U h3 @s`ddlZddlZddlZddlmZddZddZddZd d Z d d Z d dZ ddZ dS)N) transformcCs|}t|tjd}tj|d}|d|}|d|} tjd|d| fd} tj|d} tj|d|dfd} || | | } | jdd}tj||||fd d }||fS) Ngf@)scaler) translation)rotationg)Z borderValue)floatnppitransZSimilarityTransformparamscv2Z warpAffine)datacenterZ output_sizerrZ scale_ratioZrott1Zcxcyt2t3Zt4tMZcroppedr?/tmp/pip-unpacked-wheel-5oclok7i/insightface/utils/transform.pyrs$     rcCsltj|jtjd}t|jdD]F}||}tj|d|ddgtjd}t||}|dd||<q |S)Nshapedtyperr?rr)r zerosrfloat32rangearraydot)ptsrnew_ptsiptnew_ptrrrtrans_points2ds r(cCst|dd|dd|dd|dd}tj|jtjd}t|jdD]f}||}tj|d|ddgtjd}t||}|dd||dd<||d|||d<qV|S)Nrrrrrr)r sqrtrrrr r!r")r#rrr$r%r&r'rrrtrans_points3d&s6 r*cCs&|jddkrt||St||SdS)Nrr)rr(r*)r#rrrr trans_points5s r+cCs6t|t|jddgf}tj||dj}|S)z Using 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 ZhstackZonesrlinalgZlstsqT)XYZX_homoPrrrestimate_affine_matrix_3d23d;sr1c Cs|dddf}|ddddf}|ddddf}tj|tj|d}|tj|}|tj|}t||}t|||fd}|||fS)z decompositing camera matrix P Args: P: (3, 4). Affine Camera Matrix. Returns: s: scale factor. R: (3, 3). rotation matrix. t: (3,). translation. Nrrrg@)r r,ZnormZcrossZ concatenate) r0rZR1ZR2sZr1Zr2Zr3RrrrP2sRtGs  r5c Cst|d|d|d|d}|dk}|snt|d|d}t|d |}t|d|d}n,t|d |d}t|d |}d }|d tj|d tj|d tj}}}|||fS) z get three Euler angles from Rotation Matrix Args: R: (3,3). rotation matrix Returns: x: pitch y: yaw z: roll )rr)rrgư>)rr)rr)rr)rr)rrr)mathr)atan2r r ) r4ZsyZsingularxyzrxZryZrzrrr matrix2angle[s &.r=) rr7Znumpyr Zskimagerr r(r*r+r1r5r=rrrrs