init project

modules/dust3r/cloud_opt/modular_optimizer.py

@@ -127,17 +127,19 @@ class ModularPointCloudOptimizer (BasePCOptimizer):
     def get_depthmaps(self):
         return [d.exp() for d in self.im_depthmaps]
 
+    def focal_ex(self, focals, i): 
+        # convert focal to (1,2,H,W) constant field
+        return focals[i][..., None, None].expand(1, *focals[i].shape, *self.imshapes[i])
+
     def depth_to_pts3d(self):
         # Get depths and  projection params if not provided
         focals = self.get_focals()
         pp = self.get_principal_points()
         im_poses = self.get_im_poses()
         depth = self.get_depthmaps()
-
-        # convert focal to (1,2,H,W) constant field
-        def focal_ex(i): return focals[i][..., None, None].expand(1, *focals[i].shape, *self.imshapes[i])
+        
         # get pointmaps in camera frame
-        rel_ptmaps = [depthmap_to_pts3d(depth[i][None], focal_ex(i), pp=pp[i:i+1])[0] for i in range(im_poses.shape[0])]
+        rel_ptmaps = [depthmap_to_pts3d(depth[i][None], self.focal_ex(focals, i), pp=pp[i:i+1])[0] for i in range(im_poses.shape[0])]
         # project to world frame
         return [geotrf(pose, ptmap) for pose, ptmap in zip(im_poses, rel_ptmaps)]