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21 lines
900 B
Python
21 lines
900 B
Python
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import torch.nn as nn
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import torch
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class SampleNetwork(nn.Module):
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'''
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Represent the intersection (sample) point as differentiable function of the implicit geometry and camera parameters.
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See equation 3 in the paper for more details.
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'''
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def forward(self, surface_output, surface_sdf_values, surface_points_grad, surface_dists, surface_cam_loc, surface_ray_dirs):
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# t -> t(theta)
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surface_ray_dirs_0 = surface_ray_dirs.detach()
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surface_points_dot = torch.bmm(surface_points_grad.view(-1, 1, 3),
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surface_ray_dirs_0.view(-1, 3, 1)).squeeze(-1)
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surface_dists_theta = surface_dists - (surface_output - surface_sdf_values) / surface_points_dot
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# t(theta) -> x(theta,c,v)
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surface_points_theta_c_v = surface_cam_loc + surface_dists_theta * surface_ray_dirs
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return surface_points_theta_c_v
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