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b678162 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | from typing import Tuple, Dict, Set
import torch
from torch import Tensor
from jaxtyping import Float, Bool, UInt8, Int32
def inside_image(
pts2d: Float[Tensor, "n 2"],
image_size: Tuple[int, ...]
) -> Float[Tensor, " n"]:
H, W = image_size
px, py = pts2d.unbind(-1)
return (
(0 <= px) & (px < W) &
(0 <= py) & (py < H)
)
def get_uv_grid(
image_size: Tuple[int, int],
dtype=torch.float32
) -> Float[Tensor, "h w 2"]:
H, W = image_size
meshgrid = torch.meshgrid(torch.arange(W), torch.arange(H), indexing="xy")
id_coords = torch.stack(meshgrid, dim=-1).to(dtype)
return id_coords
def persp_project(xyz):
z = xyz[:, 2:]
uv = xyz[:, :2] / z
return uv, z
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