o €o™i” ã@sfdZddlmZddlmZddlmZdedefdd„Zded edefd d „Zdedefd d „Z dS)z8Module containing functions for orthographic projection.éN)ÚTensor©ÚKORNIA_CHECK_SHAPEÚpoints_in_cameraÚreturncCst|ddgƒ|ddd…fS)aðProject points from the camera frame into the canonical z=1 plane through orthographic projection. .. math:: \begin{bmatrix} u \\ v \end{bmatrix} = \begin{bmatrix} x \\ y \\ z \end{bmatrix} Args: points_in_camera: Tensor representing the points to project. Returns: Tensor representing the projected points. Example: >>> points = torch.tensor([1., 2., 3.]) >>> project_points_orthographic(points) tensor([1., 2.]) Ú*Ú3.Nér©r©r úb/home/ubuntu/.local/lib/python3.10/site-packages/kornia/geometry/camera/projection_orthographic.pyÚproject_points_orthographicsr Ú extensioncCs<t|ddgƒt|jƒt|jƒkr|d}tj||gddS)a«Unproject one or more points from the canonical z=1 plane into the camera frame. .. math:: \begin{bmatrix} x \\ y \\ z \end{bmatrix} = \begin{bmatrix} u \\ v \\ w \end{bmatrix} Args: points_in_camera: Tensor representing the points to unproject with shape (..., 2). extension: Tensor representing the extension of the points to unproject with shape (..., 1). Returns: Tensor representing the unprojected points with shape (..., 3). Example: >>> points = torch.tensor([1., 2.]) >>> extension = torch.tensor([3.]) >>> unproject_points_orthographic(points, extension) tensor([1., 2., 3.]) rÚ2).Néÿÿÿÿ)Údim)rÚlenÚshapeÚopsÚ concatenate)rrr r r Úunproject_points_orthographic2srcCs$t|ddgƒt |ddd…f¡S)aÐCompute the derivative of the x projection with respect to the x coordinate. .. math:: \frac{\partial u}{\partial x} = 1 Args: points_in_camera: Tensor representing the points to project. Returns: Tensor representing the derivative of the x projection with respect to the x coordinate. Example: >>> points = torch.tensor([1., 2., 3.]) >>> dx_project_points_orthographic(points) tensor([1.]) rr.ré)rrÚ ones_liker r r r Údx_project_points_orthographicOsr) Ú__doc__Ú kornia.coreÚcorerrÚkornia.core.checkrr rrr r r r Ús