a dG@s$dZddlZejejdddZdS)z4Module containing numerical functionalities for SfM.N)xreturnc Cs||jddkst|j|d}|d}|d}t|}tj|| |||| | ||g dd}|jddd}|j|S) aReturn 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).).)ZdimN)rr)shapeAssertionErrortorchZ zeros_likestackview)rZx0x1Zx2zerosZcross_product_matrix_flatZshape_ri/var/www/html/stable-diffusion-webui/venv/lib/python3.9/site-packages/kornia/geometry/epipolar/numeric.pycross_product_matrixs   &r)__doc__r ZTensorrrrrrs