3j"SSKJrJrJr SSKrSSKJr SSKJrJrJ r J r SSK J r SSK Jr SSKJr SSKJr "S S \R&5rg) )DictOptionalTupleN)nn)DescriptorMatcherGFTTAffNetHardNetLocalFeatureMatcherLoFTR) LocalFeature)transform_points)RANSAC)warp_perspectivec 2^\rSrSrSrSS\\S\\RS\\RS\ SS4 U4S jjjr \ S\ R4S j5r \ S\ R4S j5r\ R"5S \ R SS4S j5rSSjrS\\ R \44SjrS\ R S\\ R \44SjrS\ R S\\ R \44SjrS\ R S\\ R \44SjrSrU=r$)HomographyTrackeraPerform local-feature-based tracking of the target planar object in the sequence of the frames. Args: initial_matcher: image matching module, e.g. :class:`~kornia.feature.LocalFeatureMatcher` or :class:`~kornia.feature.LoFTR`. Default: :class:`~kornia.feature.GFTTAffNetHardNet`. fast_matcher: fast image matching module, e.g. :class:`~kornia.feature.LocalFeatureMatcher` or :class:`~kornia.feature.LoFTR`. Default: :class:`~kornia.feature.DescriptorMatcher`. ransac: homography estimation module. Default: :class:`~kornia.geometry.RANSAC`. minimum_inliers_num: threshold for number inliers for matching to be successful. Ninitial_matcher fast_matcherransacminimum_inliers_numreturnch>[TU]5 U=(d [[S5[ SS55UlU=(d [ S5UlU=(d [SSSSSS 9Ul X@l U 0Ul 0Ul SUl S UlS UlS UlUR#5 g) Ni smnngffffff?outdoor homographyg@i )inl_th batch_sizemax_iter max_lo_itersr)super__init__r rrrr rr rrtarget_initial_representationtarget_fast_representationprevious_homography inliers_numkeypoints0_numkeypoints1_numreset_tracking)selfrrrr __class__s X/home/wildlama/miniconda3/lib/python3.13/site-packages/kornia/tracking/planar_tracker.pyr!HomographyTracker.__init__+s .  1$ 79J6SW9X Y )w>w.2.?.?.P.PQW.XD +?x 9r-cSUlg)zTReset temporal tracking state from previously processed frames. Returns: None. N)r$r1s r+r( HomographyTracker.reset_trackingps $( r-cSUlSUlSUl[R"SSUR UR S9S4$)zReturn a failed-match response and clear current match statistics. Returns: A tuple ``(H, is_valid)`` where ``H`` is an empty ``3 x 3`` tensor on the tracker device and dtype, and ``is_valid`` is ``False``. r)r0r4F)r%r&r'torchemptyr0r4r1s r+no_matchHomographyTracker.no_matchxs>{{1a 4::FMMr-xcTURUS.nURR5H up4XBUS3'M URU5nUSUSS:HnUSUSS:Hn[ U5Ul[ U5UlUR UR:aUR5$URXg5upU R5R5Ul URUR:aUR5$UR5UlUS4$)aEstimate a homography from the initial target frame to frame ``x``. Args: x: Current frame tensor to match against the stored target image. Returns: A tuple ``(H, is_valid)`` where ``H`` is the estimated homography matrix and ``is_valid`` indicates whether enough inliers were found. The method updates keypoint counters, inlier statistics, and stores the estimated homography as ``previous_homography`` on success. image0image10 keypoints0 batch_indexesr keypoints1T)r/r"itemsrlenr&r'rrCrsumitemr%cloner$) r)rE input_dictkv match_dictrKrMHinlierss r+ match_initialHomographyTracker.match_initials:>PQ.R 66<<>DA"#!Aw ?/3.B.B:.N  -j.IQ.NO  -j.IQ.NO !*o!*o   !9!9 9==? "[[8 ";;=--/   d66 6==? "#$779 $wr-cURbURR5SnWSS2SS2SS24S- USS2SS2SS24'USS2SS2S4==S-ss'[R"U5nURR SSupE[ XXE45nURUS.nURR5H upXUS3'M URU5n U SU S S:Hn U S U S S:Hn [X,5n [U 5Ul [U 5Ul URUR:a UR5 UR!5$UR#X5upUR%5R'5UlUR(UR:a UR5 UR!5$U R5UlU S 4$) aTrack the target in frame ``x`` using the previous homography prior. Args: x: Current frame tensor to align with the target image. Returns: A tuple ``(H, is_valid)`` where ``H`` is the updated homography and ``is_valid`` indicates whether tracking remained reliable. The frame is first prewarped by the inverse of the previous homography, then matched with ``fast_matcher`` and verified using RANSAC. Nrg?g$@rGrJrKrLrMT)r$rRrAinverser/shaperr#rNrr rOr&r'rr(rCrrPrQr%)r)rEHwarpHinvhw frame_warpedrSrTrUrVrKrMrWrXs r+track_next_frame"HomographyTracker.track_next_frames  # # /,,224T:E"1ac1Q3;/#5a1ack a1aiD }}U#{{  $'!8 9=P\.] 3399;DA"#!Aw <&&z2  -j.IQ.NO  -j.IQ.NO %e8 !*o!*o   !9!9 9    !==? "[[8 ";;=--/   d66 6    !==? "#$779 $wr-c`URbURU5$URU5$)zRun one tracking step on frame ``x``. Args: x: Current frame tensor. Returns: A tuple ``(H, is_valid)`` from ``track_next_frame`` when previous state exists, otherwise from ``match_initial``. )r$rdrY)r)rEs r+forwardHomographyTracker.forwards2  # # /((+ +!!!$$r-) rrr%r&r'rr$rr/r#r")NNNr)rN)__name__ __module__ __qualname____firstlineno____doc__rr rr:intr!propertyrAr0r4no_gradTensorr;r(rboolrCrYrdrg__static_attributes__ __classcell__)r*s@r+rrsl 37,0&*#% !,/ryy)#  !   6" ""!u{{!! ]]_YY$YY.( N% d 23 N#u||#ellD6H0I#J-%,,-5t9K3L-^ % %% d0B*C % %r-r)typingrrrrArkornia.featurerrr r kornia.feature.integratedr kornia.geometry.linalgr kornia.geometry.ransacr kornia.geometry.transformrr:rr-r+r|s7$)( [[23)6F% F%r-