3jv2SSKJr SSKrSSKJr SSKJr "SS\5r"SS5r S \RS S4S jr S \RS S4S jr S \RS \RS \R4Sjr g))AnyN)create_meshgrid)transform_pointsc@^\rSrSrSrS\S\S\SS4U4SjjrS rU=r $) StereoExceptionzEHandle errors related to stereo camera calibration and rectification.msgargskwargsreturnNc:>SnX-n[TU]"U/UQ70UD6 g)aAConstruct custom exception for the :module:`~kornia.geometry.camera.stereo` module. Adds a general helper module redirecting the user to the proper documentation site. Args: msg: Custom message to add to the general message. *args: Additional argument passthrough **kwargs: Additional argument passthrough z Please check documents here: https://kornia.readthedocs.io/en/latest/geometry.camera.stereo.html for further information and examples.N)super__init__)selfr r r doc_help final_msg __class__s W/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/camera/stereo.pyrStereoException.__init__s0 x N  4T4V4) __name__ __module__ __qualname____firstlineno____doc__strrr__static_attributes__ __classcell__)rs@rrrs,O5C55s5t55rrcF\rSrSrSrS\R S\R SS4Sjr\S\R S\R SS4Sj5r \ S\ 4S j5r \ S\R 4S j5r \ S\R 4S j5r\ S\R 4S j5r\ S\R 4S j5r\ S\R 4Sj5r\ S\R 4Sj5r\ S\R 4Sj5rS\R 4SjrS\R S\R 4SjrSrg) StereoCamera2zRepresent a horizontal stereo camera setup for depth estimation. Args: rectified_left_camera: The intrinsic matrix for the left camera. rectified_right_camera: The intrinsic matrix for the right camera. rectified_left_camerarectified_right_camerar NcURX5 XlX lURRUlURRUlUR 5Ulg)aClass representing a horizontal stereo camera setup. Args: rectified_left_camera: The rectified left camera projection matrix of shape :math:`(B, 3, 4)` rectified_right_camera: The rectified right camera projection matrix of shape :math:`(B, 3, 4)` N)_check_stereo_camerar#r$devicedtype_init_Q_matrix _Q_matrix)rr#r$s rrStereoCamera.__init__:sU !!"7P3H"4J#0077 //55 ,,.rc [UR5S:wa[SURS35e[UR5S:wa[SURS35eURSSS:Xa[SURSSS35eURSSS:Xa[S URSSS35eURUR:wa&[S URS URS35eURUR:wa&[S URS URS35e[ R "[ R"US SS2SS24US SS2SS2455(d&[SUS SS2SS24S US SS2SS24S35eUSn[ R "[ R"US55(a[SUS35eg)a Ensure user specified correct camera matrices. Args: rectified_left_camera: The rectified left camera projection matrix of shape :math:`(B, 3, 4)` rectified_right_camera: The rectified right camera projection matrix of shape :math:`(B, 3, 4)` z;Expected 'rectified_left_camera' to have 3 dimensions. Got .z;Expected 'rectified_right_camera' to have 3 dimension. Got N)r-z@Expected each 'rectified_left_camera' to be of shape (3, 4).Got zAExpected each 'rectified_right_camera' to be of shape (3, 4).Got z\Expected 'rectified_left_camera' and 'rectified_right_camera' to be on the same devices.Got z and zTExpected 'rectified_left_camera' and 'rectified_right_camera' tohave same dtype.Got .ztExpected 'left_rectified_camera' and 'rectified_right_camera' to havesame parameters except for the last column.Got .rr-rz/Expected :math:`T_x * f_x` to be negative. Got ) lenshaperr'r(torchalleqgt)r#r$tx_fxs rr&!StereoCamera._check_stereo_cameraMs` $** +q 0!MNcNiNiMjjkl  %++ , 1!MNdNjNjMkklm  ! & &r *f 4!RShSnSnoqpqSrRsstu  " ' ' +v 5!STjTpTpqsrsTtSuuvw  ! ' '+A+H+H H!,334E:P:W:W9XXY[  ! & &*@*F*F F!,22359O9U9U8VVWY yy"7Q "CE[\_abdfefdf\fEghii!,S!RaRZ89?UVY[\^`_`^`V`?a>bbce 'y1 99UXXeQ' ( (!