3jHbSrSSKJr SSKJr SSKrSSKJr S SjrS S Sjjr S Sjr g) zBnn.Module for the projection of points in the canonical z=1 plane.) annotations)OptionalNKORNIA_CHECK_SHAPEcD[USS/5 USSS24USSS24- $)aProject one or more points from the camera frame into the canonical z=1 plane through perspective division. .. math:: \begin{bmatrix} u \\ v \\ w \end{bmatrix} = \begin{bmatrix} x \\ y \\ z \end{bmatrix} / z .. note:: This function has a precondition that the points are in front of the camera, i.e. z > 0. If this is not the case, the points will be projected to the canonical plane, but the resulting points will be behind the camera and causing numerical issues for z == 0. Args: points_in_camera: torch.Tensor representing the points to project with shape (..., 3). Returns: torch.Tensor representing the projected points with shape (..., 2). Example: >>> points = torch.tensor([1., 2., 3.]) >>> project_points_z1(points) tensor([0.3333, 0.6667]) *3.Nr)points_in_cameras ^/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/camera/projection_z1.pyproject_points_z1rs94'#s4 C!G $'7QqS'A AAc[USS/5 Uc;[R"URSSS-URUR S9nOURSS:aUS n[R "X-U/SS 9$) aUnproject one or more points from the canonical z=1 plane into the camera frame. .. math:: \begin{bmatrix} x \\ y \\ z \end{bmatrix} = \begin{bmatrix} u \\ v \end{bmatrix} \cdot w Args: points_in_cam_canonical: torch.Tensor representing the points to unproject with shape (..., 2). extension: torch.Tensor representing the extension (depth) of the points to unproject with shape (..., 1). Returns: torch.Tensor representing the unprojected points with shape (..., 3). Example: >>> points = torch.tensor([1., 2.]) >>> extension = torch.tensor([3.]) >>> unproject_points_z1(points, extension) tensor([3., 6., 3.]) r2N))devicedtyperr).Ndim)rtorchonesshaperrcat)points_in_cam_canonical extensions r unproject_points_z1r<s..c ;JJ # ) )#2 . 5*11)//  a i( 99-99E2 NNrc  [USS/5 USnUSnUSnSU- nXD-n[R"U5n[R"[R"XFU*U-/SS9[R"XdU*U-/SS9/S S9$) a Compute the derivative of the x projection with respect to the x coordinate. Returns point derivative of inverse depth point projection with respect to the x coordinate. .. math:: \frac{\partial \pi}{\partial x} = \begin{bmatrix} \frac{1}{z} & 0 & -\frac{x}{z^2} \\ 0 & \frac{1}{z} & -\frac{y}{z^2} \end{bmatrix} .. note:: This function has a precondition that the points are in front of the camera, i.e. z > 0. If this is not the case, the points will be projected to the canonical plane, but the resulting points will be behind the camera and causing numerical issues for z == 0. Args: points_in_camera: torch.Tensor representing the points to project with shape (..., 3). Returns: torch.Tensor representing the derivative of the x projection with respect to the x coordinate with shape (..., 2, 3). Example: >>> points = torch.tensor([1., 2., 3.]) >>> dx_project_points_z1(points) tensor([[ 0.3333, 0.0000, -0.1111], [ 0.0000, 0.3333, -0.2222]]) rr ).r).r).r g?rr)rr zeros_likestack)r xyzz_invz_sqzeross r dx_project_points_z1r)as>'#s4 A A A !GE =D   U #E ;; KKrDy1r : KKrDy1r :    r)r torch.Tensorreturnr*)N)rr*rzOptional[torch.Tensor]r+r*) __doc__ __future__rtypingrrkornia.core.checkrrrr)rr r1sM$I# 0B>PT"O)"O6L"O"OJ.r