a d@.@szddlZddlmZddlmZGdddeZGdddZejdd d Z ejd d d Z ejejejdddZ dS)N)transform_points)create_meshgridcs"eZdZedfdd ZZS)StereoException)msgcs*d}||}tj|g|Ri|dS)a&Custom exception for the :module:`~kornia.geometry.camera.stereo` module. Adds a general helper module redirecting the user to the proper documentation site. Args: msg: Custom message to add to the general message. *args: **kwargs: z Please check documents here: https://kornia.readthedocs.io/en/latest/geometry.camera.stereo.html for further information and examples.N)super__init__)selfrargskwargsZdoc_helpZ final_msg __class__f/var/www/html/stable-diffusion-webui/venv/lib/python3.9/site-packages/kornia/geometry/camera/stereo.pyrs zStereoException.__init__)__name__ __module__ __qualname__strr __classcell__r r r rrsrc@seZdZejejdddZeejejdddZee dddZ eejdd d Z eejdd d Z eejdd dZ eejdddZeejdddZeejdddZeejdddZejdddZejejdddZdS) StereoCamera)rectified_left_camerarectified_right_cameracCs:|||||_||_|jj|_|jj|_||_dS)a>Class representing a horizontal stereo camera setup. Args: rectified_left_camera: The rectified left camera projection matrix of shape :math:`(B, 3, 4)` rectified_right_camera: The rectified right camera projection matrix of shape :math:`(B, 3, 4)` N)_check_stereo_camerarrdevicedtype_init_Q_matrix _Q_matrix)rrrr r rrs   zStereoCamera.__init__c Cst|jdkr td|jdt|jdkr@td|jd|jdddkrltd|jddd|jdddkrtd |jddd|j|jkrtd |jd |jd|j|jkrtd |jd |jdtt|d ddddf|d ddddfsVtd|d ddddfd |d ddddfd|d}tt|drtd|ddS)aLUtility function to ensure user specified correct camera matrices. Args: rectified_left_camera: The rectified left camera projection matrix of shape :math:`(B, 3, 4)` rectified_right_camera: The rectified right camera projection matrix of shape :math:`(B, 3, 4)` z;Expected 'rectified_left_camera' to have 3 dimensions. Got .z;Expected 'rectified_right_camera' to have 3 dimension. Got N)rz@Expected each 'rectified_left_camera' to be of shape (3, 4).Got zAExpected each 'rectified_right_camera' to be of shape (3, 4).Got z\Expected 'rectified_left_camera' and 'rectified_right_camera' to be on the same devices.Got z and zTExpected 'rectified_left_camera' and 'rectified_right_camera' tohave same dtype.Got .ztExpected 'left_rectified_camera' and 'rectified_right_camera' to havesame parameters except for the last column.Got .rrrz.Expected :math:`T_x * f_x` to be negative.Got ) lenshaperrrtorchalleqgt)rrZtx_fxr r rr/s^       8z!StereoCamera._check_stereo_camera)returncCs |jjdS)zfReturn the batch size of the storage. Returns: scalar with the batch size r)rr"rr r r batch_sizemszStereoCamera.batch_sizecCs |jdS)zReturn the focal length in the x-direction. Note that the focal lengths of the rectified left and right camera are assumed to be equal. Returns: tensor of shape :math:`(B)` ).rrrr(r r rfxvs zStereoCamera.fxcCs |jdS)zReturns the focal length in the y-direction. Note that the focal lengths of the rectified left and right camera are assumed to be equal. Returns: tensor of shape :math:`(B)` ).rrr*r(r r rfys zStereoCamera.fycCs |jdS)zReturn the x-coordinate of the principal point for the left camera. Returns: tensor of shape :math:`(B)` .rr*r(r r rcx_leftszStereoCamera.cx_leftcCs |jdS)zReturn the x-coordinate of the principal point for the right camera. Returns: tensor of shape :math:`(B)` r-)rr(r r rcx_rightszStereoCamera.cx_rightcCs |jdS)zReturn the y-coordinate of the principal point. Note that the y-coordinate of the principal points is assumed to be equal for the left and right camera. Returns: tensor of shape :math:`(B)` ).rr.r*r(r r rcys zStereoCamera.cycCs|jd |jS)zsThe horizontal baseline between the two cameras. Returns: Tensor of shape :math:`(B)` r )rr+r(r r rtxszStereoCamera.txcCs|jS)aPThe Q matrix of the horizontal stereo setup. This matrix is used for reprojecting a disparity tensor to the corresponding point cloud. Note that this is in a general form that allows different focal lengths in the x and y direction. Return: The Q matrix of shape :math:`(B, 4, 4)`. )rr(r r rQs zStereoCamera.QcCstj|jddf|j|jd}|j }|j||ddddf<|j |j||ddddf<|j||ddddf<|j |j ||ddddf<|j|j||ddddf<|j |ddddf<|j|j|j |ddddf<|S)zInitialized the Q matrix of the horizontal stereo setup. See the Q property. Returns: The Q matrix of shape :math:`(B, 4, 4)`. r)rrNrrrr.) r#zerosr)rrr2r,r/r+r1r0)rr3Zbaseliner r rrs   zStereoCamera._init_Q_matrix)disparity_tensorr'cCs t||jS)zReproject the disparity tensor to a 3D point cloud. Args: disparity_tensor: Disparity tensor of shape :math:`(B, 1, H, W)`. Returns: The 3D point cloud of shape :math:`(B, H, W, 3)` )reproject_disparity_to_3Dr3)rr5r r rr6s z&StereoCamera.reproject_disparity_to_3DN)rrrr#Tensorr staticmethodrpropertyintr)r+r,r/r0r1r2r3rr6r r r rrs*=    rr5cCst|tjs tdt|dt|jdkr@td|jd|jddkr`td|jd|jtjtj tj fvrtd|jd S) zUtility function to ensure correct user provided correct disparity tensor. Args: disparity_tensor: The disparity tensor of shape :math:`(B, 1, H, W)`. zFExpected 'disparity_tensor' to be an instance of torch.Tensor but got rrz5Expected 'disparity_tensor' to have 4 dimensions.Got rz]Expected dimension 1 of 'disparity_tensor' to be 1 for as single channeled disparity map.Got z\Expected 'disparity_tensor' to have dtype torch.float16, torch.float32 or torch.float64.Got N isinstancer#r7rtyper!r"rfloat16float32float64r;r r r_check_disparity_tensors$ rCQ_matrixcCst|tjs tdt|dt|jdks>td|j|jdddks`td|j|jtjtj tj fvrtd |jdS) zUtility function to ensure Q matrix is of correct form. Args: Q_matrix: The Q matrix for reprojecting disparity to a point cloud of shape :math:`(B, 4, 4)` z>Expected 'Q_matrix' to be an instance of torch.Tensor but got rrz-Expected 'Q_matrix' to have 3 dimensions.Got rN)rrzEExpected last two dimensions of 'Q_matrix' to be of shape (4, 4).Got zTExpected 'Q_matrix' to be of type torch.float16, torch.float32 or torch.float64.Got r=rDr r r_check_Q_matrixs   rF)r5rEr'c Cst|t||j\}}}}|j}|j}t||d||d}||ddd}tj|dd\} } t | dt | d} } t | | |fd |dd ddd} t ||  |||d} | j|||dfkstd |||dfd | jd | S) aReproject the disparity tensor to a 3D point cloud. Args: disparity_tensor: Disparity tensor of shape :math:`(B, H, W, 1)`. Q_matrix: Tensor of Q matrices of shapes :math:`(B, 4, 4)`. Returns: The 3D point cloud of shape :math:`(B, H, W, 3)` F)Znormalized_coordinatesrrr<)Zdimrrrr.z]Something went wrong in `reproject_disparity_to_3D`. Expected the final outputto be of shape z(.But the computed point cloud had shape zO. Please ensure input are correct. If this is an error, please submit an issue.)rFrCr"rrrexpandr#ZunbindZ unsqueezestackZreshapeZpermuterr) r5rEr)rowscols_rrZuvvuZuvdZpointsr r rr6s( & r6) r#Zkornia.geometry.linalgrZkornia.utils.gridr Exceptionrrr7rCrFr6r r r rs  D