3j3SrSSKrSSKJrJr SSKJr SSKJr SSKJ r SS\S\S \S \ S \ S \4 S jjr SS\S\S \S \ S \ S \4 Sjjr \RRSS\S\S \S \ S \ S\S \4Sjj5rSS\S\S \S \ S \ S \4 SjjrSS\S\S \S \ S \ S \4 SjjrSS\S\S \S \ S \ S \4 SjjrS\S\S \S \4SjrS\S\S \S \4Sjrg)z:Module including useful metrics for Structure from Motion.N)Tensor ones_like)KORNIA_CHECK_IS_TENSOR)convert_points_to_homogeneous)point_line_distancepts1pts2Fmsquaredepsreturnc[U[5(d[S[U535e[ UR 5S:dUR SSS:Xd[ SUR 35eUSSS2S4nUSSS2S 4nUSSS2S4nUSSS2S 4nUR S S:Xa USSS2S 4O [U5n UR S S:Xa USSS2S 4O [U5n US S n USS n USS n USS nUSS nUSS nUSS nUSS nUSS nX-X--X--nX-X--UU --nUU-UU--UU --nX-X--UU --nX-X--UU --nUU-UU--U U--S -nUU-UU--UU--UU--U-nUU- nU(aU$UU-R5$)Return Sampson distance for correspondences given the fundamental matrix. Args: pts1: correspondences from the left images with shape :math:`(*, N, (2|3))`. If they are not homogeneous, converted automatically. pts2: correspondences from the right images with shape :math:`(*, N, (2|3))`. If they are not homogeneous, converted automatically. Fm: Fundamental matrices with shape :math:`(*, 3, 3)`. Called Fm to avoid ambiguity with torch.nn.functional. squared: if True (default), the squared distance is returned. eps: Small constant for safe sqrt. Returns: the computed Sampson distance with shape :math:`(*, N)`. #Fm type is not a torch.Tensor. Got Nrr#Fm must be a (*, 3, 3) tensor. Got .r.rr.N.rr.rr.rr.rr.rr.rr.rr.rr) isinstancer TypeErrortypelenshape ValueErrorrsqrt)rr r r r xyuvw1w2f00f01f02f10f11f12f20f21f22Fx0Fx1Fx2Ft0Ft1numdenouts [/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/epipolar/_metrics.py'_sampson_epipolar_distance_manual_impl_rAsN$ b& ! !=d2hZHII BHH "((23-6"9>rxxjIJJ S!QYA S!QYA S!QYA S!QYA JJrNa/c1aiYq\B JJrNa/c1aiYq\B Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C 'CG ch &C 'CG cBh &C 'C!G cBh &C 'CG cBh &C 'CG cBh &C s7QW rCx 'A -C )cCi #) +cCi 7# =C)C #I   cURSS:Xa [U5nURSS:Xa [U5nURSSS9nX-nX-nX-RSS9R S5nUSSS24R SSS9R S5USSS24R SSS9R S5-n X- n U(aU $X-R 5$)rrrrdim0dim1dim.Nr&r transposesumpownormr() rr r r r F_t line1_in_2 line2_in_1 numerator denominatorr?s r@'_sampson_epipolar_distance_matmul_impl_rS\s$ zz"~,T2 zz"~,T2,,BR,0CJJ*//B/7;;A>I%S"1"W-221"2=AA!DzRUWYXYWYRYGZG_G_`agiG_GjGnGnopGqqK)C I   rBuse_matmul_at_less_than_pointscURRS:Xa!URSnXe:a [XX#U5$[ XX#U5$)a Return Sampson distance for correspondences given the fundamental matrix. Args: pts1: correspondences from the left images with shape :math:`(*, N, (2|3))`. If they are not homogeneous, converted automatically. pts2: correspondences from the right images with shape :math:`(*, N, (2|3))`. If they are not homogeneous, converted automatically. Fm: Fundamental matrices with shape :math:`(*, 3, 3)`. Called Fm to avoid ambiguity with torch.nn.functional. squared: if True (default), the squared distance is returned. eps: Small constant for safe sqrt. use_matmul_at_less_than_points: If the number of points is less than this value, use the matmul implementation. Returns: the computed Sampson distance with shape :math:`(*, N)`. cudar)devicer$r&rSrA)rr r r r rT num_pointss r@sampson_epipolar_distancerYsF2 yy~~ZZ^  6:4rTWX X 24rC PPrBc*[U[5(d[S[U535e[ UR 5S:dUR SSS:wa[ SUR 35eUSSS2S4nUSSS2S 4nUSSS2S4nUSSS2S 4nUR S S:Xa USSS2S 4O [U5n UR S S:Xa USSS2S 4O [U5n US S n USS n USS n USS nUSS nUSS nUSS nUSS nUSS nX-X--X--nX-X--UU --nUU-UU--UU --nX-X--UU --nX-X--UU --nUU-UU--U U--RS 5nSURS 5URS 5-U-- nSURS 5URS 5-U-- nUU-nUU-nU(aU$UU-R5$)zdReturn symmetric epipolar distance for correspondences given the fundamental matrix (CPU-optimized).rrrNrr.rrrrrrrrrrrrr r!?) r"rr#r$r%r&r'rrLr()rr r r r r)r*r+r,r-r.r/r0r1r2r3r4r5r6r7r8r9r:r;r<r=inv1inv2den_invr?s r@+_symmetrical_epipolar_distance_manual_impl_r_s b& ! !