3j!fSSKJr SSKrSSKrSSKJrJrJrJr SSK J r SS Sjjr "SS5r g) ) annotationsN)Se2Se3So2So3) Quaternionc B/nUS:Xa SS/SS//nOUS:XaSS/SS//n[UR5S:d5[UR5S:d[URSS5U;a2[USUS S US S US S US S UR3 5eg)z"Verify matrix shape based on type.RRTNz must be either rxz or z, got )lenshapelist ValueError)matrix matrix_type target_shapess N/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/pose.pycheck_matrix_shapersMcQ!Q(  Q!Q(  6<<1FLL 1A 5fll23>O9PXe9em+M!,<+=Q}Q?O>PQQ -"2!36&,, I  :fc\rSrSrSrSSSjjrSSjrSSjr\SSj5r \SSj5r \SS j5r \SS j5r \SS j5r \SSS jj5r\SSS jj5rSSjrSSjrSrg) NamedPose*apClass to represent a named pose between two frames. Internally represented by either Se2 or Se3. Example: >>> b_from_a = NamedPose(Se3.identity(), frame_src="frame_a", frame_dst="frame_b") >>> b_from_a NamedPose(dst_from_src=rotation: tensor([1., 0., 0., 0.]) translation: x: 0.0 y: 0.0 z: 0.0, frame_src: frame_a -> frame_dst: frame_b) NcXlU=(d [R"5RUlU=(d [R"5RUlg)zConstruct NamedPose. Args: dst_from_src: Pose from source frame to destination frame. frame_src: Name of frame a. frame_dst: Name of frame b. N) _dst_from_srcuuiduuid4hex _frame_src _frame_dst)self dst_from_src frame_src frame_dsts r__init__NamedPose.__init__:s:*#7tzz|'7'7#7tzz|'7'7rcVSURSURSURS3$)NzNamedPose(dst_from_src=z , frame_src: z -> frame_dst: ))r r$r%r&s r__repr__NamedPose.__repr__Gs7%d&8&8%9://*/$//9J! M rc&URUR:wa[SUSU35e[UR[ 5(aD[ URRUR5URUR5$[UR[5(aD[ URRUR5URUR5$[S[UR535e)aCompose two NamedPoses. Args: other: NamedPose to compose with. Returns: Composed NamedPose. Example: >>> b_from_a = NamedPose(Se3.identity(), frame_src="frame_a", frame_dst="frame_b") >>> c_from_b = NamedPose(Se3.identity(), frame_src="frame_b", frame_dst="frame_c") >>> c_from_b * b_from_a NamedPose(dst_from_src=rotation: tensor([1., 0., 0., 0.]) translation: x: 0.0 y: 0.0 z: 0.0, frame_src: frame_a -> frame_dst: frame_c) zCannot compose z with z$Pose must be either Se2 or Se3, got ) r$r%r isinstanceposerrr _mul_se2r_mul_se3type)r&others r__mul__NamedPose.__mul__Ms( ??e.. .tfF5'BC C ejj# & &T//88DeFVFVX\XgXgh h  C ( (T//88DeFVFVX\XgXgh hCDI[I[D\C]^_ _rcUR$)z-Pose from source frame to destination frame .r r.s rr3NamedPose.posejs!!!rc.URR$)zRotation part of the pose.)r rotationr.s rr>NamedPose.rotationos!!***rc.URR$)zTranslation part of the pose.)r translationr.s rrANamedPose.translationts!!