o €o™i– ã@sHddlmZddlmZddlmZmZGdd„dƒZGdd„dƒZdS) é)Ú annotations)ÚTensor)ÚVector2ÚVector3c@ó eZdZd dd„Zd d d „Zd S)Ú Z1ProjectionÚpointsrÚreturnrcCsL|jddd…f}|j}t|jƒr|j| ¡ ¡jn|jd|}t|ƒS)aÌProject one or more Vector3 from the camera frame into the canonical z=1 plane through perspective division. Args: points: Vector3 representing the points to project. Returns: Vector2 representing the projected points. Example: >>> points = Vector3.from_coords(1., 2., 3.) >>> Z1Projection().project(points) x: 0.3333333432674408 y: 0.6666666865348816 .Néé)ÚdataÚzÚlenÚshapeÚTÚdiagÚinverser)ÚselfrÚxyr Úuv©rúZ/home/ubuntu/.local/lib/python3.10/site-packages/kornia/sensors/camera/projection_model.pyÚprojects,zZ1Projection.projectÚdepthúTensor | floatcCs2t|ttfƒr t|gƒ}t |j||j||¡S)aUnproject one or more Vector2 from the canonical z=1 plane into the camera frame. Args: points: Vector2 representing the points to unproject. depth: Tensor representing the depth of the points to unproject. Returns: Vector3 representing the unprojected points. Example: >>> points = Vector2.from_coords(1., 2.) >>> Z1Projection().unproject(points, 3) x: tensor([3.]) y: tensor([6.]) z: tensor([3.]) )Ú isinstanceÚfloatÚintrrÚ from_coordsÚxÚy©rrrrrrÚ unproject.s zZ1Projection.unprojectN©rrr r)rrrrr r©Ú__name__Ú __module__Ú __qualname__rr"rrrrrs rc@r)ÚOrthographicProjectionrrr rcCót‚©N©ÚNotImplementedError)rrrrrrFózOrthographicProjection.projectrrcCr)r*r+r!rrrr"Ir-z OrthographicProjection.unprojectNr#)rrrrr rr$rrrrr(Es r(N) Ú __future__rÚ kornia.corerÚkornia.geometry.vectorrrrr(rrrrÚs  -