a d#@s ddlZddlmZmZddlZddlmZmZddlm Z m Z ddl m Z ddl mZeejejfZdejejejeeejd d d Zdejejejeeejd d dZdejejeejejdddZdejejejeeejdddZejejejdddZdS)N)OptionalTuple)_extract_device_dtypesafe_inverse_with_mask)convert_points_from_homogeneousconvert_points_to_homogeneous)normalize_points)transform_pointsT:0yE>)pts1pts2HsquaredepsreturncCst|tjstdt|t|jdks>|jdddksNtd|j|ddkrdt |}|ddkrzt |}t ||}|| dj dd }|r|S|| S) adReturn transfer error in image 2 for correspondences given the homography matrix. Args: pts1: correspondences from the left images with shape (B, N, 2 or 3). If they are homogeneous, converted automatically. pts2: correspondences from the right images with shape (B, N, 2 or 3). If they are homogeneous, converted automatically. H: Homographies with shape :math:`(B, 3, 3)`. squared: if True (default), the squared distance is returned. eps: Small constant for safe sqrt. Returns: the computed distance with shape :math:`(B, N)`. "H type is not a torch.Tensor. Got Nrr"H must be a (*, 3, 3) tensor. Got dim) isinstancetorchTensor TypeErrortypelenshape ValueErrorsizerr powsumsqrt)r r rrrZ pts1_in_2Z error_squaredr'c/var/www/html/stable-diffusion-webui/venv/lib/python3.9/site-packages/kornia/geometry/homography.pyoneway_transfer_errors   r)c Cst|tjstdt|t|jdks>|jdddksNtd|j|ddkrdt |}|ddkrzt |}t |j j }t |\}}t|||d|}t|||d|} |dd |} || | |j || |j } |r| S| |S) acReturn Symmetric transfer error for correspondences given the homography matrix. Args: pts1: correspondences from the left images with shape (B, N, 2 or 3). If they are homogeneous, converted automatically. pts2: correspondences from the right images with shape (B, N, 2 or 3). If they are homogeneous, converted automatically. H: Homographies with shape :math:`(B, 3, 3)`. squared: if True (default), the squared distance is returned. eps: Small constant for safe sqrt. Returns: the computed distance with shape :math:`(B, N)`. rrrNrrrTr)rrrrrr r!r"r#rZfinfodtypemaxrr)viewZ expand_astor&) r r rrrZmax_numZH_invZgood_HZtherebackZgood_H_reshapeoutr'r'r(symmetric_transfer_error5s"   &r0)points1points2weightsrc Csb|j|jkrt|jt|jdkr2|jddks      ..( & * "rH@)r1r2r3 soft_inl_thn_iterrc CsTt|||}t|dD]6}t|||d}t| d|d}t|||}q|S)aCompute the homography matrix using the iteratively-reweighted least squares (IRWLS). The linear system is solved by using the Reweighted Least Squares Solution for the 4 Points algorithm. Args: points1: A set of points in the first image with a tensor shape :math:`(B, N, 2)`. points2: A set of points in the second image with a tensor shape :math:`(B, N, 2)`. weights: Tensor containing the weights per point correspondence with a shape of :math:`(B, N)`. Used for the first iteration of the IRWLS. soft_inl_th: Soft inlier threshold used for weight calculation. n_iter: number of iterations. Returns: the computed homography matrix with shape :math:`(B, 3, 3)`. rFg@r)rHranger0rexp) r1r2r3rKrLrrFerrorsZ weights_newr'r'r(find_homography_dlt_iterateds  rP)r1r2rc Cs|j|jkrt|jt|jdkr2|jddkss8   ' , <