$STYSZZ["\] ] )rc4URRS$)zOReturn the batch size of the storage. Returns: scalar with the batch size r)r#r3rs r batch_sizeStereoCamera.batch_sizes))//22rc URS$)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: torch.Tensor of shape :math:`(B)` ).rrr#r;s rfxStereoCamera.fx)))44rc URS$)zReturns the focal length in the y-direction. Note that the focal lengths of the rectified left and right camera are assumed to be equal. Returns: torch.Tensor of shape :math:`(B)` ).r/r/r?r;s rfyStereoCamera.fyrBrc URS$)zuReturn the x-coordinate of the principal point for the left camera. Returns: torch.Tensor of shape :math:`(B)` .rr?r;s rcx_leftStereoCamera.cx_lefts)))44rc URS$)zvReturn the x-coordinate of the principal point for the right camera. Returns: torch.Tensor of shape :math:`(B)` rG)r$r;s rcx_rightStereoCamera.cx_rights**955rc URS$)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: torch.Tensor of shape :math:`(B)` ).r/rHr?r;s rcyStereoCamera.cyrBrc<URS*UR- $)zbThe horizontal baseline between the two cameras. Returns: torch.Tensor of shape :math:`(B)` r1)r$r@r;s rtxStereoCamera.txs!++I66@@rcUR$)a'The Q matrix of the horizontal stereo setup. This matrix is used for reprojecting a disparity torch.Tensor to the corresponding point cloud. Note that this is in a general form that allows different focal lengths in the x and y direction. Return: The Q matrix of shape :math:`(B, 4, 4)`. )r*r;s rQStereoCamera.Qs~~rcL[R"URSS4URURS9nUR *nUR U-USS2SS4'UR *UR-U-USS2SS4'URU-USS2SS4'UR*UR-U-USS2SS4'URUR -U-USS2SS4'UR *USS2SS4'UR URUR- -USS2SS4'U$)zInitialize the Q matrix of the horizontal stereo setup. See the Q property. Returns: The Q matrix of shape :math:`(B, 4, 4)`. r0)r'r(Nrr-r/rH) r4zerosr<r'r(rRrDrIr@rOrL)rrUbaselines rr)StereoCamera._init_Q_matrixs  KK!Q/ 4:: V"&''WWx'!Q' ggX ,x7!Q' WWx'!Q' ggX'(2!Q' WWtww&1!Q' ggX!Q' WW t}} <=!Q' rdisparity_tensorc,[XR5$)zReproject the disparity torch.Tensor to a 3D point cloud. Args: disparity_tensor: Disparity torch.Tensor of shape :math:`(B, 1, H, W)`. Returns: The 3D point cloud of shape :math:`(B, H, W, 3)` )reproject_disparity_to_3DrU)rr[s rr]&StereoCamera.reproject_disparity_to_3Ds))966BBr)r*r'r(r#r$)rrrrrr4Tensorr staticmethodr&propertyintr<r@rDrIrLrOrRrUr)r]rrrrr!r!2s/ell/TYT`T`/ei/&:^ELL:^Z_ZfZf:^ko:^:^x3C33 5ELL 5 5 5ELL 5 55556%,,66 5ELL 5 5AELLAA 5<<   $ C%,, C5<< Crr!r[r c[U[R5(d[S[ U5S35e[ UR 5S:wa[SUR S35eUR SS:wa[SUR S35eUR[R[R[R[R4;a[SUR35eg ) zEnsure correct user provided correct disparity torch.Tensor. Args: disparity_tensor: The disparity torch.Tensor of shape :math:`(B, 1, H, W)`. zFExpected 'disparity_tensor' to be an instance of torch.Tensor but got r.r0z6Expected 'disparity_tensor' to have 4 dimensions. Got r/z]Expected dimension 1 of 'disparity_tensor' to be 1 for as single channeled disparity map.Got zlExpected 'disparity_tensor' to have dtype torch.bfloat16, torch.float16, torch.float32 or torch.float64.Got N isinstancer4r_rtyper2r3r(bfloat16float16float32float64)r[s r_check_disparity_tensorrls & 5 5TUYZjUkTllm n    ! !"a' VWgWmWmVnnopqqb!Q& #))*! -  ennemmU]]TYTaTa%bb #))* ,  crQ_matrixc[U[R5(d[S[ U5S35e[ UR 5S:Xd[SUR 35eUR SSS:Xd[SUR 35eUR[R[R[R[R4;a[S UR35eg) zEnsure 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 r.r-z.Expected 'Q_matrix' to have 3 dimensions. Got r/N)r0r0zFExpected last two dimensions of 'Q_matrix' to be of shape (4, 4). Got zeExpected 'Q_matrix' to be of type torch.bfloat16, torch.float16, torch.float32 or torch.float64. Got re)rms r_check_Q_matrixro"s h - - ^_cdl_m^nnopqq x~~ ! # Nx~~N^_`` >>!"  ' fgogugufvwxx~~ennemmU]]EMMZZ >>" $  [rcX[U5 [U5 URup#pEURnURn[ X4SXvS9nUR USSS5n[R"USS9up[R"U S5[R"U S5p[R"XU4S5RUSS5RSSS5n [X5RX#US5n U RX#US4:Xd[S X#US4S U RS 35eU $) aReproject the disparity torch.Tensor to a 3D point cloud. Args: disparity_tensor: Disparity torch.Tensor of shape :math:`(B, H, W, 1)`. Q_matrix: torch.Tensor of Q matrices of shapes :math:`(B, 4, 4)`. Returns: The 3D point cloud of shape :math:`(B, H, W, 3)` F)normalized_coordinatesr'r(rd)dimr/r-rrHz]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.)rorlr3r(r'rexpandr4unbind unsqueezestackreshapepermuterr) r[rmr<rowscols_r(r'uvvuuvdpointss rr]r]9s2H,- 0 6 6Jd  " "E  $ $F E& ^B :r2r *B << #DA ??1b !5??1b#9q ++q-. 2 : ::q" M U UVWYZ\] ^C h , 4 4ZtQ OF <rs$ 035i50QCQCh ell t 8 ell t .! ! !Y^YeYe!r