o oi @sTdZddlmZmZddlZddlmZddlm Z m Z m Z m Z ddl mZddlmZmZddlmZd d lmZd ed e d e fddZdeee fdeee fd e fddZde deee fd e fddZde de de d e fddZd+de ded ee e e ffd d!Zde de d"e d e fd#d$Zd%e d ee e ffd&d'Zd(e d e fd)d*ZdS),zModule for image projections.)TupleUnionN)qr)Tensor concatenatepadstack)KORNIA_CHECK_SHAPE)eye_likevec_like_torch_svd_cast)cross_product_matrixfocalinputreturncCst|jdkr t|j|dkrt||j\}}}}td|}|d|9<|d|9<|dd|d7<|d d|d7<|S) aReturn a 3x3 intrinsics matrix, with same size as the input. The center of projection will be based in the input image size. Args: focal: the focal length for the camera matrix. input: image tensor that will determine the batch size and image height and width. It is assumed to be a tensor in the shape of :math:`(B, C, H, W)`. Returns: The camera matrix with the shape of :math:`(B, 3, 3)`. r.rr.rr.r?r.rr)lenshapeAssertionErrorr )rr_HW intrinsicsr"W/home/ubuntu/.local/lib/python3.10/site-packages/kornia/geometry/epipolar/projection.pyintrinsics_like!s  r$lowhighc Csptj||}|d}|d|d|d|df\}}}}tj|d|gd||ggdg|j|jd}|dS) zGenerate a random camera matrix based on a given uniform distribution. Args: low: lower range (inclusive). high: upper range (exclusive). Returns: the random camera matrix with the shape of :math:`(1, 3, 3)`. )rrrrr)r'r'r)dtypedevice)torch distributionsUniformsampletensorr(r) unsqueeze) r%r&samplerparamsfxfycxcy camera_matrixr"r"r#random_intrinsics>s  $* r7r6 scale_factorcCsL|}|d|9<|d|9<|d|9<|d|9<|S)aScale a camera matrix containing the intrinsics. Applies the scaling factor to the focal length and center of projection. Args: camera_matrix: the camera calibration matrix containing the intrinsic parameters. The expected shape for the tensor is :math:`(B, 3, 3)`. scale_factor: the scaling factor to be applied. Returns: The scaled camera matrix with shame shape as input :math:`(B, 3, 3)`. rrrr)clone)r6r8K_scaler"r"r#scale_intrinsicsPs r;KRtcCst|gdt|gdt|gdt|jt|jkr)t|jks,ttt||gdd}t|gddd}|dd 7<t|gd dd}|dd 7<||S) aGet the projection matrix P from K, R and t. This function estimate the projection matrix by solving the following equation: :math:`P = K * [R|t]`. Args: K: the camera matrix with the intrinsics with shape :math:`(B, 3, 3)`. R: The rotation matrix with shape :math:`(B, 3, 3)`. t: The translation vector with shape :math:`(B, 3, 1)`. Returns: The projection matrix P with shape :math:`(B, 4, 4)`. *3rA)r@rA1dim)rrrrconstantr').rCrCr)rrrr)r rrrrr)r<r=r>RtRt_hK_hr"r"r#projection_from_KRtfs$rJư>Pepsc Cs"t|gd|ddddddf}|dddddfd}tjgdgdgdg|j|jd d}t||dd d }t|\}}t||dd d }t|t|dd d |}tj |d dd |}t |}t |} t|| } t| |} tt | |} | | | fS)aDecompose the Projection matrix into Camera-Matrix, Rotation Matrix and Translation vector. Args: P: the projection matrix with shape :math:`(B, 3, 4)`. eps: epsilon for numerical stability. Returns: - The Camera matrix with shape :math:`(B, 3, 3)`. - The Rotation matrix with shape :math:`(B, 3, 3)`. - The Translation vector with shape :math:`(B, 3)`. )r@rA4NrrrC)rrr)rrr)rrr)r)r(rr)dim1dim2) r r/r*r.r)r(matmulpermute linalg_qrdiagonalsign diag_embedinverse) rLrM submat_3x3 last_columnreverse ortho_mat upper_mat diagonalssigns signs_matr<r=r>r"r"r#KRt_from_projections ,      raXcCs8||dd}|ddddf|ddddf}|S)aFReturn the depth of a point transformed by a rigid transform. Args: R: The rotation matrix with shape :math:`(*, 3, 3)`. t: The translation vector with shape :math:`(*, 3, 1)`. X: The 3d points with shape :math:`(*, 3)`. Returns: The depth value per point with shape :math:`(*, 1)`. rOrC.rN) transpose)r=r>rbX_tmpX_outr"r"r#depth_from_points $rfAcCst|\}}}|d|dfS)zgCompute the null space of A. Return the smallest singular value and the corresponding vector. ).rCr )rgrsvr"r"r# _nullspacesrjF_matc Cst|gdtd|}td|}|dd}t|\}}t||}|ddddf}tj||gdd}tj||gdd} t|| gddS)zGet the projection matrices from the Fundamental Matrix. Args: F_mat: the fundamental matrix with the shape :math:`(B, 3, 3)`. Returns: The projection matrices with shape :math:`(B, 3, 4, 2)`. r?rrOrC.NrD) r r r rcrjrr*catr) rkR1t1Ft_matre2R2t2P1P2r"r"r#projections_from_fundamentals     ru)rK)__doc__typingrrr* torch.linalgrrT kornia.corerrrrkornia.core.checkr kornia.utilsr r kornia.utils.helpersr numericrfloatr$r7r;rJrarfrjrur"r"r"r#s"    &"$