3jSrSSKrSSKJr S\RS\RS\R4SjrS\RS\RS\R4S jrS\RS\RS\R4S jrg) z1nn.Module containing the affine distortion model.N)KORNIA_CHECK_SHAPE#projected_points_in_camera_z1_planeparamsreturnc[USS/5 [USS/5 USnUSnUSUSpTUSUSpvXB-U-nXS-U-n [R"X/SS 9$) a'Distort one or more points from the canonical z=1 plane into the camera frame. .. math:: \begin{bmatrix} u \\ v \end{bmatrix} = \begin{bmatrix} f_x & 0 \\ 0 & f_y \end{bmatrix} \begin{bmatrix} x \\ y \end{bmatrix} + \begin{bmatrix} c_x \\ c_y \end{bmatrix} Args: projected_points_in_camera_z1_plane: torch.Tensor representing the points to distort with shape (..., 2). params: torch.Tensor representing the parameters of the affine distortion model with shape (..., 4). Returns: torch.Tensor representing the distorted points with shape (..., 2). Example: >>> points = torch.tensor([319.5, 239.5]) # center of a 640x480 image >>> params = torch.tensor([600., 600., 319.5, 239.5]) >>> distort_points_affine(points, params) tensor([192019.5000, 143939.5000]) *24.r...dimrtorchstack) rrxyfxfycxcyuvs b/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/camera/distortion_affine.pydistort_points_affiner!s|.:S#JGvSz*+F3A+F3A F^VF^ F^VF^  A  A ;;v2 &&distorted_points_in_camerac[USS/5 [USS/5 USnUSnUSUSpTUSUSpvX&- U- nX7- U- n [R"X/SS 9$) aUndistort one or more points from the camera frame into the canonical z=1 plane. .. math:: \begin{bmatrix} x \\ y \end{bmatrix} = \begin{bmatrix} u \\ v \end{bmatrix} - \begin{bmatrix} c_x \\ c_y \end{bmatrix} \begin{bmatrix} f_x & 0 \\ 0 & f_y \end{bmatrix}^{-1} Args: distorted_points_in_camera: torch.Tensor representing the points to undistort with shape (..., 2). params: torch.Tensor representing the parameters of the affine distortion model with shape (..., 4). Returns: torch.Tensor representing the undistorted points with shape (..., 2). Example: >>> points = torch.tensor([319.5, 239.5]) # center of a 640x480 image >>> params = torch.tensor([600., 600., 319.5, 239.5]) >>> undistort_points_affine(points, params) tensor([0., 0.]) rr r r r rrrrr) r#rrrrrrrrrs r undistort_points_affiner%@s|.1C:>vSz*"6*A"6*A F^VF^ F^VF^ 2 A 2 A ;;v2 &&r"c[USS/5 [USS/5 USUSp2[R"U5n[R"[R"X$/SS9[R"XC/SS9/SS9$) a Compute the derivative of the x distortion with respect to the x coordinate. .. math:: \frac{\partial u}{\partial x} = \begin{bmatrix} f_x & 0 \\ 0 & f_y \end{bmatrix} Args: projected_points_in_camera_z1_plane: torch.Tensor representing the points to distort with shape (..., 2). params: torch.Tensor representing the parameters of the affine distortion model with shape (..., 4). Returns: torch.Tensor representing the derivative of the x distortion with respect to the x coordinate with shape (..., 2). Example: >>> points = torch.tensor([319.5, 239.5]) # center of a 640x480 image >>> params = torch.tensor([600., 600., 319.5, 239.5]) >>> dx_distort_points_affine(points, params) tensor([[600., 0.], [ 0., 600.]]) rr r r r rr)rr zeros_liker)rrrrzeross r dx_distort_points_affiner*fsr.:S#JGvSz* F^VF^   R E ;; RKR8%++ukWY:Z[ac ddr")__doc__rkornia.core.checkrTensorr!r%r*r"r r/s$8 0#'u||#'UZUaUa#'fkfrfr#'L#' #'ell#'_d_k_k#'Le%,,eX]XdXdeiniuiuer"