g ZddlmZddlZddlmZddlmZGddejZy))OptionalN)nn) functionalceZdZdZ d dedeejffd Zde jde jde jfdZ xZ S) FOVNetworkz!Field of View estimation network. num_features fov_encoderc rt|tj||dzdddtjdg}tj|dz|dzdddtjdtj|dz|dzdddtjdtj|dzdddd g}|Ttj |tj |j|dz|_tj ||_ n||z}tj ||_ y ) zInitialize the Field of View estimation block. Args: ---- num_features: Number of features used. fov_encoder: Optional encoder to bring additional network capacity. ) kernel_sizestridepaddingTrN) super__init__rConv2dReLU SequentialLinear embed_dimencoder downsamplehead)selfrr fov_head0fov_head __class__s B/home/cameronsmith/repos/ml-depth-pro/src/depth_pro/network/fov.pyrzFOVNetwork.__init__s"  IIla/QqRS  GGDM   II!<1#4!AWX  GGDM II!<1#4!AWX  GGDM IIla'!Q O    "==RYY{'<'OPDL!mmY7DO 8+HMM8, xlowres_featurereturnct|drktj|dddd}|j|ddddfj dd d}|j |}|j ||z}n|}|j|S) zForward the fov network. Args: ---- x (torch.Tensor): Input image. lowres_feature (torch.Tensor): Low resolution feature. Returns: ------- The field of view tensor. rNg?bilinearF)size scale_factormode align_cornersr rr )hasattrF interpolaterpermuter reshape_asr)rr$r%s r"forwardzFOVNetwork.forward8s 4 # !# A Q12&..q!Q7A!__^r?s% $GGr#