
    3j                         S r SSKrSSKJr  SSKrSSKJr  SSKJr  SSK	J
r
Jr  S\S	\S
\\\R                  4   4S jrg)z*nn.Module to generate synthetic 3d scenes.    N)Dict)axis_angle_to_rotation_matrix)transform_points   )projection_from_KRtrandom_intrinsics	num_views
num_pointsreturnc                 J   [         R                  " SUS5      n[        SS5      n[         R                  " U S5      [        R                  -  S-  n[         R                  " U S5      nXE-  [         R
                  " USSS9-  n[        U5      n[         R                  " U 5      R                  SS	5      n[         R                  " U 5      R                  SS	5      n[         R                  " U 5      R                  S
S5      n	[         R                  " XxU	/SS9S   n
XbR                  SS5      -  U
-   n[         R                  " USS2S4   SS9S   n[         R                  " US:  X-
  S-   U	5      U
SS2SS4'   [        X6U
5      n[        XR                  U SS5      5      nX6XX.S.$ )zGenerate 3d scene.r      g        g      Y@g       @T)dimkeepdimg      g      ?g      )r   ).NN   r   g      ?)KRtPpoints3dpoints2d)torchrandr   mathpinormr   emptyuniform_stack	transposeminwherer   r   expand)r	   r
   r   r   angrvecrot_mattxtytztvecpoints3d_transmin_distr   r   s                  X/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/geometry/epipolar/scene.pygenerate_scener/      sx    zz!Z+H 	#u%A **Y
"TWW
,s
2C::i#D:

4Q==D+D1G 
Y		(	(s	3B	Y		(	(s	3B	Y		(	(s	3B;;|+I6D  2 22r ::dBNyy1-15a8HKK1bmc.A2FDAqM 	A-A  ??9b"#EFHt``    )__doc__r   typingr   r   kornia.geometry.conversionsr   kornia.geometry.linalgr   
projectionr   r   intstrTensorr/    r0   r.   <module>r:      sH   $ 1    E 3 >!ac !as !atC<M7N !ar0   