o oi@sndZddlmZddlmZddlmZdededefdd Zd ededefd d Zdededefd dZ dS)z.Module containing the affine distortion model.N)Tensor)KORNIA_CHECK_SHAPE#projected_points_in_camera_z1_planeparamsreturnc Cszt|ddgt|ddg|d}|d}|d|d}}|d|d}}|||}|||} tj|| gdd S) aUDistort one or more points from the canonical z=1 plane into the camera frame. .. math:: \begin{bmatrix} u \\ v \end{bmatrix} = \begin{bmatrix} f_x & 0 \\ 0 & f_y \end{bmatrix} \begin{bmatrix} x \\ y \end{bmatrix} + \begin{bmatrix} c_x \\ c_y \end{bmatrix} Args: projected_points_in_camera_z1_plane: Tensor representing the points to distort with shape (..., 2). params: Tensor representing the parameters of the affine distortion model with shape (..., 4). Returns: Tensor representing the distorted points with shape (..., 2). Example: >>> points = torch.tensor([319.5, 239.5]) # center of a 640x480 image >>> params = torch.tensor([600., 600., 319.5, 239.5]) >>> distort_points_affine(points, params) tensor([192019.5000, 143939.5000]) *24.r...dimropsstack) rrxyfxfycxcyuvr\/home/ubuntu/.local/lib/python3.10/site-packages/kornia/geometry/camera/distortion_affine.pydistort_points_affine  r!distorted_points_in_camerac Cszt|ddgt|ddg|d}|d}|d|d}}|d|d}}|||}|||} tj|| gdd S) aGUndistort one or more points from the camera frame into the canonical z=1 plane. .. math:: \begin{bmatrix} x \\ y \end{bmatrix} = \begin{bmatrix} u \\ v \end{bmatrix} - \begin{bmatrix} c_x \\ c_y \end{bmatrix} \begin{bmatrix} f_x & 0 \\ 0 & f_y \end{bmatrix}^{-1} Args: distorted_points_in_camera: Tensor representing the points to undistort with shape (..., 2). params: Tensor representing the parameters of the affine distortion model with shape (..., 4). Returns: Tensor representing the undistorted points with shape (..., 2). Example: >>> points = torch.tensor([319.5, 239.5]) # center of a 640x480 image >>> params = torch.tensor([600., 600., 319.5, 239.5]) >>> undistort_points_affine(points, params) tensor([0., 0.]) rrr r r r rrrr) r#rrrrrrrrrrrr undistort_points_affine@r"r$cCsft|ddgt|ddg|d|d}}t|}tjtj||gddtj||gddgddS) a0Compute the derivative of the x distortion with respect to the x coordinate. .. math:: \frac{\partial u}{\partial x} = \begin{bmatrix} f_x & 0 \\ 0 & f_y \end{bmatrix} Args: projected_points_in_camera_z1_plane: Tensor representing the points to distort with shape (..., 2). params: Tensor representing the parameters of the affine distortion model with shape (..., 4). Returns: Tensor representing the derivative of the x distortion with respect to the x coordinate with shape (..., 2). Example: >>> points = torch.tensor([319.5, 239.5]) # center of a 640x480 image >>> params = torch.tensor([600., 600., 319.5, 239.5]) >>> dx_distort_points_affine(points, params) tensor([[600., 0.], [ 0., 600.]]) rrr r r rr)rr zeros_liker)rrrrzerosrrr dx_distort_points_affinefs  .r() __doc__ kornia.corecorerrkornia.core.checkrr!r$r(rrrr s   &&