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import torch
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import numpy as np
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from torch import nn
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class NormGPS(nn.Module):
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def __init__(self):
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super().__init__()
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def forward(self, x):
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"""Normalize latitude longtitude radians to -1, 1."""
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return x / torch.Tensor([np.pi * 0.5, np.pi]).unsqueeze(0).to(x.device)
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class UnormGPS(nn.Module):
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def __init__(self):
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super().__init__()
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def forward(self, x):
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"""Unormalize latitude longtitude radians to -1, 1."""
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x = torch.clamp(x, -1, 1)
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return x * torch.Tensor([np.pi * 0.5, np.pi]).unsqueeze(0).to(x.device)
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