def __init__(self, version=None, **kwargs):
super().__init__()
assert version is not None, "DispResNet needs a version"
num_layers = int(version[:2]) # First two characters are the number of layers
pretrained = version[2:] == 'pt' # If the last characters are "pt", use ImageNet pretraining
assert num_layers in [18, 34, 50], 'ResNet version {} not available'.format(num_layers)
self.encoder = ResnetEncoder(num_layers=num_layers, pretrained=pretrained)
self.decoder = DepthDecoder(num_ch_enc=self.encoder.num_ch_enc)
self.scale_inv_depth = partial(disp_to_depth, min_depth=0.1, max_depth=100.0)
def __init__(self, version=None, **kwargs):
super().__init__()
assert version is not None, "PoseResNet needs a version"
num_layers = int(
version[:2]) # First two characters are the number of layers
pretrained = version[
2:] == 'pt' # If the last characters are "pt", use ImageNet pretraining
assert num_layers in [
18, 34, 50
], 'ResNet version {} not available'.format(num_layers)
self.encoder = ResnetEncoder(num_layers=num_layers,
pretrained=pretrained,
num_input_images=2)
self.decoder = PoseDecoder(self.encoder.num_ch_enc,
num_input_features=1,
num_frames_to_predict_for=2)