o oi @s|ddlZddlmmZddlmZmZmZm Z dej dej dej fddZ dd ej d ej dej d e dej f d d Z dS)N)convert_points_from_homogeneousconvert_points_to_homogeneous"denormalize_points_with_intrinsics normalize_points_with_intrinsicspoint_3d camera_matrixreturncCst|}t||S)a[Project a 3d point onto the 2d camera plane. Args: point_3d: tensor containing the 3d points to be projected to the camera plane. The shape of the tensor can be :math:`(*, 3)`. camera_matrix: tensor containing the intrinsics camera matrix. The tensor shape must be :math:`(*, 3, 3)`. Returns: tensor of (u, v) cam coordinates with shape :math:`(*, 2)`. Example: >>> _ = torch.manual_seed(0) >>> X = torch.rand(1, 3) >>> K = torch.eye(3)[None] >>> project_points(X, K) tensor([[5.6088, 8.6827]]) )rr)rr xy_coordsr V/home/ubuntu/.local/lib/python3.10/site-packages/kornia/geometry/camera/perspective.pyproject_pointss r Fpoint_2ddepth normalizecCsjt|tjstdt||jddkstd|jt||}t|}|r1t j |ddd}||S)a Unproject a 2d point in 3d. Transform coordinates in the pixel frame to the camera frame. Args: point_2d: tensor containing the 2d to be projected to world coordinates. The shape of the tensor can be :math:`(*, 2)`. depth: tensor containing the depth value of each 2d points. The tensor shape must be equal to point2d :math:`(*, 1)`. camera_matrix: tensor containing the intrinsics camera matrix. The tensor shape must be :math:`(*, 3, 3)`. normalize: whether to normalize the pointcloud. This must be set to `True` when the depth is represented as the Euclidean ray length from the camera position. Returns: tensor of (x, y, z) world coordinates with shape :math:`(*, 3)`. Example: >>> _ = torch.manual_seed(0) >>> x = torch.rand(1, 2) >>> depth = torch.ones(1, 1) >>> K = torch.eye(3)[None] >>> unproject_points(x, depth, K) tensor([[0.4963, 0.7682, 1.0000]]) z,Input depth type is not a torch.Tensor. Got z0Input depth must be in the shape of (*, 1). Got g@)dimp) isinstancetorchTensor TypeErrortypeshape ValueErrorrrFr)r rrrxyxyzr r r unproject_points9s  r)F)rtorch.nn.functionalnn functionalrkornia.geometry.conversionsrrrrrr boolrr r r r s