a þd! ã@s<dZddlZddlmZejejejejejdœdd„ZdS)z1Module with the functionalites for triangulation.éN)Úconvert_points_from_homogeneous)ÚP1ÚP2Úpoints1Úpoints2Úreturnc Cspt|jƒdkr |jdd…dks*t|jƒ‚t|jƒdkrJ|jdd…dksTt|jƒ‚t|jdd…ƒt|jdd…ƒkr†t|j|jƒ‚t|jƒdkr¢|jddks¬t|jƒ‚t|jƒdkrÈ|jddksÒt|jƒ‚t|jdd…ƒt|jdd…ƒkrt|j|jƒ‚t|jdd…ƒt|jdd…ƒkr:t|j|jƒ‚t|j|jƒ}t |dd…d¡ |¡}tdƒD]Þ}|d|d dd …|f|d d d …|f|d d |f<|d |d dd …|f|d d d…|f|d d |f<|d|d dd …|f|d d d …|f|d d|f<|d |d dd …|f|d d d…|f|d d |f<qlt |¡\}}}|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)`. ééþÿÿÿN)éééÿÿÿÿ)r r r ).r.r ré).r ).r ) ÚlenÚshapeÚAssertionErrorÚmaxÚtorchÚzerosZtype_asÚrangeZsvdr) rrrrZ points_shapeÚXÚiÚ_ÚVZ points3d_hZpoints3d©rúo/var/www/html/stable-diffusion-webui/venv/lib/python3.9/site-packages/kornia/geometry/epipolar/triangulation.pyÚtriangulate_points s2    $  && 666:r)Ú__doc__rZkornia.geometry.conversionsrZTensorrrrrrÚs  þ