3j SSKrSSKJs Jr SSKJrJrJrJ r S\RS\RS\R4Sjr S S\RS\RS\RS \ S\R4 S jjr g) N)convert_points_from_homogeneousconvert_points_to_homogeneous"denormalize_points_with_intrinsics normalize_points_with_intrinsicspoint_3d camera_matrixreturnc.[U5n[X!5$)a#Project a 3d point onto the 2d camera plane. Args: point_3d: tensor containing the 3d points to be projected to the camera plane. The shape of the tensor can be :math:`(*, 3)`. camera_matrix: tensor containing the intrinsics camera matrix. The tensor shape must be :math:`(*, 3, 3)`. Returns: tensor of (u, v) cam coordinates with shape :math:`(*, 2)`. Example: >>> _ = torch.manual_seed(0) >>> X = torch.rand(1, 3) >>> K = torch.eye(3)[None] >>> project_points(X, K) tensor([[5.6088, 8.6827]]) )rr)rr xy_coordss \/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/camera/perspective.pyproject_pointsr s0>hGI -i GGpoint_2ddepth normalizec2[U[R5(d[S[ U535eUR SS:Xd[ SUR 35e[X5n[U5nU(a[R"USSS9nXQ-$)aUnproject a 2d point in 3d. Transform coordinates in the pixel frame to the camera frame. Args: point_2d: tensor containing the 2d to be projected to world coordinates. The shape of the tensor can be :math:`(*, 2)`. depth: tensor containing the depth value of each 2d points. The tensor shape must be equal to point2d :math:`(*, 1)`. camera_matrix: tensor containing the intrinsics camera matrix. The tensor shape must be :math:`(*, 3, 3)`. normalize: whether to normalize the pointcloud. This must be set to `True` when the depth is represented as the Euclidean ray length from the camera position. Returns: tensor of (x, y, z) world coordinates with shape :math:`(*, 3)`. Example: >>> _ = torch.manual_seed(0) >>> x = torch.rand(1, 2) >>> depth = torch.ones(1, 1) >>> K = torch.eye(3)[None] >>> unproject_points(x, depth, K) tensor([[0.4963, 0.7682, 1.0000]]) z,Input depth type is not a torch.Tensor. Got z0Input depth must be in the shape of (*, 1). Got g@)dimp) isinstancetorchTensor TypeErrortypeshape ValueErrorrrFr)rrrrxyxyzs r unproject_pointsr!9s< eU\\ * *FtE{mTUU ;;r?a KEKK=YZZ7PB5b9Ckk#2- ;r)F)rtorch.nn.functionalnn functionalrkornia.geometry.conversionsrrrrrr boolr!rr r(s$ HU\\H%,,H5<<H:af)ll)#(<<)@E )Y]) \\)r