o oik@sLdZddlZddlmZmZdejdejfddZdejdejfd d ZdS) z4Module containing numerical functionalities for SfM.N)stack zeros_likexreturnc Csx|jddks t|j|d}|d}|d}t|}t|| |||| | ||g dd}|jddd}|j|S) a Return the cross_product_matrix symmetric matrix of a vector. Args: x: The input vector to construct the matrix in the shape :math:`(*, 3)`. Returns: The constructed cross_product_matrix symmetric matrix with shape :math:`(*, 3, 3)`. ).r).).)dimN)rr)shapeAssertionErrorrrview)rx0x1x2zeroscross_product_matrix_flatshape_rT/home/ubuntu/.local/lib/python3.10/site-packages/kornia/geometry/epipolar/numeric.pycross_product_matrixs $ rmatrixcCsft|}|dk}|dkr/tj||dd|ddddf}t|}|||<|Std)zzCofactor matrix, refer to the numpy doc. Args: matrix: The input matrix in the shape :math:`(*, 3, 3)`. rrNzall singular matrices)torchdetsumlinalginv transposer Exception)rr singular_maskcofactorreturned_cofactorrrrmatrix_cofactor_tensor1s  * r#)__doc__r kornia.corerrTensorrr#rrrrs