o €o™iê ã @shdZddlZddlmZddlmZddlmZddlm Z dej dej d ej d ej d ej f d d „Z dS)z2Module with the functionalities for triangulation.éN)Úzeros)ÚKORNIA_CHECK_SHAPE)Úconvert_points_from_homogeneous)Ú_torch_svd_castÚP1ÚP2Úpoints1Úpoints2Úreturnc Csht|gd¢ƒt|gd¢ƒt|gd¢ƒt|gd¢ƒt|j|jƒ}t|dd…dƒ |¡}tdƒD]n}|d|dd d …|f|dd d …|f|dd |f<|d |dd d …|f|dd d …|f|dd |f<|d|dd d …|f|dd d …|f|dd |f<|d |dd d …|f|dd d …|f|dd |f<q4t|ƒ\}}}|d} t| ƒ} | S)a¬Reconstructs a bunch of points by triangulation. Triangulates the 3d position of 2d correspondences between several images. Reference: Internally it uses DLT method from Hartley/Zisserman 12.2 pag.312 The input points are assumed to be in homogeneous coordinate system and being inliers correspondences. The method does not perform any robust estimation. Args: P1: The projection matrix for the first camera with shape :math:`(*, 3, 4)`. P2: The projection matrix for the second camera with shape :math:`(*, 3, 4)`. points1: The set of points seen from the first camera frame in the camera plane coordinates with shape :math:`(*, N, 2)`. points2: The set of points seen from the second camera frame in the camera plane coordinates with shape :math:`(*, N, 2)`. Returns: The reconstructed 3d points in the world frame with shape :math:`(*, N, 3)`. )Ú*Ú3Ú4)r ÚNÚ2Néÿÿÿÿ)érr).r.ééré).r).r)rÚmaxÚshaperÚtype_asÚrangerr) rrrr Ú points_shapeÚXÚiÚ_ÚVÚ points3d_hÚpoints3d©r úZ/home/ubuntu/.local/lib/python3.10/site-packages/kornia/geometry/epipolar/triangulation.pyÚtriangulate_pointss 6668r") Ú__doc__ÚtorchÚ kornia.corerÚkornia.core.checkrÚkornia.geometry.conversionsrÚkornia.utils.helpersrÚTensorr"r r r r!Ús"    ÿÿÿÿþ