a d.@s dZddlmZmZddlZddlmZmZddlm Z ddl m Z e ej ej dd d Zee ej fee ej fej d d d Zej ee ej fej dddZej ej ej ej dddZd ej e eej ej ej fdddZej ej ej ej dddZddZej ej dddZdS)!zModule for image projections.)TupleUnionN)eye_likevec_like) linalg_qr)cross_product_matrix)focalinputreturncCst|jdkrt|j|dkr(t||j\}}}}td|}|d|9<|d|9<|dd|d7<|d d|d7<|S) aReturn a 3x3 instrinsics 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)r r _HWZ intrinsicsrl/var/www/html/stable-diffusion-webui/venv/lib/python3.9/site-packages/kornia/geometry/epipolar/projection.pyintrinsics_like s   r)lowhighr c sltj||fddtdD\}}}}t|t|}}t|||||||||g }|dddS)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)`. c3s|]}dVqdS))rN)sample).0rZsamplerrr 3z$random_intrinsics..r rr )torch distributionsZUniformrangeZ zeros_likeZ ones_likecatview) rrZfxZfyZcxcyzerosZones camera_matrixrr!rrandom_intrinsics(s r,)r+ scale_factorr cCsL|}|d|9<|d|9<|d|9<|d|9<|S)aScale a camera matrix containing the intrinsics. Applies the scaling factor to the focal length and center of projection. Args: camera_matrix: the camera calibration matrix containing the intrinsic parameters. The expected shape for the tensor is :math:`(B, 3, 3)`. scale_factor: the scaling factor to be applied. Returns: The scaled camera matrix with shame shape as input :math:`(B, 3, 3)`. rrrr)clone)r+r-ZK_scalerrrscale_intrinsics9s r/)KRtr cCs|jdddkrt|j|jdddkr8t|j|jdddkrTt|jt|jt|jkrzt|jksnttj||gdd}tjj|gddd }|d d 7<tjj|gd dd }|d d 7<||S) aGet the projection matrix P from K, R and t. This function estimate the projection matrix by solving the following equation: :math:`P = K * [R|t]`. Args: K: the camera matrix with the instrinsics with shape :math:`(B, 3, 3)`. R: The rotation matrix with shape :math:`(B, 3, 3)`. t: The translation vector with shape :math:`(B, 3, 1)`. Returns: The projection matrix P with shape :math:`(B, 4, 4)`. Nr r )r rZdim)rrrrZconstantg).r5r5r)rrrr)rrrr$r'nnZ functionalpad)r0r1r2ZRtZRt_hZK_hrrrprojection_from_KRtNs    (r9ư>)Pepsr c Cs@|jdddkrtdt|jdkr,t|ddddddf}|dddddfd}tjgdgd gd g|j|jd d}t|| dd d }t |\}}t|| dd d }t|t| dd d |}tj |ddd|}t |}t |} t|| } t| |} tt| |} | | | fS)ajDecompose the Projection matrix into Camera-Matrix, Rotation Matrix and Translation vector. Args: P: the projection matrix with shape :math:`(B, 3, 4)`. 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)`. r3N)r r zP must be of shape [B, 3, 4]r rr5)rrr)rrr)rrr)devicedtyperr)Zdim1Zdim2)rrrZ unsqueezer$Ztensorr=r>matmulZpermuterZdiagonalsignZ diag_embedZinverse) r;r<Z submat_3x3Z last_columnreverseZ ortho_matZ upper_matZ diagonalsZsignsZ signs_matr0r1r2rrrKRt_from_projectionns$ ,     rB)r1r2Xr cCs8||dd}|ddddf|ddddf}|S)aEReturn 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)`. r3r5.rN) transpose)r1r2rCZX_tmpZX_outrrrdepth_from_points $rEcCs t|\}}}|d|dfS)zgCompute the null space of A. Return the smallest singular value and the corresponding vector. ).r5)r$Zsvd)ArsZvhrrr _nullspacesrH)F_matr c Cst|jdkrt|j|jdddkr4t|jtd|}td|}|dd}t|\}}t||}|ddddf}tj ||gdd}tj ||gdd} tj || 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 r3Nr4r5.r6) rrrrrrDrHrr$r'stack) rIZR1t1ZFt_matre2ZR2t2ZP1ZP2rrrprojections_from_fundamentals        rN)r:)__doc__typingrrr$Z kornia.utilsrrZkornia.utils._compatrnumericrfloatZTensorrr,r/r9rBrErHrNrrrrs  (  &&