我们从Python开源项目中，提取了以下19个代码示例，用于说明如何使用torch.acos()。
def forward(self, input1): self.batchgrid3d = torch.zeros(torch.Size([input1.size(0)]) + self.grid3d.size()) for i in range(input1.size(0)): self.batchgrid3d[i] = self.grid3d self.batchgrid3d = Variable(self.batchgrid3d) #print(self.batchgrid3d) x = torch.sum(torch.mul(self.batchgrid3d, input1[:,:,:,0:4]), 3) y = torch.sum(torch.mul(self.batchgrid3d, input1[:,:,:,4:8]), 3) z = torch.sum(torch.mul(self.batchgrid3d, input1[:,:,:,8:]), 3) #print(x) r = torch.sqrt(x**2 + y**2 + z**2) + 1e-5 #print(r) theta = torch.acos(z/r)/(np.pi/2) - 1 #phi = torch.atan(y/x) phi = torch.atan(y/(x + 1e-5)) + np.pi * x.lt(0).type(torch.FloatTensor) * (y.ge(0).type(torch.FloatTensor) - y.lt(0).type(torch.FloatTensor)) phi = phi/np.pi output = torch.cat([theta,phi], 3) return output
def test_acos(self): self._testMath(torch.acos, lambda x: math.acos(x) if abs(x) <= 1 else float('nan'))
def forward(self, input1, input2): self.batchgrid3d = torch.zeros(torch.Size([input1.size(0)]) + self.grid3d.size()) for i in range(input1.size(0)): self.batchgrid3d[i] = self.grid3d self.batchgrid3d = Variable(self.batchgrid3d) self.batchgrid = torch.zeros(torch.Size([input1.size(0)]) + self.grid.size()) for i in range(input1.size(0)): self.batchgrid[i] = self.grid self.batchgrid = Variable(self.batchgrid) #print(self.batchgrid3d) x = torch.sum(torch.mul(self.batchgrid3d, input1[:,:,:,0:4]), 3) y = torch.sum(torch.mul(self.batchgrid3d, input1[:,:,:,4:8]), 3) z = torch.sum(torch.mul(self.batchgrid3d, input1[:,:,:,8:]), 3) #print(x) r = torch.sqrt(x**2 + y**2 + z**2) + 1e-5 #print(r) theta = torch.acos(z/r)/(np.pi/2) - 1 #phi = torch.atan(y/x) phi = torch.atan(y/(x + 1e-5)) + np.pi * x.lt(0).type(torch.FloatTensor) * (y.ge(0).type(torch.FloatTensor) - y.lt(0).type(torch.FloatTensor)) phi = phi/np.pi input_u = input2.view(-1,1,1,1).repeat(1,self.height, self.width,1) output = torch.cat([theta,phi], 3) output1 = torch.atan(torch.tan(np.pi/2.0*(output[:,:,:,1:2] + self.batchgrid[:,:,:,2:] * input_u[:,:,:,:]))) /(np.pi/2) output2 = torch.cat([output[:,:,:,0:1], output1], 3) return output2
def forward(self, depth, trans0, trans1, rotate): self.batchgrid3d = torch.zeros(torch.Size([depth.size(0)]) + self.grid3d.size()) for i in range(depth.size(0)): self.batchgrid3d[i] = self.grid3d self.batchgrid3d = Variable(self.batchgrid3d) self.batchgrid = torch.zeros(torch.Size([depth.size(0)]) + self.grid.size()) for i in range(depth.size(0)): self.batchgrid[i] = self.grid self.batchgrid = Variable(self.batchgrid) x = self.batchgrid3d[:,:,:,0:1] * depth + trans0.view(-1,1,1,1).repeat(1, self.height, self.width, 1) y = self.batchgrid3d[:,:,:,1:2] * depth + trans1.view(-1,1,1,1).repeat(1, self.height, self.width, 1) z = self.batchgrid3d[:,:,:,2:3] * depth #print(x.size(), y.size(), z.size()) r = torch.sqrt(x**2 + y**2 + z**2) + 1e-5 #print(r) theta = torch.acos(z/r)/(np.pi/2) - 1 #phi = torch.atan(y/x) phi = torch.atan(y/(x + 1e-5)) + np.pi * x.lt(0).type(torch.FloatTensor) * (y.ge(0).type(torch.FloatTensor) - y.lt(0).type(torch.FloatTensor)) phi = phi/np.pi #print(theta.size(), phi.size()) input_u = rotate.view(-1,1,1,1).repeat(1,self.height, self.width,1) output = torch.cat([theta,phi], 3) #print(output.size()) output1 = torch.atan(torch.tan(np.pi/2.0*(output[:,:,:,1:2] + self.batchgrid[:,:,:,2:] * input_u[:,:,:,:]))) /(np.pi/2) output2 = torch.cat([output[:,:,:,0:1], output1], 3) return output2
def rotation_error(input, target): x1 = torch.norm(input, dim=1) x2 = torch.norm(target, dim=1) x1 = torch.div(input, torch.stack((x1, x1, x1, x1), dim=1)) x2 = torch.div(target, torch.stack((x2, x2, x2, x2), dim=1)) d = torch.abs(torch.sum(x1 * x2, dim=1)) theta = 2 * torch.acos(d) * 180/math.pi theta = torch.mean(theta) return theta
def rotation_error(input, target): """Gets cosine distance between input and target """ x1 = torch.norm(input, dim=1) x2 = torch.norm(target, dim=1) x1 = torch.div(input, torch.stack((x1, x1, x1, x1), dim=1)) x2 = torch.div(target, torch.stack((x2, x2, x2, x2), dim=1)) d = torch.abs(torch.sum(x1 * x2, dim=1)) theta = 2 * torch.acos(d) * 180/math.pi theta = torch.mean(theta) return theta
def forward(self, depth, trans0, trans1, rotate): self.batchgrid3d = torch.zeros(torch.Size([depth.size(0)]) + self.grid3d.size()) for i in range(depth.size(0)): self.batchgrid3d[i] = self.grid3d self.batchgrid3d = Variable(self.batchgrid3d) self.batchgrid = torch.zeros(torch.Size([depth.size(0)]) + self.grid.size()) for i in range(depth.size(0)): self.batchgrid[i] = self.grid self.batchgrid = Variable(self.batchgrid) if depth.is_cuda: self.batchgrid = self.batchgrid.cuda() self.batchgrid3d = self.batchgrid3d.cuda() x_ = self.batchgrid3d[:,:,:,0:1] * depth + trans0.view(-1,1,1,1).repeat(1, self.height, self.width, 1) y_ = self.batchgrid3d[:,:,:,1:2] * depth + trans1.view(-1,1,1,1).repeat(1, self.height, self.width, 1) z = self.batchgrid3d[:,:,:,2:3] * depth #print(x.size(), y.size(), z.size()) rotate_z = rotate.view(-1,1,1,1).repeat(1,self.height, self.width,1) * np.pi x = x_ * torch.cos(rotate_z) - y_ * torch.sin(rotate_z) y = x_ * torch.sin(rotate_z) + y_ * torch.cos(rotate_z) r = torch.sqrt(x**2 + y**2 + z**2) + 1e-5 #print(r) theta = torch.acos(z/r)/(np.pi/2) - 1 #phi = torch.atan(y/x) if depth.is_cuda: phi = torch.atan(y/(x + 1e-5)) + np.pi * x.lt(0).type(torch.cuda.FloatTensor) * (y.ge(0).type(torch.cuda.FloatTensor) - y.lt(0).type(torch.cuda.FloatTensor)) else: phi = torch.atan(y/(x + 1e-5)) + np.pi * x.lt(0).type(torch.FloatTensor) * (y.ge(0).type(torch.FloatTensor) - y.lt(0).type(torch.FloatTensor)) phi = phi/np.pi output = torch.cat([theta,phi], 3) return output