=d2hZHII BHH bhhrsmv5>rxxjIJJ S!QYA S!QYA S!QYA S!QYA!JJrNa/c1aiYq\B JJrNa/c1aiYq\B Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C Y- "C 'CG ch &C 'CG cBh &C 'C!G cBh &C 'CG cBh &C 'CG cBh &C s7QW rCx ' , ,Q /C #''!*swwqz)C/ 0D #''!*swwqz)C/ 0DTkG-C #I   rBcURSS:Xa [U5nURSS:Xa [U5nURSSS9nX-nX-nX-RSS9R S5nSUSSS24R SSS9R S5U-- SUSSS24R SSS9R S5U-- -n X-n U(aU $X-R 5$)NrrrrDrGr[.rI) rr r r r rNrOrPrQdenominator_invr?s r@+_symmetrical_epipolar_distance_matmul_impl_rbs zz"~,T2 zz"~,T2,,BR,0CJJ*//B/7;;A>I!ZRaR%8%=%=aR%=%H%L%LQ%ORU%UVY\37   +//2S8ZO-C I   rBcURRS:Xa"URSnUS:a [XX#U5$[ XX#U5$)aReturn symmetrical epipolar distance for correspondences given the fundamental matrix. Args: pts1: correspondences from the left images with shape :math:`(*, N, (2|3))`. If they are not homogeneous, converted automatically. pts2: correspondences from the right images with shape :math:`(*, N, (2|3))`. If they are not homogeneous, converted automatically. Fm: Fundamental matrices with shape :math:`(*, 3, 3)`. Called Fm to avoid ambiguity with torch.nn.functional. squared: if True (default), the squared distance is returned. eps: Small constant for safe sqrt. Returns: the computed Symmetrical distance with shape :math:`(*, N)`. rVr')rWr$r&rbr_)rr r r r rXs r@symmetrical_epipolar_distanceresI$ yy~~ZZ^  >t2X[\ \ 6t2PS TTrBcF[U5 [U5 [U5 [UR5S:dURSSS:Xd[SUR35eURSS:Xa [ U5nUR SSS9nX-n[ X5$) aReturn one-sided epipolar distance for correspondences given the fundamental matrix. This method measures the distance from points in the right images to the epilines of the corresponding points in the left images as they reflect in the right images. Args: pts1: correspondences from the left images with shape :math:`(*, N, 2 or 3)`. If they are not homogeneous, converted automatically. pts2: correspondences from the right images with shape :math:`(*, N, 2 or 3)`. If they are not homogeneous, converted automatically. Fm: Fundamental matrices with shape :math:`(*, 3, 3)`. Called Fm to avoid ambiguity with torch.nn.functional. Returns: the computed Symmetrical distance with shape :math:`(*, N)`. rrNrrrrrD)rr%r&r'rrJr)rr r rNrOs r@left_to_right_epipolar_distancergs$4 4 2 BHH "((23-6"9>rxxjIJJ zz"~,T2,,BR,0CJ t 00rBc&[U5 [U5 [U5 [UR5S:dURSSS:Xd[SUR35eURSS:Xa [ U5nX-n[ X5$)aReturn one-sided epipolar distance for correspondences given the fundamental matrix. This method measures the distance from points in the left images to the epilines of the corresponding points in the right images as they reflect in the left images. Args: pts1: correspondences from the left images with shape :math:`(*, N, 2 or 3)`. If they are not homogeneous, converted automatically. pts2: correspondences from the right images with shape :math:`(*, N, 2 or 3)`. If they are not homogeneous, converted automatically. Fm: Fundamental matrices with shape :math:`(*, 3, 3)`. Called Fm to avoid ambiguity with torch.nn.functional. Returns: the computed Symmetrical distance with shape :math:`(*, N)`. rrNrrrr)rr%r&r'rr)rr r rPs r@right_to_left_epipolar_distanceri2s$4 4 2 BHH "((23-6"9>rxxjIJJ zz"~,T2J t 00rB)T:0yE>)Trjrd)__doc__torchrrkornia.core.checkrkornia.geometry.conversionsrkornia.geometry.linalgrboolfloatrArSjitscriptintrYr_rbrergrirBr@rvs$A #4E6PT= ==$*=59=GL= =BPT+ ++$*+59+GL+ +\ */ Q Q Q Q Q  Q %( Q QQ@PT3 33$*3593GL3 3nPT $*59GL 0PTU UU$*U59UGLU U21&11F1v1D1&11F1v1rB