| import torch | |
| def plane_grid_2d(xbound, ybound): | |
| xmin, xmax = xbound[0], xbound[1] | |
| num_x = int((xbound[1] - xbound[0]) / xbound[2]) | |
| ymin, ymax = ybound[0], ybound[1] | |
| num_y = int((ybound[1] - ybound[0]) / ybound[2]) | |
| y = torch.linspace(xmin, xmax, num_x).cuda() | |
| x = torch.linspace(ymin, ymax, num_y).cuda() | |
| y, x = torch.meshgrid(x, y) | |
| x = x.flatten() | |
| y = y.flatten() | |
| coords = torch.stack([x, y], axis=0) | |
| return coords | |
| def cam_to_pixel(points, xbound, ybound): | |
| new_points = torch.zeros_like(points) | |
| new_points[..., 0] = (points[..., 0] - xbound[0]) / xbound[2] | |
| new_points[..., 1] = (points[..., 1] - ybound[0]) / ybound[2] | |
| return new_points | |
| def get_rot_2d(yaw): | |
| sin_yaw = torch.sin(yaw) | |
| cos_yaw = torch.cos(yaw) | |
| rot = torch.zeros(list(yaw.shape) + [2, 2]).cuda() | |
| rot[..., 0, 0] = cos_yaw | |
| rot[..., 0, 1] = sin_yaw | |
| rot[..., 1, 0] = -sin_yaw | |
| rot[..., 1, 1] = cos_yaw | |
| return rot | |