def __init__(self, img_size=[128, 416], smooth_term = 'lap'):
super(LKVOKernel, self).__init__()
self.img_size = img_size
self.fliplr_func = FlipLR(imW=img_size[1], dim_w=3)
self.vo = DirectVO(imH=img_size[0], imW=img_size[1], pyramid_layer_num=4)
self.pose_net = PoseNet(3)
#self.depth_net = VggDepthEstimator(img_size)
self.depth_net = FDCDepthEstimator(img_size)
self.pyramid_func = ImagePyramidLayer(chan=1, pyramid_layer_num=4)
self.smooth_term = smooth_term
def __init__(self, img_size=[128, 416], smooth_term = 'lap', use_expl_mask=False):
super(SfMKernel, self).__init__()
self.img_size = img_size
self.fliplr_func = FlipLR(imW=img_size[1], dim_w=3)
self.vo = DirectVO(imH=img_size[0], imW=img_size[1], pyramid_layer_num=4)
self.depth_net = VggDepthEstimator(img_size)
if use_expl_mask:
self.pose_net = PoseExpNet(3)
else:
self.pose_net = PoseNet(3)
self.pyramid_func = ImagePyramidLayer(chan=1, pyramid_layer_num=4)
self.smooth_term = smooth_term
self.use_expl_mask = use_expl_mask