' QUQU] # QUQU] # QUQU] # QQ' ' QUQU] # QUQU] # QUQU] # QQ' '    A 99[&ss+f4 5 55rmatrixc |ddks|ddkrtd|jd|jdd}tj||dzd\ }}}}}}}} } t tjd |z|z| zd |z|z | z d |z |z| z d |z |z | zgd} tjtj| d d z| |z ||z ||z gdtj| |z | d d z||z||zgdtj||z ||z| d d z|| zgdtj||z ||z| |z| dd zgdgd} tjd | j | j } | d| d | zz }|tj| dddkddf|dz}|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 r rzInvalid rotation matrix shape .N) r r&).rr).r).r).rg?)dtyper%r#r ) num_classesg?)rB.)rrrr)size ValueErrorr+rr2r5_sqrt_positive_partr4tensortorAr%maxFone_hotargmaxstandardize_quaternion)r< batch_dimm00m01m02m10m11m12m20m21m22q_abs quat_by_rijkflrquat_candidatesouts rr r ds{{2!v{{2!33I&,IIIJJJ SbS!I27,y4'((b333/Cc3S#sC  c C#%c C#%c C#%c C#%        E; Kv!+S3Yc 39MSU V V V KsE&MQ$6c 39MSU V V V KsC#IuV}/A39MSU V V V KsC#IsSy%-1:LMSU V V V  L ,s    U[  F FC"cE),<,@,@,E,E&EFO !)ELLRL$8$8aHHH3NPQPQPQQ R Z ZD  C c<<< C  % %C Jrxctj|}|dk}tjrtj||||<n(tj|tj||}|S)z[ Returns torch.sqrt(torch.max(0, x)) but with a zero subgradient where x is 0. r)r zeros_likeis_grad_enabledsqrtwhere)r]ret positive_masks rrFrFsj  1  CEM ="Z-(899Mk-A<< JrcLtj|dddfdk| |S)a Convert a unit quaternion to a standard form: one in which the real part is non negative. Args: quaternions: Quaternions with real part last, as tensor of shape (..., 4). Returns: Standardized quaternions as tensor of shape (..., 4). .rrBr)rrb)r/s rrMrMs, ;{3!8,q0;, L LLrc |jdd\}}tj|dddf|dddf|dddf|dddfgd}|dd}t |||dd}|dddddf}tj||}|ddd} t | } | ||d} | S) Nr.rrBrrr r )r+rrr5r'matmulr ) cam_quat_xyzwc2wbn cam_quat_wxyzcam_quat_wxyz_flat rotmat_cam rotmat_c2w rotmat_worldrotmat_world_flatworld_quat_wxyz_flatworld_quat_wxyzs r cam_quat_xyzw_to_world_quat_wxyzrts   rr "DAqI #qs( # #qs( # #qs( # #qs( #  M'..r155/0088Aq!DDJS"1"bqb[!J< J77L$,,RA66&'899*221a;;O r)N) rtorch.nn.functionalnn functionalrJrr.Tensorr'r rFrMrtrrrzs  0""""66U\6el6666@4 44444n 5< EL     M M M M M Mr