---rcUR$)zName of the source frame.)r$r.s rr(NamedPose.frame_srcyrcUR$)zName of the destination frame.)r%r.s rr)NamedPose.frame_dst~rErc\[U[[45(aU"[X5X45$[U[5(aU"[ X5X45$[U[ R5(a[U5 URSn[ R"US-URURS9nXSSU2SU24'X&SSU2U4'US:XaU"[ R"U5X45$US:XaU"[R"U5X45$g[S[U535e) aConstruct NamedPose from rotation and translation. Args: rotation: Rotation part of the pose. translation: Translation part of the pose. frame_src: Name of the source frame. frame_dst: Name of the destination frame. Returns: NamedPose constructed from rotation and translation. Example: >>> b_from_a_rot = So3.identity() >>> b_from_a_trans = torch.tensor([1., 2., 3.]) >>> b_from_a = NamedPose.from_rt(b_from_a_rot, b_from_a_trans, frame_src="frame_a", frame_dst="frame_b") >>> b_from_a NamedPose(dst_from_src=rotation: tensor([1., 0., 0., 0.]) translation: Parameter containing: tensor([1., 2., 3.], requires_grad=True), frame_src: frame_a -> frame_dst: frame_b) r)devicedtype.Nr r z6R must be either So2, So3, Quaternion, or Tensor, got )r2rrrrrtorchTensorrreyerJrK from_matrixrr6)clsr>rAr(r)dimr s rfrom_rtNamedPose.from_rts< hj 1 2 2s819H H # & &s819H H %,, / / x (..$C378??(..QB"*sDSD$3$ !,sDSD#~ ax3??2. EE3??2. EEUVZ[cVdUefg grc[USS9 URSnUS:XaU"[R"U5X#5$US:XaU"[R"U5X#5$g)aVConstruct NamedPose from a matrix. Args: matrix: Matrix representation of the pose. frame_src: Name of the source frame. frame_dst: Name of the destination frame. Returns: NamedPose constructed from a matrix. Example: >>> b_from_a_matrix = Se3.identity().matrix() >>> b_from_a = NamedPose.from_matrix(b_from_a_matrix, frame_src="frame_a", frame_dst="frame_b") >>> b_from_a NamedPose(dst_from_src=rotation: tensor([1., 0., 0., 0.]) translation: Parameter containing: tensor([0., 0., 0.], requires_grad=True), frame_src: frame_a -> frame_dst: frame_b) r )rrIr rN)rrrrOr)rPrr(r)rQs rrONamedPose.from_matrixsY0 6t4ll2 !8sv. E E AXsv. E Erct[URR5URUR5$)a]Inverse of the NamedPose. Returns: Inverse of the NamedPose. Example: >>> b_from_a = NamedPose(Se3.identity(), frame_src="frame_a", frame_dst="frame_b") >>> b_from_a.inverse() NamedPose(dst_from_src=rotation: tensor([1., -0., -0., -0.]) translation: x: 0.0 y: 0.0 z: 0.0, frame_src: frame_b -> frame_dst: frame_a) )rr inverser%r$r.s rrWNamedPose.inverses* ++335tXXrc URU-$)aOTransform points from source frame to destination frame. Args: points_in_src: Points in source frame. Returns: Points in destination frame. Example: >>> b_from_a = NamedPose(Se3.identity(), frame_src="frame_a", frame_dst="frame_b") >>> b_from_a.transform_points(torch.tensor([1., 2., 3.])) tensor([1., 2., 3.]) r;)r& points_in_srcs rtransform_pointsNamedPose.transform_pointss!!M11r)r r%r$)NN)r' Se2 | Se3r( str | Noner)r^returnNone)r_str)r7rr_r)r_r])r_z So3 | So2)r_ torch.Tensor) r>z%So3 | So2 | torch.Tensor | QuaternionrArbr(r^r)r^r_NamedPose | None)rrbr(r^r)r^r_rc)r_r)rZrbr_rb)__name__ __module__ __qualname____firstlineno____doc__r*r/r8propertyr3r>rAr(r) classmethodrRrOrWr[__static_attributes__rrrr*s   8 `:""++.. !% $ -7-"- -  -  --^Y]!.8LV >Y$2rr)r )rrbrrar_r`) __future__rr!rLkornia.geometry.liegrouprrrrkornia.geometry.quaternionrrrrlrrrps*$# 771  J2J2r