h3 RSSKrSSKrSSKrSSKJr SrSrSrSr Sr Sr S r g) N) transformcUn[U5[R-S- n[R"US9nUSU-nUSU-n [R"SU-SU -4S9n [R"US9n [R"US- US- 4S9n Xz-U -U -n U R SSn[ R"UXU4S S 9nX4$) Ngf@)scaler) translation)rotationg) borderValue)floatnppitransSimilarityTransformparamscv2 warpAffine)datacenter output_sizerr scale_ratiorott1cxcyt2t3t4tMcroppeds U/var/www/fran/franai/venv/lib/python3.13/site-packages/insightface/utils/transform.pyrrsK /BEE !E )C  " " 5B [ B [ B  " "Rb/A BB  " "C 0B  " " a0;a0A BB " rA 1 AnnTk :),.G :c8[R"UR[RS9n[ URS5HPnXn[R "USUSS/[RS9n[R "X5nUSSX#'MR U$)Nshapedtyperr?r'r )r zerosr&float32rangearraydot)ptsr new_ptsiptnew_pts r"trans_points2dr4s}hhSYYbjj9G 399Q<  V2a5"Q%,BJJ?"Aa[ ! Nr#c[R"USSUSS-USSUSS--5n[R"UR[RS9n[ URS5HbnXn[R "USUSS/[RS9n[R"X5nUSSX4SS&XSU-X4S'Md U$)Nrrr%r(r)r )r sqrtr*r&r+r,r-r.)r/r rr0r1r2r3s r"trans_points3dr7&s GGAaDGad1g%!Q!A$q'(99 :EhhSYYbjj9G 399Q<  V2a5"Q%,BJJ?" 1+ 1Qq E) 1 ! Nr#cTURSS:Xa [X5$[X5$)Nrr )r&r4r7)r/r s r" trans_pointsr95s( yy|qc%%c%%r#c[R"U[R"URSS/545n[RR X!5SR nU$)zUsing least-squares solution Args: X: [n, 3]. 3d points(fixed) Y: [n, 3]. corresponding 3d points(moving). Y = PX Returns: P_Affine: (3, 4). Affine camera matrix (the third row is [0, 0, 0, 1]). rr)r hstackonesr&linalglstsqT)XYX_homoPs r"estimate_affine_matrix_3d23drD;sNYY277AGGAJq>23 4F "1%''A Hr#cUSS2S4nUSS2SS24nUSS2SS24n[RRU5[RRU5-S- nU[RRU5- nU[RRU5- n[R"XV5n[R"XVU4S5nXHU4$)zdecompositing camera matrix P Args: P: (3, 4). Affine Camera Matrix. Returns: s: scale factor. R: (3, 3). rotation matrix. t: (3,). translation. Nrrr g@)r r=normcross concatenate) rCrR1R2sr1r2r3Rs r"P2sRtrQGs !Q$A 1Q37B 1Q37B  biinnR0 0#5A BIINN2  B BIINN2  B " B |Q'A 7Nr#c[R"USUS-USUS--5nUS:nU(dV[R"USUS5n[R"US*U5n[R"USUS5nO;[R"US*US5n[R"US*U5nS nUS -[R- US -[R- US -[R- pnXgU4$) z}get three Euler angles from Rotation Matrix Args: R: (3,3). rotation matrix Returns: x: pitch y: yaw z: roll )rr)rrgư>)r r)r r )r r)rr )rrr)mathr6atan2r r) rPsysingularxyzrxryrzs r" matrix2angler^[s 1S6AcF?afqvo5 6BDyH  JJqv# ' JJ#w # JJqvqv & JJ#w# ' JJ#w # 3ruuaeBEEk1S5;BB 2:r#) rrTnumpyr skimagerrr4r7r9rDrQr^r#r"rbs4 &&  &  (r#