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import torch
import numpy as np
from torch import nn
class NormGPS(nn.Module):
def __init__(self):
super().__init__()
def forward(self, x):
"""Normalize latitude longtitude radians to -1, 1.""" # not used currently
return x / torch.Tensor([np.pi * 0.5, np.pi]).unsqueeze(0).to(x.device)
class UnormGPS(nn.Module):
def __init__(self):
super().__init__()
def forward(self, x):
"""Unormalize latitude longtitude radians to -1, 1."""
x = torch.clamp(x, -1, 1)
return x * torch.Tensor([np.pi * 0.5, np.pi]).unsqueeze(0).to(x.device)
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